Integrated mechanical arm and mobile robot

Abstract

The present disclosure provides an integrated mechanical arm and a mobile robot. The integrated mechanical arm comprises: a base, the base being provided with a rotating seat, the rotating seat being connected to a multi-axis mechanical arm and capable of driving the multi-axis mechanical arm to rotate around the central axis of the rotating seat; and the multi-axis mechanical arm, comprising a plurality of links and a plurality of joint modules, the joint modules being used for driving the corresponding links to rotate in the axial direction or to perform a pitching action. In the present disclosure, the joint modules of the multi-axis mechanical arm can drive the corresponding links to rotate or to perform a pitching action, thereby improving the reachability and flexibility of the mechanical arm.

Description

Integrated mechanical arm and mobile robot TECHNICAL FIELD

[0001] The present disclosure relates to robots, in particular, to an integrated mechanical arm and mobile robot. BACKGROUND

[0002] Industrial robots refer to robots used in industrial fields such as production and manufacturing, which are usually dedicated, heavy, high-speed, and capable of completing high-precision and high-efficiency production and processing tasks. Collaborative robots are a new type of robot that can work with humans in the same workspace to complete some work that needs to be completed in collaboration, such as assembly, handling, labeling, etc.

[0003] Industrial robots are usually large and bulky robots with high load, high precision and high speed. Collaborative robots are relatively small and light, usually in the form of mechanical arms, with lower load and speed, so their ability to work with human employees is greatly improved.

[0004] Therefore, it is necessary to provide a robot that can combine the advantages of industrial robots and collaborative robots, thereby expanding the application scenarios of the robot and solving the problem of handling and transportation in some complex scenarios. SUMMARY

[0005] In view of the defects in the prior art, the purpose of the present disclosure is to provide an integrated mechanical arm and mobile robot.

[0006] The integrated mechanical arm provided by the present disclosure comprises a base, a rotating seat is arranged on the base, the rotating seat is connected to a multi-axis mechanical arm, and the multi-axis mechanical arm can be driven to rotate around the central axis of the rotating seat; the multi-axis mechanical arm comprises a plurality of connecting rods and a joint module; the joint module is used to drive the connecting rods to rotate in the axial direction or to perform a pitching action.

[0007] Optionally, the multi-axis mechanical arm is a six-degree-of-freedom robot arm.

[0008] Optionally, the rotating seat comprises a driving motor and a speed reducer; the output end of the driving motor is drivingly connected to the input end of the speed reducer; the speed reducer is provided with an output end cover; the outer edge of the output end cover extends out of a mounting base plate; the mounting base plate is provided with a first joint module; the speed reducer is provided in a hollow structure; a wire tube is arranged in the hollow structure.

[0009] Optionally, the multi-axis mechanical arm comprises three pitching joints, a rotating joint and a two-degree-of-freedom wrist connected in sequence.

[0010] Optionally, the pitch joint comprises a first joint, a second joint and a third joint; the first joint comprises a first joint module and a first connecting rod, the first joint module is used to drive the first connecting rod to rotate to perform a pitch action; the second joint comprises a second joint module and a second connecting rod, the second joint module is arranged at the distal end of the first connecting rod and is used to drive the second connecting rod to rotate to perform a pitch action; and the third joint comprises a third joint module and a third connecting rod, the third joint module is arranged at the distal end of the second connecting rod and is used to drive the third connecting rod to rotate to perform a pitch action.

[0011] Optionally, the rotation joint comprises a fourth joint module and a fourth connecting rod; the third connecting rod comprises an upper support and a lower support; the root end of the lower support is connected to the third joint module, and the distal end is connected to the upper support; the fourth joint module and the fourth connecting rod are arranged in sequence on the upper support in a direction; the fourth joint module is used to drive the fourth connecting rod to rotate in an axial direction, and in turn drive the wrist to rotate.

