Composite transfer robot integrating visual inspection

Abstract

The invention discloses a composite transfer robot integrating visual inspection, and relates to the technical field of transfer equipment, the composite transfer robot integrating visual inspection comprises a base, a guide rail is installed on the base, a moving seat is slidably installed on the guide rail, and a bottom plate is installed on the side, close to an input roller set, of the moving seat; a longitudinal telescopic rod is installed on the bottom plate, a linkage plate is installed on the longitudinal telescopic rod, a transverse telescopic rod is installed on the linkage plate, a visual detector is installed on the transverse telescopic rod, and when objects on the input roller set need to be carried, the longitudinal telescopic rod is started to drive the linkage plate to conduct height adjustment; and then by starting the transverse telescopic rod, the transverse telescopic rod can drive the visual detector to transversely move, information on the objects can be conveniently and visually detected and scanned, the objects can be conveniently carried to the output roller set by the mechanical arm to be transferred and conveyed, and sorting and carrying of the objects can be achieved.

Description

Technical Field

[0001] This invention relates to the field of material handling equipment technology, specifically a composite material handling robot integrating visual inspection. Background Technology

[0002] Composite handling robots are a new type of intelligent equipment that integrates a mobile chassis, collaborative robotic arms, vision modules, and end effectors. Through an integrated control system, they achieve high-precision collaborative operation and autonomous navigation capabilities, and are widely used in intelligent manufacturing, warehousing, and logistics scenarios. For example, in automobile manufacturing, they handle parts handling and assembly, improving production line efficiency; in the 3C electronics industry, they are used for the precision assembly and testing of mobile phones, computers, and other products; in warehousing and logistics, they enable shelf handling, picking, and automated sorting. With intelligent and visual recognition technology, they achieve autonomous decision-making and task execution, and can collaborate seamlessly, achieving a seamless connection between "handling" and "operation," thus improving overall operational efficiency.

[0003] Existing composite handling robots, when transporting numerous objects, lack the ability to visually detect object information. As a result, they cannot transport objects to the corresponding output roller groups based on the information of each object, and can only perform simple handling and transportation. Therefore, they cannot achieve sorting, handling, and transportation based on the information of the objects. Summary of the Invention

[0004] The purpose of this invention is to provide a composite handling robot with integrated visual inspection to solve the problems raised in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: The integrated vision inspection composite handling robot includes a base, an input roller assembly mounted on one side of the base, and multiple output roller assemblies mounted on the other side of the base. A guide rail is mounted on the base, a movable seat is slidably mounted on the guide rail, a steering drive seat is mounted on the movable seat, a turntable is mounted on the steering drive seat, a robotic arm is mounted on the turntable, and a gripping head is mounted on the robotic arm. A base plate is mounted on the side of the movable seat closest to the input roller assembly, a longitudinal telescopic rod is mounted on the base plate, a linkage plate is mounted on the longitudinal telescopic rod, and a transverse telescopic rod is mounted on the linkage plate. Equipped with a vision inspection device, when an object on the input roller group needs to be moved, the longitudinal telescopic rod is activated, causing the linkage plate to adjust its height. Then, by activating the lateral telescopic rod, the vision inspection device can be moved laterally, facilitating visual inspection and scanning of the object's information. The robotic arm can control the gripper head to hold the object on the input roller group. At this time, based on the object's logistics information, the guide rail can be activated, causing the moving seat to carry the object to the corresponding output roller group. Then, the running steering drive seat drives the turntable to rotate 180°, facilitating the robotic arm to transport the object to the output roller group for transfer and conveying, thus realizing the sorting and handling of objects.

[0006] Furthermore, a position sensor is installed on the side of the movable seat away from the base plate, and position sensors are installed at the docking points of the multiple output roller groups with the base. When the movable seat moves along the guide rail, the position sensor can be moved to the corresponding position sensor position through the information feedback of the vision inspection instrument to control the movable seat to stop moving, which facilitates the sorting and transfer of objects.

