Vehicle-mounted laser radar high-temperature aging test equipment

Abstract

The utility model provides vehicle-mounted laser radar high-temperature aging test equipment, and relates to the technical field of high-temperature aging test. The vehicle-mounted laser radar high-temperature aging test equipment comprises a feeding / discharging manipulator, a conveying mechanism, a transfer manipulator and a high-temperature aging chamber, a positioning tray is arranged on the conveying mechanism, a positioning mechanism is arranged on the conveying mechanism, and the transfer manipulator is mounted on a moving mechanism. The moving mechanism can adjust the position of the transfer manipulator relative to the positioning tray or the high-temperature aging chamber, the conveying mechanism is further provided with an air cooling mechanism, the transfer manipulator can grab the vehicle-mounted laser radar subjected to the high-temperature aging test and place the vehicle-mounted laser radar on the positioning tray, and the air cooling mechanism can cool the vehicle-mounted laser radar on the positioning tray. And the loading / unloading manipulator can also unload the vehicle-mounted laser radar on the positioning tray. The high-temperature aging test equipment for the vehicle-mounted laser radar can automatically carry out feeding, high-temperature aging test, cooling and discharging on the vehicle-mounted laser radar.

Description

TECHNICAL FIELD

[0001] The utility model relates to high temperature aging test technical field especially relates to a vehicle laser radar high temperature aging test equipment. BACKGROUND

[0002] Vehicle laser radar (Li DAR) is rapidly growing in the market of automobile automatic driving field, mainly through the use of near infrared band 905nm semiconductor laser to emit laser pulse, then use silicon-based avalanche photodetector (APD) to collect reflected light signal to create point cloud map of the environment around the car, realize autonomous navigation and auxiliary driving.

[0003] After the production of vehicle laser radar, the vehicle laser radar needs to be tested for high temperature aging to verify whether the vehicle laser radar can work normally in high temperature environment, when carrying out high temperature aging test, the vehicle laser radar needs to be put into high temperature aging chamber for test, in order to reduce the labor intensity and cost, a vehicle laser radar high temperature aging test equipment capable of automatically feeding, high temperature aging test, cooling and discharging the vehicle laser radar needs to be designed. UTILITY MODEL CONTENTS

[0004] In view of the problems in the prior art, the present application provides a vehicle laser radar high temperature aging test equipment which can automatically feed, high temperature aging test, cool and discharge the vehicle laser radar.

[0005] The utility model provides a vehicle laser radar high temperature aging test equipment, the vehicle laser radar high temperature aging test equipment includes loading / unloading manipulator, conveying mechanism, transfer manipulator and high temperature aging chamber, be equipped with positioning tray on the conveying mechanism, the loading / unloading manipulator is used to grab and place the vehicle laser radar to be high temperature aging test on the positioning tray, be equipped with positioning mechanism on the conveying mechanism, the positioning mechanism is used for positioning the positioning tray, the transfer manipulator is installed on the movement mechanism, the movement mechanism can adjust the position of the transfer manipulator relative to the positioning tray or the high temperature aging chamber, so that the transfer manipulator can grab the vehicle laser radar on the positioning tray and can put the grabbed vehicle laser radar into high temperature aging chamber and carries out high temperature aging test, the conveying mechanism is also equipped with air cooling mechanism, the transfer manipulator can place the vehicle laser radar after high temperature aging test on the positioning tray, when the conveying mechanism conveys the positioning tray, the air cooling mechanism can cool the vehicle laser radar on the positioning tray, the loading / unloading manipulator can also discharge the vehicle laser radar on the positioning tray.

[0006] As a further improvement of the above technical solution:

[0007] The vehicle-mounted laser radar high-temperature aging test equipment further has a plurality of high-temperature test compartments opened in the high-temperature aging chamber, a horizontal feeding assembly is arranged in the high-temperature test compartment, a placing tray is arranged on the horizontal feeding assembly, the placing tray is used for positioning and placing the vehicle-mounted laser radar, and the horizontal feeding assembly is used for conveying the placing tray into or out of the high-temperature test compartment.

[0008] The vehicle-mounted laser radar high-temperature aging test equipment further has a plurality of high-temperature test compartments opened in the high-temperature aging chamber, a horizontal feeding assembly is arranged in the high-temperature test compartment, a placing tray is arranged on the horizontal feeding assembly, the placing tray is used for positioning and placing the vehicle-mounted laser radar, and the horizontal feeding assembly is used for conveying the placing tray into or out of the high-temperature test compartment.