[0012] Optionally, the wrist comprises a fifth joint module, a sixth joint module, a mounting support, a hollow support and a hollow flange; the mounting support is arranged at the distal end of the fourth connecting rod; the fifth joint module is arranged on the mounting support and is used to drive the hollow support to perform a rotation motion; the hollow flange and the sixth joint module are arranged in sequence on the hollow support in a direction; the sixth joint module is used to drive the hollow flange to rotate, and the hollow flange is used for mounting an end effector.

[0013] Optionally, the end effector comprises a vacuum source, a conduit and a suction cup assembly; the vacuum source is connected to the suction cup assembly through the conduit and is used to provide a vacuum to the suction cup assembly; the conduit sequentially passes through the inner cavity of the fourth connecting rod and the inner cavity of the hollow flange to connect the suction cup assembly.

[0014] Optionally, the hollow flange and the fourth connecting rod are coaxially arranged.

[0015] The mobile robot provided by the present disclosure comprises: the integrated mechanical arm, and a mobile base; the mobile base is used to move to an arbitrary position or pause at an arbitrary position according to a received control instruction and determine an orientation angle; the integrated mechanical arm is arranged on the mobile base and is used to move a target box conveyed by a conveyor to a discharging position or move a target box on the discharging position to the conveyor; and an end effector is arranged at the end of the integrated mechanical arm.

[0016] Compared with the prior art, the present disclosure has the following beneficial effects:

[0017] The present disclosure is provided with a rotating seat on the base, the rotating seat is connected with a multi-axis mechanical arm, and the multi-axis mechanical arm can be driven to rotate around the central axis of the rotating seat; the multi-axis mechanical arm comprises a plurality of connecting rods and joint modules; the joint module is used for driving the connecting rod to rotate in the axial direction or to perform a pitching action, thereby improving the accessibility and flexibility of the mechanical arm; in the present disclosure, each joint is mainly a harmonic module, and through the cooperation of the joint module and the connecting rod with a circular cross section, the overall weight of the mechanical arm is reduced; in the present disclosure, the rotating seat is provided with a hollow structure, and the corresponding hollow of the fourth connecting rod and the hollow flange is realized through gear transmission, so that the cable of the catheter can pass through the inner cavities of the rotating seat, the fourth connecting rod and the hollow flange, thereby facilitating the installation of the cable catheter and the like. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings. Other features, objects and advantages of the present disclosure will become more apparent through reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings:

[0019] Fig. 1 is a structural schematic diagram of an integrated mechanical arm in an embodiment of the present disclosure;

[0020] Fig. 2 is a structural schematic diagram of a mechanical wrist arm in an embodiment of the present disclosure;

[0021] Fig. 3 is a driving schematic diagram of the rotation of a mechanical arm in an embodiment of the present disclosure;

[0022] Fig. 4 is an exploded view of a mechanical arm wrist in an embodiment of the present disclosure;

[0023] Fig. 5 is a structural schematic diagram of a camera support in an embodiment of the present disclosure;

[0024] Fig. 6 is a catheter communication schematic diagram of an end effector in an embodiment of the present disclosure;

[0025] Fig. 7 is a cross-sectional schematic diagram of a fourth connecting rod in an embodiment of the present disclosure; and

[0026] Fig. 8 is a structural schematic diagram of a mobile robot in an embodiment of the present disclosure.

[0027] In the figure: 1 is the base; 2 is the rotating seat; 201 is the driving motor; 202 is the mounting chassis; 3 is the camera support; 301 is the support motor; 302 is the mounting plate; 303 is the camera support rod; 304 is the sensing module; 4 is the first joint module; 5 is the first connecting rod; 6 is the second joint module; 7 is the second connecting rod; 8 is the third joint module; 9 is the third connecting rod; 901 is the fixed support; 10 is the fourth joint module; 11 is the fourth connecting rod; 1101 is the second transmission gear; 1102 is the gear output connecting mechanism; 1103 is the first bearing; 1104 is the small arm short tube; 12 is the fifth joint module; 13 is the mounting support; 14 is the hollow support; 15 is the hollow flange; 1501 is the third transmission gear; 16 is the sixth joint module; 1601 is the fourth transmission gear; 100 is the integrated mechanical arm; 200 is the mobile base; 300 is the end effector. DETAILED DESCRIPTION