[0007] Furthermore, a rotating sleeve is rotatably mounted on the steering drive seat. The top of the rotating sleeve is connected to the bottom of the turntable via a connecting rod. An electric extension rod is mounted on the rotating sleeve, a support plate is mounted on the electric extension rod, an electric lifting rod is mounted on the support plate, and a support plate is mounted on the electric lifting rod. When the gripper head grips and lifts an object, the electric extension rod can be activated to move the support plate to the bottom of the object. Then, by activating the electric lifting rod, the support plate can be controlled to support the bottom of the object. At the same time, when the steering drive seat controls the robot arm to rotate, the turntable can be driven to rotate synchronously via the connecting rod during rotation, thus achieving synchronous support of the moving object by the support plate.

[0008] Furthermore, two sets of vertical plates are symmetrically installed on both sides of the bottom of the pallet. The two vertical plates on the same side are connected by a crossbar. A sliding plate is slidably installed on the crossbar. A perforation is opened on the sliding plate away from the electric lifting rod. An anti-slip washer is fitted inside the perforation. A linkage rod is installed on the side of the sliding plate near the perforation. The linkage rod passes through the anti-slip washer. A force plate is installed on the end of the linkage rod away from the sliding plate. An offset sensor is installed on the force plate. When the steering drive seat controls the robot to rotate 180°, the object on the pallet is prone to offset due to inertial force at the moment the rotation ends. At this time, the object will squeeze the force plate during the offset process to move synchronously. The offset sensor detects the movement distance. During the movement, the force plate can drive the sliding plate to move synchronously through the linkage rod.

[0009] Furthermore, two movable tanks are installed on both sides of the bottom of the pallet, and two electric lifting rods are symmetrically installed on the inner bottom of each of the two movable tanks. Each of the two electric lifting rods is equipped with a magnetic block, which has positive and negative magnetic poles respectively. The two electric lifting rods on the same side are electrically connected to the offset sensor on the same side. When the offset sensor detects an offset, it can control the electric lifting rod to move the magnetic block by a corresponding distance according to the offset distance.

[0010] Furthermore, a micro-drive motor is installed at the top of the movable tank, and a transmission shaft is installed on the output shaft of the micro-drive motor. Multiple metal blades are evenly installed on the side wall of the transmission shaft, and a rotary joint is installed at the lower end of the transmission shaft. A current sensor is installed at the bottom of the movable tank, and the current sensor is connected to the rotary joint via a wire. A magnetic plate is installed at the bottom of the sliding plate, and an electromagnet is installed on the vertical plate near the perforation on the same side. The current sensor is electrically connected to the electromagnet. When the electric lifting rod moves, the micro-drive motor runs, and the micro-drive motor can drive the metal blades to rotate through the transmission shaft. At this time, the overlap of the two magnetic blocks with the metal blades can induce a current on the transmission shaft. The induced current enters the current sensor through the wire. The current sensor detects the intensity of the induced current and controls the magnitude of the electromagnet's magnetic force accordingly. This facilitates the repulsion between the electromagnet and the magnetic plate, allowing the magnetic plate to move back to its original position by driving the force plate through the sliding plate, making it easier to push and reset displaced objects.

[0011] Furthermore, a rotating ring is installed at the bottom of the rotating sleeve, and two sliding cavities are symmetrically arranged inside the rotating ring. A compression ball is rolled in each of the two sliding cavities, and a pressure sensor is installed on the adjacent ends of the two sliding cavities. The bottom of the two sliding cavities is an inclined surface, and the pressure sensor is located at the highest point of the inclined surface.