[0009] The vehicle-mounted laser radar high-temperature aging test equipment further has a plurality of high-temperature test compartments opened in the high-temperature aging chamber, a horizontal feeding assembly is arranged in the high-temperature test compartment, a placing tray is arranged on the horizontal feeding assembly, the placing tray is used for positioning and placing the vehicle-mounted laser radar, and the horizontal feeding assembly is used for conveying the placing tray into or out of the high-temperature test compartment.

[0010] The vehicle-mounted laser radar high-temperature aging test equipment further has a plurality of high-temperature test compartments opened in the high-temperature aging chamber, a horizontal feeding assembly is arranged in the high-temperature test compartment, a placing tray is arranged on the horizontal feeding assembly, the placing tray is used for positioning and placing the vehicle-mounted laser radar, and the horizontal feeding assembly is used for conveying the placing tray into or out of the high-temperature test compartment.

[0011] The vehicle-mounted laser radar high-temperature aging test equipment further has a plurality of high-temperature test compartments opened in the high-temperature aging chamber, a horizontal feeding assembly is arranged in the high-temperature test compartment, a placing tray is arranged on the horizontal feeding assembly, the placing tray is used for positioning and placing the vehicle-mounted laser radar, and the horizontal feeding assembly is used for conveying the placing tray into or out of the high-temperature test compartment.

[0012] The vehicle-mounted laser radar high-temperature aging test equipment further has a plurality of high-temperature test compartments opened in the high-temperature aging chamber, a horizontal feeding assembly is arranged in the high-temperature test compartment, a placing tray is arranged on the horizontal feeding assembly, the placing tray is used for positioning and placing the vehicle-mounted laser radar, and the horizontal feeding assembly is used for conveying the placing tray into or out of the high-temperature test compartment.

[0013] The above technical features can be combined in various suitable manners or replaced by equivalent technical features, as long as the purpose of the present application can be achieved.

[0014] The utility model provides a kind of vehicle-mounted laser radar high temperature aging test equipment, compared with prior art, at least have following beneficial effects: when needing to carry out high temperature aging test to vehicle-mounted laser radar, first up / down material mechanical hand is grabbed and placed in positioning tray to vehicle-mounted laser radar to be high temperature aging test, conveying mechanism conveys positioning tray to positioning mechanism, positioning mechanism positions the positioning tray of vehicle-mounted laser radar, mobile mechanism adjusts the position of transfer mechanical hand relative to positioning tray, transfer mechanical hand grabs vehicle-mounted laser radar on positioning tray, then mobile mechanism adjusts the position of transfer mechanical hand relative to the high temperature aging chamber, transfer mechanical hand is placed into high temperature aging chamber to carry out high temperature aging test to the vehicle-mounted laser radar of grabbing, after high temperature aging test, transfer mechanical hand is placed in positioning tray to vehicle-mounted laser radar after high temperature aging test, when conveying mechanism conveys positioning tray, air cooling mechanism is cooled to vehicle-mounted laser radar on positioning tray, finally, up / down material mechanical hand is unloaded to vehicle-mounted laser radar on positioning tray.The vehicle-mounted laser radar high temperature aging test equipment can automatically be loaded to vehicle-mounted laser radar, high temperature aging test, cooling and unloading, to reduce manual labor intensity and cost, improve the automation of vehicle-mounted laser radar production.

[0015] In order to make the above-mentioned purpose, features and advantages of the utility model more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will be briefly introduced to the drawings needed to be used in the embodiments, it should be understood that the following drawings only show some embodiments of the utility model, therefore should not be regarded as the limitation to the scope, for ordinary skilled person in the art, without paying the creative labor, other related drawings can also be obtained according to these drawings.

[0017] In the following, the utility model will be described in more detail based on the embodiments and with reference to the drawings. Among them:

[0018] Figure 1 The structure of the vehicle-mounted laser radar high temperature aging test equipment provided by the embodiments of the utility model is shown Figure 1 ;

[0019] Figure 2 The structure of the vehicle-mounted laser radar high temperature aging test equipment provided by the embodiments of the utility model is shown Figure 2 ;

[0020] Figure 3 The enlarged view of area A in Figure 2 is shown;

[0021] Figure 4An enlarged view of region B is shown. Figure 2 An enlarged view of region B is shown.

[0022] Figure 5 An enlarged view of region B is shown. Figure 2 An enlarged view of region C is shown.

[0023] Figure 6 An enlarged view of region C is shown.

[0024] In the drawings, the same elements have the same reference numerals. The drawings are not true to scale.