[0028] The present disclosure will be described in detail below with specific reference being made to specific embodiments thereof. It is to be noted that the following examples are intended to assist in understanding the present disclosure and are not intended to limit the present disclosure in any way. It is to be appreciated that those skilled in the art, on the basis of the teaching of the present disclosure, can make numerous changes and modifications which, however, will not cause a departure from the scope of the present disclosure.

[0029] It should be noted that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or indirectly on the other element with intervening elements present. When an element is referred to as being "connected" or "coupled" to another element, it can be directly connected to the other element or indirectly connected to the other element by intervening elements. In addition, the connection can be for fixed or circuit communication purposes.

[0030] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, specify the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present disclosure and simplifying 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 limiting the present disclosure.

[0031] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0032] The integrated mechanical arm provided by the present disclosure comprises a base, a rotating seat arranged on the base, a multi-axis mechanical arm connected to the rotating seat and capable of driving the multi-axis mechanical arm to rotate around the central axis of the rotating seat, a multi-axis mechanical arm comprising a plurality of connecting rods and a joint module, and the joint module is used to drive the connecting rods to rotate in the axial direction or to perform a pitching action.

[0033] In the present disclosure, the rotating seat is arranged on the base, the multi-axis mechanical arm is connected to the rotating seat and capable of driving the multi-axis mechanical arm to rotate around the central axis of the rotating seat, the multi-axis mechanical arm comprises a plurality of connecting rods and a joint module, and the joint module is used to drive the connecting rods to rotate in the axial direction or to perform a pitching action, thereby improving the accessibility and flexibility of the mechanical arm.

[0034] The above is the core idea of the present disclosure. In order to make the above-mentioned purposes, features and advantages of the present disclosure more apparent and easy to understand, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present disclosure.

[0035] FIG. 1 is a structural schematic diagram of an integrated mechanical arm 100 in an embodiment of the present disclosure. As shown in FIG. 1, the integrated mechanical arm 100 provided by the present disclosure comprises a base 1, a rotating seat 2 arranged on the base 1, a multi-axis mechanical arm connected to the rotating seat 2 and capable of driving the multi-axis mechanical arm to rotate around the central axis of the rotating seat 2, a multi-axis mechanical arm comprising a plurality of connecting rods and a joint module, and the joint module is used to drive the connecting rods to rotate in the axial direction or to perform a pitching action.

[0036] In the embodiment of the present disclosure, the joint module can realize rapid production and rapid assembly of robots, and can save the labor and time cost of hundreds of mechanical and electronic device selection, design, procurement and assembly.

[0037] The joint module comprises: a motor end absolute value encoder, which is arranged at the end of the motor and used to collect the speed of the motor by using the joint speed; a multi-turn absolute value encoder at the output end, which can memorize single-turn and multi-turn power-off positions and realizes full-closed loop control; a frameless torque motor, which is used to output torque to the speed reducer; a precision harmonic speed reducer, which comprises a 50 reduction ratio, a 80 reduction ratio, a 100 reduction ratio or a 120 reduction ratio; a DC driver, which is used to change the motor voltage to control the brushless DC speed; a friction type brake holder, which is used for braking and position holding of the joint module and can realize full load zero speed starting and full speed heavy load emergency stop; and a torque sensor, which is used to measure torque and rotating speed. In the embodiment of the present disclosure, the multi-axis mechanical arm adopts a six-degree-of-freedom robot arm. The rotating base 2 comprises a driving motor 201 and a speed reducer; the output end of the driving motor 201 is drivingly connected to the input end of the speed reducer; the speed reducer is provided with an output end cover; the outer edge of the output end cover extends out of a mounting chassis 202; and the mounting chassis 202 is provided with a first joint module 4. The speed reducer is provided in a hollow structure; and a wire tube is arranged in the hollow structure.