[0012] Furthermore, the pressure sensors are a forward rotation pressure sensor and a reverse rotation pressure sensor, which are located in two sliding cavities respectively. The forward and reverse rotation pressure sensors are activated according to the steering control of the steering drive seat. The forward and reverse rotation pressure sensors are electrically connected to the micro-drive motor on the same side. When the steering drive seat rotates forward, the turntable drives the rotating ring to rotate synchronously. At this time, the extrusion ball moves along the same trajectory as the rotating ring. When the rotating ring stops, the extrusion ball continues to move along the inclined surface of the sliding cavity under inertial force and collides with the forward rotation pressure sensor. At this time, the forward rotation pressure sensor can control the operating power of the micro-drive motor according to the change in the force coefficient, realizing the speed control of the metal blade. This facilitates the corresponding increase in the intensity of the induced current according to the change in the rotation speed of the steering drive seat, which is beneficial for the force plate to push and reset the object.

[0013] Compared with the prior art, the beneficial effects of the present invention are: When an object on the input roller assembly needs to be moved, the longitudinal telescopic rod is activated, causing the linkage plate to adjust its height. Then, by activating the transverse telescopic rod, the vision inspection device can be moved laterally to facilitate visual inspection and scanning of the object's information. The robotic arm can control the gripper head to hold the object on the input roller assembly. At this time, based on the object's logistics information, the guide rail can be activated. As the moving seat moves along the guide rail, the information feedback from the vision inspection device facilitates the robotic arm to move the object to the output roller assembly for transfer and conveying, thus realizing the sorting and handling of objects.

[0014] In this application, at the moment the object finishes rotating, the displacement sensor detects the distance the object has moved due to inertia. Based on the displacement distance, the electric lifting rod can be controlled to move the magnetic block a corresponding distance, controlling the change in the overlapping area of ​​the two magnetic blocks and the metal blade. This facilitates the detection of the intensity of the induced current by the current sensor and the corresponding control of the operating magnetic force of the electromagnet, making it easier to push and reset the displaced object.

[0015] This application can control the operating power of the micro-drive motor according to the change in the rotation speed of the steering drive seat through the forward rotation pressure sensor based on the change in the force coefficient, thereby realizing the speed control of the metal blade. This facilitates the corresponding increase in the intensity of the induced current according to the change in the rotation speed of the steering drive seat, which is beneficial for the force plate to push and reset the object. Attached Figure Description

[0016] Figure 1 This is a first-view structural diagram of the present invention; Figure 2This is a schematic diagram of the second perspective structure of the present invention; Figure 3 This is a partial structural diagram of the present invention; Figure 4 This is a schematic diagram of a partial first cross-sectional structure of the present invention; Figure 5 This is a schematic diagram of a partial second cross-sectional structure of the present invention; Figure 6 for Figure 4 Enlarged structural diagram at point A in the diagram; Figure 7 for Figure 4 Enlarged structural diagram at point B in the diagram; Figure 8 This is a schematic diagram of the rotating ring.

[0017] In the diagram: 1. Base; 2. Input roller assembly; 3. Output roller assembly; 4. Guide rail; 5. Moving seat; 6. Steering drive seat; 7. Turntable; 8. Robotic arm; 9. Gripping head; 10. Base plate; 11. Longitudinal telescopic rod; 12. Linkage plate; 13. Lateral telescopic rod; 14. Vision inspection instrument; 15. Position sensor; 16. Position sensor; 1701. Sliding sleeve; 1702. Connecting rod; 1703. Electric extension rod; 1704. Support plate; 1705. Electric lifting rod; 1706. Pallet; 1707. Vertical plate; 1708. Horizontal bar; 1709. Slide plate; 1710. Linkage rod; 1711. Perforation; 1712. Force plate; 1713. Offset sensor; 1714. Movable tank; 1715. Electric lifting rod; 1716. Magnetic block; 1801, Micro-drive motor; 1802, Conductor shaft; 1803, Metal blade; 1804, Current sensor; 1805, Wire; 1806, Rotary ring; 1807, Sliding cavity; 1808, Extrusion ball; 1809, Forward rotation pressure sensor; 1810, Reverse rotation pressure sensor; 1811, Magnetic plate; 1812, Electromagnet; 1813, Rotary joint. Detailed Implementation

[0018] The technical solutions of 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.