[0025] Legend of reference numerals:

[0026] 100 - vehicle-mounted laser radar high-temperature aging test equipment, 110 - loading / unloading manipulator, 111 - loading / unloading manipulator arm, 112 - code scanning assembly, 113 - carrying clamp jaw, 120 - conveying mechanism, 121 - positioning tray, 122 - positioning mechanism, 123 - air cooling mechanism, 124 - first cooling fan, 125 - second cooling fan, 126 - first conveying assembly, 127 - second conveying assembly, 130 - transfer manipulator, 131 - moving mechanism, 132 - support frame, 133 - transfer manipulator arm, 134 - product clamp jaw, 135 - guide camera, 140 - high-temperature aging chamber, 141 - high-temperature test compartment, 142 - horizontal feeding assembly, 143 - placement tray, 150 - loading / unloading conveying mechanism, 151 - loading / unloading tray. DETAILED DESCRIPTION

[0027] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0028] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and therefore cannot be understood as indicating or implying 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 of the present application.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0030] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium, internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0031] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0032] The present invention will be further described below with reference to the accompanying drawings.

[0033] An embodiment of the present utility model provides a vehicle-mounted laser radar high-temperature aging test device 100, which can automatically perform loading, high-temperature aging testing, cooling and unloading on the vehicle-mounted laser radar.

[0034] See also Figure 1 and Figure 2The vehicle-mounted laser radar high-temperature aging test equipment 100 provided by the embodiment of the utility model, the vehicle-mounted laser radar high-temperature aging test equipment 100 includes the loading and unloading mechanical hand 110, the conveying mechanism 120, the transfer mechanical hand 130 and the high-temperature aging chamber 140, is equipped with the positioning tray 121 on the conveying mechanism 120, the loading and unloading mechanical hand 110 is used to grab and place the vehicle-mounted laser radar of high-temperature aging test on the positioning tray 121, is equipped with the positioning mechanism 122 on the conveying mechanism 120, and the positioning mechanism 122 is used to position the positioning tray 121, the transfer mechanical hand 130 is installed on the moving mechanism 131, and the moving mechanism 131 can adjust the position of the transfer mechanical hand 130 relative to the positioning tray 121 or the high-temperature aging chamber 140, so that the transfer mechanical hand 130 can grab the vehicle-mounted laser radar on the positioning tray 121 and can put the grabbed vehicle-mounted laser radar into the high-temperature aging chamber 140 to carry out high-temperature aging test, the conveying mechanism 120 is also equipped with the air cooling mechanism 123, and the transfer mechanical hand 130 can place the vehicle-mounted laser radar after high-temperature aging test on the positioning tray 121, when the conveying mechanism 120 conveys the positioning tray 121, the air cooling mechanism 123 can cool the vehicle-mounted laser radar on the positioning tray 121, and the loading and unloading mechanical hand 110 can also unload the vehicle-mounted laser radar on the positioning tray 121.

[0035] When high-temperature aging test needs to be carried out on the vehicle-mounted laser radar, first, the loading and unloading mechanical hand 110 grabs and places the vehicle-mounted laser radar to be high-temperature aging tested on the positioning tray 121, the conveying mechanism 120 conveys the positioning tray 121 to the positioning mechanism 122, the positioning mechanism 122 positions the positioning tray 121 on which the vehicle-mounted laser radar is placed, the moving mechanism 131 adjusts the position of the transfer mechanical hand 130 relative to the positioning tray 121, the transfer mechanical hand 130 grabs the vehicle-mounted laser radar on the positioning tray 121, then the moving mechanism 131 adjusts the position of the transfer mechanical hand 130 relative to the high-temperature aging chamber 140, the transfer mechanical hand 130 puts the grabbed vehicle-mounted laser radar into the high-temperature aging chamber 140 to carry out high-temperature aging test, after the high-temperature aging test is finished, the transfer mechanical hand 130 grabs the vehicle-mounted laser radar after high-temperature aging test and places it on the positioning tray 121, when the conveying mechanism 120 conveys the positioning tray 121, the air cooling mechanism 123 cools the vehicle-mounted laser radar on the positioning tray 121, and finally, the loading and unloading mechanical hand 110 unloads the vehicle-mounted laser radar on the positioning tray 121. The vehicle-mounted laser radar high-temperature aging test equipment 100 provided by the embodiment of the utility model can automatically carry out feeding, high-temperature aging test, cooling and unloading on the vehicle-mounted laser radar, thereby reducing the labor intensity and cost and improving the automation of vehicle-mounted laser radar production.