[0038] In the embodiment of the present disclosure, the multi-axis mechanical arm comprises three pitch joints, a rotating joint and a two-degree-of-freedom wrist connected in sequence.

[0039] The pitch joint comprises: a first joint, a second joint and a third joint.

[0040] The first joint comprises a first joint module 4 and a first connecting rod 5; the first joint module 4 is used to drive the first connecting rod 5 to rotate to perform a pitch action.

[0041] The second joint comprises a second joint module 6 and a second connecting rod 7; the second joint module 6 is arranged at the tip of the first connecting rod 5 and used to drive the second connecting rod 7 to rotate to perform a pitch action; and

[0042] The third joint comprises a third joint module 8 and a third connecting rod 9; the third joint module 8 is arranged at the tip of the second connecting rod 7 and used to drive the third connecting rod 9 to rotate to perform a pitch action.

[0043] In the embodiment of the present disclosure, the axial directions of the first joint module 4, the second joint module 6 and the third joint module 8 are parallel to each other.

[0044] Fig. 2 is a structural schematic view of a mechanical wrist arm in the embodiment of the present disclosure; as shown in Fig. 2, the rotating joint comprises a fourth joint module 10 and a fourth connecting rod 11.

[0045] The third connecting rod 9 comprises an upper support and a lower support; the lower support is connected to the third joint module 8 at a root end and connected to the upper support at a tip end; the upper support is sequentially provided with the fourth joint module 10 and the fourth connecting rod 11 in a direction;

[0046] The fourth joint module 10 is configured to drive the fourth connecting rod 11 to rotate in an axial direction, and further drive the wrist to rotate.

[0047] In the embodiment of the present disclosure, the axis of the fourth joint module 10 is perpendicular to the axes of the first joint module 4, the second joint module 6 and the third joint module 8.

[0048] Fig. 3 is a driving schematic diagram of the rotation of the mechanical arm in the embodiment of the present disclosure; as shown in Fig. 3, the output flange of the fourth joint module 10 is provided with a first transmission gear 1001, and the root end of the fourth connecting rod 11 is provided with a second transmission gear 1101; the first transmission gear 1001 and the second transmission gear 1101 are engaged, so that the fourth joint module 10 drives the fourth connecting rod 11 to rotate through the first transmission gear 1001 and the second transmission gear 1101 in sequence.

[0049] The fourth connecting rod 11 and the fourth joint module 10 are connected through a fixed support 901;

[0050] Fig. 7 is a sectional schematic diagram of the fourth connecting rod in the embodiment of the present disclosure; as shown in Fig. 7, the fourth connecting rod 11 comprises a small arm short pipe 1104, a first bearing 1103 and a gear output connecting mechanism 1102; the first transmission gear 1101 is connected to the root end of the small arm short pipe 1104 through the gear output connecting mechanism 1102, and the tip end of the small arm short pipe 1104 is connected to the mounting support 13.

[0051] Fig. 4 is an exploded view of the mechanical arm wrist in the embodiment of the present disclosure; as shown in Fig. 4, the wrist comprises a fifth joint module 12, a sixth joint module 16, a mounting support 13, a hollow support 14 and a hollow flange 15;

[0052] The mounting support 13 is arranged at the tip end of the fourth connecting rod 11; the fifth joint module 12 is arranged on the mounting support 13 and configured to drive the hollow support 14 to perform a rotary motion;

[0053] The hollow support 14 is sequentially provided with the hollow flange 15 and the sixth joint module 16 in a direction; the sixth joint module 16 is configured to drive the hollow flange 15 to rotate, and the hollow flange 15 is configured to mount an end effector.

[0054] In the embodiment of the present disclosure, the hollow flange 15 is provided with a third transmission gear 1501; the output flange of the sixth joint module 16 is provided with a fourth transmission gear 1601; the fourth transmission gear 1601 is engaged with the third transmission gear 1501.