[0019] Example: Figures 1-8As shown, this invention provides a technical solution for a composite handling robot with integrated vision inspection. This composite handling robot includes a base 1, an input roller group 2 mounted on one side of the base 1, and multiple output roller groups 3 mounted on the other side of the base 1. A guide rail 4 is mounted on the base 1, a movable seat 5 is slidably mounted on the guide rail 4, a steering drive seat 6 is mounted on the movable seat 5, a turntable 7 is mounted on the steering drive seat 6, a robotic arm 8 is mounted on the turntable 7, and a gripping head 9 is mounted on the robotic arm 8. A base plate 10 is mounted on the side of the movable seat 5 closest to the input roller group 2, a longitudinal telescopic rod 11 is mounted on the base plate 10, a linkage plate 12 is mounted on the longitudinal telescopic rod 11, and a transverse telescopic rod 13 is mounted on the linkage plate 12. Equipped with a vision inspection device 14, when an object on the input roller group 2 needs to be moved, the longitudinal telescopic rod 11 is activated, causing the linkage plate 12 to adjust its height. Then, by activating the transverse telescopic rod 13, the vision inspection device 14 can be moved laterally, facilitating visual inspection and scanning of the object's information. The robotic arm 8 can control the gripper head 9 to grip the object on the input roller group 2. At this time, based on the object's logistics information, the guide rail 4 can be activated, causing the moving seat 5 to move the object to the corresponding output roller group 3. Then, the turning table 7 is rotated 180° by the running steering drive seat 6, facilitating the robotic arm 8 to move the object to the output roller group 3 for transfer and conveying, thus realizing the sorting and handling of objects.

[0020] A position sensor 15 is installed on the side of the movable seat 5 away from the base plate 10. Position sensors 16 are installed at the docking points of multiple output roller groups 3 and the base 1. When the movable seat 5 moves along the guide rail 4, the position sensor 15 can be moved to the corresponding position sensor 16 by the information feedback from the vision inspection instrument 14 to control the movable seat 5 to stop moving, which facilitates the sorting and transfer of objects.

[0021] A rotating sleeve 1701 is rotatably mounted on the steering drive seat 6. The top of the rotating sleeve 1701 is connected to the bottom of the turntable 7 via a connecting rod 1702. An electric extension rod 1703 is mounted on the rotating sleeve 1701. A support plate 1704 is mounted on the electric extension rod 1703. An electric lifting rod 1705 is mounted on the support plate 1704. A pallet 1706 is mounted on the electric lifting rod 1705. When the gripper head 9 grips and lifts an object, the electric extension rod 1703 can be activated to move the support plate 1704 to the bottom of the object. Then, by activating the electric lifting rod 1705, the electric lifting rod 1705 can control the pallet 1706 to support the bottom of the object. At the same time, when the steering drive seat 6 controls the robot arm 8 to rotate, the turntable 7 can be driven by the connecting rod 1702 to rotate synchronously during rotation, so that the pallet 1706 can synchronously support the moving object.

[0022] Two sets of vertical plates 1707 are symmetrically installed on both sides of the bottom of the pallet 1706. The two vertical plates 1707 on the same side are connected by a crossbar 1708. A sliding plate 1709 is slidably installed on the crossbar 1708. A through hole 1711 is opened on the sliding plate 1709 away from the electric lifting rod 1705. An anti-slip washer is fitted inside the through hole 1711. A linkage rod 1710 is installed on the side of the sliding plate 1709 near the through hole 1711. The linkage rod 1710 passes through the anti-slip washer. The end of the linkage rod 1710 away from the sliding plate 1709 is installed with... There is a force plate 1712, on which an offset sensor 1713 is installed. When the steering drive seat 6 controls the robot arm 8 to rotate 180°, at the moment the rotation ends, the object on the pallet 1706 is prone to offset due to inertial force. At this time, the object will squeeze the force plate 1712 to move synchronously during the offset process, and the offset sensor 1713 will detect the moving distance. During the movement, the force plate 1712 can drive the slide plate 1709 to move synchronously through the linkage rod 1710.

