Figure 3: The compositions of the system. ①, ③: crosslink Ethernet cable; ②: grab-side control unit; ④: serial line; ⑤: robot controller; ⑥: place-side control unit; ⑦: robot control line; ⑧, ⑪: light source of camera; ⑨: place-side camera; ⑭: grab-side camera; ⑩: battery lid; ⑬: conveyor belt; ⑫: 4-degree robot; ⑮: air pump; : circuit board of air pump driver; : tray of sealing ring; : back view of sealing ring; : front view of sealing ring.