[0036] The vehicle-mounted laser radar high-temperature aging test equipment 100 provided by the embodiment of the utility model, specifically,Figure 3 The high-temperature aging chamber 140 is provided with a plurality of high-temperature test compartments 141, and a horizontal feeding assembly 142 is arranged in each high-temperature test compartment 141. A placing tray 143 is arranged on the horizontal feeding assembly 142, and the placing tray 143 is used for positioning and placing the vehicle-mounted laser radar. The horizontal feeding assembly 142 is used for conveying the placing tray 143 into or out of the high-temperature test compartment 141. When the vehicle-mounted laser radar needs to be tested by high-temperature aging, the transfer robot 130 first positions and places the vehicle-mounted laser radar grabbed on the placing tray 143, and then the horizontal feeding assembly 142 conveys the placing tray 143 into the high-temperature test compartment 141 for high-temperature aging test. After the high-temperature aging test, the horizontal feeding assembly 142 conveys the placing tray 143 out of the high-temperature test compartment 141, and finally the transfer robot 130 grabs the vehicle-mounted laser radar after the high-temperature aging test and places it on the positioning tray 121.

[0037] In this embodiment, please combine Figure 4 and Figure 5 The air cooling mechanism 123 includes a first cooling fan 124 arranged on the lower side of the conveying mechanism 120 and a second cooling fan 125 arranged on the side of the conveying mechanism 120. The conveying mechanism 120 includes a first conveying assembly 126 and a second conveying assembly 127 arranged side by side and spaced apart. The conveying direction of the first conveying assembly 126 is opposite to the conveying direction of the second conveying assembly 127. The feeding and discharging robot 110 is used for grabbing and placing the vehicle-mounted laser radar to be tested by high-temperature aging on the positioning tray 121 on the first conveying assembly 126. The feeding and discharging robot 110 is also used for discharging the vehicle-mounted laser radar on the positioning tray 121 on the second conveying assembly 127.

[0038] When in use, the loading / unloading manipulator 110 first grabs the vehicle-mounted laser radar to be tested at high temperature aging and places it on the positioning tray 121 on the first conveying component 126. The first conveying component 126 conveys the positioning tray 121 to the positioning mechanism 122. The positioning mechanism 122 positions the positioning tray 121 on which the vehicle-mounted laser radar is placed. Then the transfer manipulator 130 grabs the vehicle-mounted laser radar to be tested at high temperature on the positioning tray 121. The transfer manipulator 130 positions the grabbed vehicle-mounted laser radar and places it on the placement tray 143. Then the horizontal feeding component 142 conveys the placement tray 143 to the high temperature test compartment 141 for high temperature aging test. After the high temperature aging test, the horizontal feeding component 142 conveys the placement tray 143 to the high temperature test compartment 141 for high temperature aging test. The feeding component 142 transports the placement tray 143 out of the high-temperature test compartment 141. The transfer robot 130 grabs the vehicle-mounted laser radar after the high-temperature aging test and places it on the positioning tray 121 on the first conveying component 126. The first conveying component 126 transports the positioning tray 121 to the tail end. Then the transfer robot 130 grabs the vehicle-mounted laser radar on the positioning tray 121 on the first conveying component 126 and places it on the positioning tray 121 on the second conveying component 127. The second conveying component 127 transports the positioning tray 121 to the tail end. Finally, the loading / unloading robot 110 is also used to unload the vehicle-mounted laser radar on the positioning tray 121 on the second conveying component 127.

[0039] The vehicle-mounted laser radar high temperature aging test equipment 100 provided by the embodiment of the present invention, further, please refer to Figure 1 and Figure 2 The vehicle-mounted laser radar high temperature aging test equipment 100 also includes a loading / unloading transport mechanism 150, on which a loading / unloading tray 151 is installed. The vehicle-mounted laser radar is positioned and placed on the loading / unloading tray 151. The loading / unloading manipulator 110 is used to load the vehicle-mounted laser radar on the loading / unloading tray 151 or unload the vehicle-mounted laser radar onto the loading / unloading tray 151. In this embodiment, please combine Figure 6 The loading / unloading manipulator 110 includes a loading / unloading manipulator arm 111, and the loading / unloading manipulator arm 111 is equipped with a code scanning component 112 and a transporting clamp 113. The code scanning component 112 is used to scan the vehicle-mounted laser radar being transported, and the transporting clamp 113 is used to grab the vehicle-mounted laser radar. Before the transporting clamp 113 transports the vehicle-mounted laser radar, the code scanning component 112 scans the vehicle-mounted laser radar to identify the vehicle-mounted laser radar, thereby facilitating the verification of the vehicle-mounted laser radar. The transfer manipulator 130 includes a support frame 132 and a transfer manipulator arm 133. The support frame 132 is movably mounted on the moving mechanism 131, and the transfer manipulator arm 133 is mounted on the support frame 132. The transfer manipulator arm 133 is equipped with a product clamp 134 and a guide camera 135. The guide camera 135 facilitates the identification of the position of the vehicle-mounted laser radar, so that the product clamp 134 can accurately grab the vehicle-mounted laser radar.