[0023] Two movable tanks 1714 are installed on both sides of the bottom of the pallet 1706. Two electric lifting rods 1715 are symmetrically installed on the inner bottom of the two movable tanks 1714. A magnetic block 1716 is installed on each of the two electric lifting rods 1715. The two magnetic blocks 1716 are positive and negative magnetic poles, respectively. The two electric lifting rods 1715 on the same side are electrically connected to the offset sensor 1713 on the same side. When the offset sensor 1713 detects an offset, it can control the electric lifting rods 1715 to drive the magnetic blocks 1716 to move a corresponding distance according to the offset distance.

[0024] A micro-drive motor 1801 is installed on the inner top of the movable tank 1714. A transmission shaft 1802 is installed on the output shaft of the micro-drive motor 1801. Multiple metal blades 1803 are evenly installed on the side wall of the transmission shaft 1802. A rotary joint 1813 is installed at the lower end of the transmission shaft 1802. A current sensor 1804 is installed at the bottom of the movable tank 1714. The current sensor 1804 is connected to the rotary joint 1813 via a wire 1805. A magnetic plate 1811 is installed at the bottom of the sliding plate 1709. An electromagnet 1812 is installed on the vertical plate 1707 on the same side near the perforation 1711. The current sensor 1804 is electrically connected to the electromagnet 1812. When the electric lifting rod 1715 moves... When in motion, the micro-drive motor 1801 runs, and the micro-drive motor 1801 can drive the metal blade 1803 to rotate through the transmission shaft 1802. At this time, through the overlap of the two magnetic blocks 1716 with the metal blade 1803, an induced current can be formed on the transmission shaft 1802. The induced current enters the current sensor 1804 through the wire 1805. The current sensor 1804 detects the intensity of the induced current and controls the magnitude of the operating magnetic force of the electromagnet 1812 accordingly. This facilitates the repulsion between the like poles of the electromagnet 1812 and the magnetic plate 1811, so that the magnetic plate 1811 can drive the force plate 1712 to reset and move through the sliding plate 1709, which is convenient for pushing and resetting the displaced object.

[0025] A rotating ring 1806 is installed at the bottom of the rotating sleeve 1701. Two sliding cavities 1807 are symmetrically arranged inside the rotating ring 1806. A compression ball 1808 is rolled inside each of the two sliding cavities 1807. A pressure sensor is installed on the adjacent ends of the two sliding cavities 1807. The bottom of the two sliding cavities 1807 is a slope, and the pressure sensor is located at the highest point of the slope.

[0026] The pressure sensors are a forward rotation pressure sensor 1809 and a reverse rotation pressure sensor 1810, which are respectively located in two sliding cavities 1807. The forward rotation pressure sensor 1809 and the reverse rotation pressure sensor 1810 are activated according to the steering control of the steering drive seat 6. The forward rotation pressure sensor 1809 and the reverse rotation pressure sensor 1810 are electrically connected to the micro-drive motor 1801 on the same side. The forward rotation pressure sensor 1809 or the reverse rotation pressure sensor 1810 can be activated according to the steering control of the steering drive seat 6. When the steering drive seat 6 rotates forward, the turntable 7 can be driven... The rotating ring 1806 rotates synchronously. At this time, the extrusion ball 1808 will move along the same trajectory as the rotating ring 1806. When the rotating ring 1806 stops, the extrusion ball 1808 will continue to move along the inclined surface of the slide cavity 1807 under the action of inertia and collide with the forward rotation pressure sensor 1809. At this time, the forward rotation pressure sensor 1809 can control the running power of the micro drive motor 1801 according to the change of the force coefficient, so as to realize the speed control of the metal blade 1803. It is convenient to increase the intensity of the induced current according to the change of the rotation speed of the steering drive seat 6, which is beneficial to the force plate 1712 pushing and resetting the object.