[0055] The sixth joint module 16 drives the hollow flange 15 to rotate through the fourth transmission gear 1601 and the third transmission gear 1501 in turn, and further drives the end effector on the hollow flange 15 to rotate.

[0056] In the embodiment of the present disclosure, the axes of the fifth joint module 12 and the sixth joint module 16 are perpendicular to each other.

[0057] The axes of the fourth joint module 10 and the fifth joint module 12 are perpendicular to each other, and are parallel to the axis of the sixth joint module 16.

[0058] The axis of the fifth joint module 12 is parallel to the axes of the first joint module 4, the second joint module 6 and the third joint module 8.

[0059] The axis of the sixth joint module 16 is perpendicular to the axes of the first joint module 4, the second joint module 6 and the third joint module 8.

[0060] Fig. 5 is a structural schematic view of a camera support in the embodiment of the present disclosure. As shown in Fig. 5, in the embodiment of the present disclosure, the outer wall of the rotating seat 2 is connected with a mounting bottom plate 302; the mounting bottom plate 302 is provided with a camera support 3; the camera support 3 comprises a support motor 301, the mounting bottom plate 302, a camera support rod 303 and a sensing module 304; the mounting bottom plate 302 is connected with the outer wall surface of the rotating seat 2; the mounting bottom plate 302 is provided with a transmission mechanism, the output end of the support motor 301 is connected with the input end of the transmission mechanism, and the output end of the transmission mechanism is connected with the camera support rod 303 to drive the camera support rod 303 to rotate along the axial direction; the top end of the camera support rod 303 is provided with the sensing module 304.

[0061] In the embodiment of the present disclosure, the transmission mechanism adopts a gear transmission assembly, such as two meshing gears; the sensing module 304 comprises a fisheye camera, a first laser radar and a second laser radar; the first laser radar and the second laser radar are arranged back to back, the fisheye camera is arranged on the first laser radar and the second laser radar, and the fisheye camera, the first laser radar and the second laser radar are correlated in the field of view through calibration. The periphery of the fisheye camera is provided with a plurality of circumferentially distributed light sources.

[0062] Figure 6 is a schematic diagram of a catheter communication of an end effector in the embodiment of the present disclosure, as shown in Figure 6, in the embodiment of the present disclosure, the end effector comprises a vacuum source, a catheter and a suction cup assembly;

[0063] The vacuum source is connected to the suction cup assembly through the catheter for providing vacuum to the suction cup assembly.

[0064] The catheter connects the suction cup assembly in turn through the inner cavity of the fourth connecting rod 11 and the inner cavity of the hollow flange 15.

[0065] In the embodiment of the present disclosure, the hollow flange 15 and the fourth connecting rod 11 are coaxially arranged.

[0066] Figure 8 is a schematic diagram of the structure of a mobile robot in the embodiment of the present disclosure, as shown in Figure 8, in the embodiment of the present disclosure, the mobile robot provided by the present disclosure comprises the integrated robot arm 100, and further comprises a mobile base;

[0067] The mobile base 200 is used to move to any position or pause at any position and determine the orientation angle according to the received control instruction.

[0068] The integrated robot arm 100 is arranged on the mobile base 200 and is used to move the target box conveyed by the conveyor to a discharging position or move the target box on the discharging position to the conveyor.

[0069] The end effector 300 is arranged at the end of the integrated robot arm 100 and is connected to the hollow flange 15.

[0070] In the embodiment of the present disclosure, a rotating seat is arranged on the base, the rotating seat is connected to a multi-axis robot arm and can drive the multi-axis robot arm to rotate around the central axis of the rotating seat; the multi-axis robot arm comprises a plurality of connecting rods and joint modules; the joint module is used to drive the connecting rod to rotate in the axial direction or to perform a pitching action, thereby improving the accessibility and flexibility of the robot arm; in the present disclosure, the joint is mainly a harmonic module, and the joint module cooperates with the connecting rod with a circular cross section, thereby reducing the overall weight of the robot arm; in the present disclosure, the rotating seat is arranged in a hollow structure, and the fourth connecting rod and the hollow flange are correspondingly hollow through gear transmission, so that the catheter cable can pass through the inner cavities of the rotating seat, the fourth connecting rod and the hollow flange, thereby facilitating the installation of the cable catheter and the like.