[0040] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. Furthermore, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without contradiction.

Claims

1. A high temperature aging test equipment for vehicle-mounted laser radar, characterized in that: The vehicle-mounted laser radar high-temperature aging test equipment comprises a loading / unloading manipulator (110), a conveying mechanism (120), a transfer manipulator (130) and a high-temperature aging chamber (140), wherein the conveying mechanism (120) is provided with a positioning tray (121), and the loading / unloading manipulator (110) is used to grab the vehicle-mounted laser radar to be subjected to the high-temperature aging test and place it on the positioning tray (121), and the conveying mechanism (120) is provided with a positioning mechanism (122), and the positioning mechanism (122) is used to position the positioning tray (121), and the transfer manipulator (130) is installed on a moving mechanism (131), and the moving mechanism (131) can adjust the transfer manipulator (130) relative to the positioning tray (121) or the high-temperature aging chamber (140). The position of the high-temperature aging chamber (140) is such that the transfer manipulator (130) can grab the vehicle-mounted laser radar on the positioning tray (121) and can place the grabbed vehicle-mounted laser radar into the high-temperature aging chamber (140) for high-temperature aging test. The conveying mechanism (120) is also provided with an air cooling mechanism (123). The transfer manipulator (130) can grab the vehicle-mounted laser radar after the high-temperature aging test and place it on the positioning tray (121). When the conveying mechanism (120) conveys the positioning tray (121), the air cooling mechanism (123) can cool the vehicle-mounted laser radar on the positioning tray (121). The loading / unloading manipulator (110) can also unload the vehicle-mounted laser radar on the positioning tray (121).

2. The vehicle-mounted laser radar high temperature aging test equipment according to claim 1, characterized in that: A plurality of high-temperature test compartments (141) are provided in the high-temperature aging chamber (140), a horizontal feeding assembly (142) is provided in the high-temperature test compartment (141), a placement tray (143) is provided on the horizontal feeding assembly (142), the placement tray (143) is used for positioning and placing the vehicle-mounted laser radar, and the horizontal feeding assembly (142) is used for transporting the placement tray (143) into the high-temperature test compartment (141) or out of the high-temperature test compartment (141).

3. The vehicle-mounted laser radar high temperature aging test equipment according to claim 1, characterized in that: The air cooling mechanism (123) includes a first cooling fan (124) installed on the lower side of the conveying mechanism (120) and a second cooling fan (125) installed on the side of the conveying mechanism (120).

4. The vehicle-mounted laser radar high temperature aging test equipment according to claim 1, characterized in that: The conveying mechanism (120) includes a first conveying assembly (126) and a second conveying assembly (127) arranged side by side at intervals. The conveying direction of the first conveying assembly (126) is opposite to the conveying direction of the second conveying assembly (127). The loading / unloading manipulator (110) is used to grab the vehicle-mounted laser radar to be tested for high-temperature aging and place it on the positioning tray (121) on the first conveying assembly (126). The loading / unloading manipulator (110) is also used to unload the vehicle-mounted laser radar on the positioning tray (121) on the second conveying assembly (127).

5. The vehicle-mounted laser radar high temperature aging test equipment according to claim 1, characterized in that: The vehicle-mounted laser radar high-temperature aging test equipment further includes a loading / unloading transport mechanism (150), a loading / unloading tray (151) is installed on the loading / unloading transport mechanism (150), the vehicle-mounted laser radar is positioned and placed on the loading / unloading tray (151), and the loading / unloading manipulator (110) is used to load the vehicle-mounted laser radar on the loading / unloading tray (151) or unload the vehicle-mounted laser radar onto the loading / unloading tray (151).

6. The vehicle-mounted laser radar high temperature aging test equipment according to claim 1, characterized in that: The loading / unloading manipulator (110) comprises a loading / unloading manipulator arm (111), and a code scanning component (112) and a transporting clamp (113) are installed on the loading / unloading manipulator arm (111). The code scanning component (112) is used to scan the vehicle-mounted laser radar for transport, and the transporting clamp (113) is used to grab the vehicle-mounted laser radar.

7. The vehicle-mounted laser radar high temperature aging test equipment according to claim 1, characterized in that: The transfer robot (130) includes a support frame (132) and a transfer robot arm (133). The support frame (132) is movably mounted on the moving mechanism (131). The transfer robot arm (133) is mounted on the support frame (132). The transfer robot arm (133) is equipped with a product gripper (134) and a guide camera (135).

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