[0027] Working principle of the invention: When an object on the input roller group 2 needs to be moved, the longitudinal telescopic rod 11 is activated, causing the linkage plate 12 to adjust its height. Then, by activating the transverse telescopic rod 13, the vision inspection instrument 14 can move laterally, facilitating visual inspection and scanning of the object's information. The robotic arm 8 can control the gripper head 9 to grip the object on the input roller group 2. At this time, based on the object's logistics information, the guide rail 4 can be activated. When the moving seat 5 moves along the guide rail 4, the information feedback from the vision inspection instrument 14 causes the position sensor 15 to move to the corresponding position sensor 16, controlling the moving seat 5 to stop moving. Then, the running steering drive seat 6 drives the turntable 7 to rotate 180°, facilitating the robotic arm 8 to transport the object to the output roller group 3 for transfer and conveying, thus realizing the sorting and handling of objects. When the gripper head 9 grips and lifts the object, the electric extension rod 1703 can be activated to move the support plate 1704 to the bottom of the object. Then, by activating the electric lifting rod 1705, the electric lifting rod 1705 can control the pallet 1706 to support the bottom of the object. At the same time, when the steering drive seat 6 controls the robot arm 8 to rotate, the turntable 7 can drive the rotating sleeve 1701 to rotate synchronously through the connecting rod 1702, so that the pallet 1706 can synchronously support the moving object.

[0028] When the steering drive seat 6 controls the robotic arm 8 to rotate 180°, at the moment the rotation ends, the object on the pallet 1706 is prone to shift due to inertial force. During this shift, the object will press against the force plate 1712 for synchronous movement, and the shift sensor 1713 will detect the movement distance. During this movement, the force plate 1712 can drive the sliding plate 1709 to move synchronously via the linkage rod 1710, which will shorten the distance between the electromagnet 1812 and the magnetic plate 1811. Furthermore, when the shift sensor 1713 detects the shift, it can control the electric lifting rod 1715 to drive the magnetic block 1716 to move a corresponding distance based on the shift distance. When moving, the micro-drive motor 1801 can drive the metal blade 1803 to rotate through the transmission shaft 1802. At this time, the overlap of the two magnetic blocks 1716 with the metal blade 1803 can induce a current on the transmission shaft 1802. The induced current enters the current sensor 1804 through the wire 1805. The current sensor 1804 detects the intensity of the induced current and controls the magnitude of the operating magnetic force of the electromagnet 1812 accordingly. This facilitates the repulsion between the like poles of the electromagnet 1812 and the magnetic plate 1811, allowing the magnetic plate 1811 to move and reset through the sliding plate 1709, making it easier to push and reset the displaced object.

[0029] When the steering drive seat 6 rotates forward, the turntable 7 can drive the rotating ring 1806 to rotate synchronously. At this time, the extrusion ball 1808 will move along the same trajectory as the rotating ring 1806. When the rotating ring 1806 stops, the extrusion ball 1808 will continue to move along the inclined surface of the slide cavity 1807 under the action of inertia and collide with the forward rotation pressure sensor 1809. At this time, the forward rotation pressure sensor 1809 can control the operating power of the micro drive motor 1801 according to the change of the force coefficient, so as to realize the speed control of the metal blade 1803. This makes it easier to increase the intensity of the induced current according to the change of the rotation speed of the steering drive seat 6, which is beneficial to the force plate 1712 pushing and resetting the object.

[0030] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A composite handling robot integrating visual inspection, characterized in that: The integrated vision inspection composite handling robot includes a base (1), an input roller group (2) is installed on one side of the base (1), and multiple output roller groups (3) are installed on the other side of the base (1). A guide rail (4) is installed on the base (1), a movable seat (5) is slidably installed on the guide rail (4), a steering drive seat (6) is installed on the movable seat (5), a turntable (7) is installed on the steering drive seat (6), a robot arm (8) is installed on the turntable (7), a gripper head (9) is installed on the robot arm (8), a base plate (10) is installed on the side of the movable seat (5) near the input roller group (2), a longitudinal telescopic rod (11) is installed on the base plate (10), a linkage plate (12) is installed on the longitudinal telescopic rod (11), a transverse telescopic rod (13) is installed on the linkage plate (12), and a vision inspection instrument (14) is installed on the transverse telescopic rod (13).