[0071] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to make or use this disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0072] The specific embodiments of this disclosure have been described above. It should be understood that this disclosure is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this disclosure.

Claims

1. An integrated robot arm, comprising: a base, wherein a rotating seat is arranged on the base, the rotating seat is connected with a multi-axis robot arm and is capable of driving the multi-axis robot arm to rotate around a central axis of the rotating seat; a multi-axis robot arm, comprising a plurality of links and joint modules; the joint modules are configured to drive the links to rotate in an axial direction or to perform a pitch action.

2. The integrated robotic arm of claim 1, wherein, The multi-axis robot arm is a six-degree-of-freedom robot arm.

3. The integrated robotic arm of claim 1, wherein, The rotating seat comprises a driving motor and a speed reducer; an output end of the driving motor is drivingly connected with an input end of the speed reducer; the speed reducer is provided with an output end cover; an outer edge of the output end cover extends out of a mounting base; the mounting base is provided with a first joint module; the speed reducer is provided in a hollow structure; a wire tube is arranged in the hollow structure.

4. The integrated robotic arm of claim 1, wherein, The multi-axis robot arm comprises three pitch joints, a rotation joint and a two-degree-of-freedom wrist connected in sequence.

5. The integrated robotic arm of claim 4, wherein, The pitch joints comprise a first joint, a second joint and a third joint; the first joint comprises a first joint module and a first link, the first joint module is configured to drive the first link to rotate to perform a pitch action; the second joint comprises a second joint module and a second link, the second joint module is arranged at a distal end of the first link and is configured to drive the second link to rotate to perform a pitch action; the third joint comprises a third joint module and a third link, the third joint module is arranged at a distal end of the second link and is configured to drive the third link to rotate to perform a pitch action.

6. The integrated robotic arm of claim 5, wherein, The rotation joint comprises a fourth joint module and a fourth link; the third link comprises an upper bracket and a lower bracket; a root end of the lower bracket is connected with the third joint module, a distal end of the lower bracket is connected with the upper bracket; the upper bracket is provided with the fourth joint module and the fourth link in sequence along a direction; the fourth joint module is configured to drive the fourth link to rotate in an axial direction and further drive the wrist to rotate.

7. The integrated robotic arm of claim 6, wherein, The wrist comprises a fifth joint module, a sixth joint module, a mounting bracket, a hollow bracket and a hollow flange; the mounting bracket is arranged at a distal end of the fourth link; the fifth joint module is arranged on the mounting bracket and is configured to drive the hollow bracket to perform a rotation motion; the hollow bracket is provided with the hollow flange and the sixth joint module in sequence along a direction; the sixth joint module is configured to drive the hollow flange to rotate; the hollow flange is configured to be mounted with an end effector.

8. The integrated robotic arm of claim 7, wherein, The end effector comprises a vacuum source, a conduit and a suction cup assembly; the vacuum source is connected with the suction cup assembly through the conduit and is configured to provide a vacuum to the suction cup assembly; the conduit passes through an inner cavity of the fourth link and an inner cavity of the hollow flange in sequence to connect the suction cup assembly.

9. The integrated robotic arm of claim 8, wherein, The hollow flange and the fourth link are coaxially arranged.

10. A mobile robot, comprising the integrated robot arm according to any one of claims 1 to 9 and further comprising a mobile base; the mobile base is configured to move to any position or pause at any position and determine an orientation angle according to a received control instruction. An integrated robot is arranged on the mobile base and configured to move a target box conveyed by a conveyor to a discharge position or move the target box on the discharge position to the conveyor. An end effector is arranged at the end of the integrated robot.

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