2. The composite handling robot integrating visual inspection according to claim 1, characterized in that: A position sensor (15) is installed on the side of the movable seat (5) away from the base plate (10), and a position sensor (16) is installed at the docking point of the multiple output roller groups (3) with the base (1).

3. The composite handling robot integrating visual inspection according to claim 2, characterized in that: A rotating sleeve (1701) is rotatably mounted on the steering drive seat (6). The top of the rotating sleeve (1701) is connected to the bottom of the turntable (7) via a connecting rod (1702). An electric extension rod (1703) is mounted on the rotating sleeve (1701). A support plate (1704) is mounted on the electric extension rod (1703). An electric lifting rod (1705) is mounted on the support plate (1704). A support plate (1706) is mounted on the electric lifting rod (1705).

4. The composite handling robot integrating visual inspection according to claim 3, characterized in that: Two sets of vertical plates (1707) are symmetrically installed on both sides of the bottom of the pallet (1706). The two vertical plates (1707) on the same side are connected by a crossbar (1708). A sliding plate (1709) is slidably installed on the crossbar (1708). A through hole (1711) is opened on the sliding plate (1709) away from the electric lifting rod (1705). An anti-slip washer is fitted inside the through hole (1711). A linkage rod (1710) is installed on the side of the sliding plate (1709) near the through hole (1711). The linkage rod (1710) passes through the anti-slip washer. A force plate (1712) is installed on the end of the linkage rod (1710) away from the sliding plate (1709). An offset sensor (1713) is installed on the force plate (1712).

5. A composite handling robot integrating visual inspection according to claim 4, characterized in that: Two movable tanks (1714) are installed on both sides of the bottom of the pallet (1706). Two electric lifting rods (1715) are symmetrically installed on the inner bottom of the two movable tanks (1714). A magnetic block (1716) is installed on each of the two electric lifting rods (1715). The two magnetic blocks (1716) are positive and negative magnetic poles respectively. The two electric lifting rods (1715) on the same side are electrically connected to the offset sensor (1713) on the same side.

6. The composite handling robot integrating visual inspection according to claim 5, characterized in that: A micro-drive motor (1801) is installed on the inner top of the movable tank (1714). A transmission shaft (1802) is installed on the output shaft of the micro-drive motor (1801). Multiple metal blades (1803) are evenly installed on the side wall of the transmission shaft (1802). A rotary joint (1813) is installed at the lower end of the transmission shaft (1802). A current sensor (1804) is installed at the bottom of the movable tank (1714). The current sensor (1804) is connected to the rotary joint (1813) through a wire (1805). A magnetic plate (1811) is installed at the bottom of the slide plate (1709). An electromagnet (1812) is installed on the vertical plate (1707) on the same side near the perforation (1711). The current sensor (1804) is electrically connected to the electromagnet (1812).

7. A composite handling robot integrating visual inspection according to claim 6, characterized in that: The bottom of the rotating sleeve (1701) is equipped with a rotating ring (1806), and two sliding cavities (1807) are symmetrically arranged inside the rotating ring (1806). A compression ball (1808) is rolled inside each of the two sliding cavities (1807), and a pressure sensor is installed on the adjacent ends of the two sliding cavities (1807). The bottom of the two sliding cavities (1807) is an inclined surface, and the pressure sensor is located at the highest point of the inclined surface.

8. A composite handling robot integrating visual inspection according to claim 7, characterized in that: The pressure sensors are a forward rotation pressure sensor (1809) and a reverse rotation pressure sensor (1810). The forward rotation pressure sensor (1809) and the reverse rotation pressure sensor (1810) are respectively located in two sliding cavities (1807). The forward rotation pressure sensor (1809) and the reverse rotation pressure sensor (1810) are activated according to the steering control of the steering drive seat (6). The forward rotation pressure sensor (1809) and the reverse rotation pressure sensor (1810) are electrically connected to the micro drive motor (1801) on the same side.

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