Composite handling robot with integrated vision detection

Abstract

The application discloses a kind of integrated vision detection composite handling robot, it is related to handling equipment technical field, the integrated vision detection composite handling robot includes base, the base is installed with guide rail, the guide rail is slidably installed with moving seat, the moving seat is installed with bottom plate near the side of input roller group, the bottom plate is installed with longitudinal telescopic link, the longitudinal telescopic link is installed with linkage plate, the linkage plate is installed with transverse telescopic link, the transverse telescopic link is installed with vision detector, when the article on input roller group is to be handled, start longitudinal telescopic link, make longitudinal telescopic link drive linkage plate to carry out height adjustment, again by starting transverse telescopic link, can let transverse telescopic link drive vision detector to carry out transverse movement, it is convenient to carry out vision detection scanning to the information on article, it is convenient to manipulator to carry article to output roller group and carry out transfer transport, can realize the sorting handling of article.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of carrying equipment, and particularly relates to a composite carrying robot integrated with visual detection. BACKGROUND

[0002] The composite carrying robot is a new intelligent device integrating a mobile chassis, a collaborative mechanical arm, a visual module and an end effector, and can realize high-precision collaborative operation and autonomous navigation ability through an integrated control system, and is widely applied to intelligent manufacturing, warehouse logistics and the like; for example, automobile manufacturing: completing part carrying and assembly and improving production line efficiency; 3C electronic industry: used for precise assembly and detection of mobile phones, computers and the like; warehouse logistics: realizing shelf carrying, picking and automatic sorting, and having intelligent and visual identification technology, realizing autonomous decision and task execution, and being capable of collaborative work: realizing seamless connection of "carrying + operation", and improving overall work efficiency.

[0003] The existing composite carrying robot cannot realize sorting carrying and conveying according to the information of the objects when conveying and transporting a plurality of objects, because the existing composite carrying robot does not have visual detection of the information of the objects, so that the objects can only be simply conveyed to the corresponding output roller group according to the information of the objects, and the sorting carrying and conveying according to the information of the objects cannot be realized. SUMMARY

[0004] The present application aims to provide a composite carrying robot integrated with visual detection to solve the problems in the prior art.

[0005] In order to achieve the above object, the application provides the following technical scheme: the integrated visual inspection composite handling robot comprises a base, one side of the base is provided with an input roller set, and the other side of the base is provided with a plurality of output roller sets, a guide rail is installed on the base, a moving seat is slidably installed on the guide rail, a steering drive seat is installed on the moving seat, a turntable is installed on the steering drive seat, a mechanical hand is installed on the turntable, a clamping head is installed on the mechanical hand, a bottom plate is installed on one side of the moving seat close to the input roller set, 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, and a visual inspection instrument is installed on the transverse telescopic rod; when the articles on the input roller set need to be handled, the longitudinal telescopic rod is started to adjust the height of the linkage plate driven by the longitudinal telescopic rod, and then the transverse telescopic rod is started to move the visual inspection instrument transversely, so as to facilitate visual inspection and scanning of the information on the articles; the clamping head can be controlled by the mechanical hand to clamp the articles on the input roller set; at this time, the guide rail can be started according to the logistics information of the articles to move the articles to the corresponding output roller set, and then the turntable is rotated by 180° by driving the steering drive seat, so as to facilitate the mechanical hand to handle the articles to the output roller set for transfer and conveying, and the sorting and handling of the articles can be realized.

[0006] Further, a position sensor is installed on one side of the moving seat away from the bottom plate, and a position sensor is installed at the abutment of each of the plurality of output roller sets and the base; when the moving seat moves along the guide rail, the position sensor can be moved to the corresponding position sensor to control the moving seat to stop moving according to the information feedback of the visual inspection instrument, so as to facilitate the sorting and transfer of the articles.

[0007] Further, a rotating sleeve is rotatably arranged on the steering drive seat, the top of the rotating sleeve is connected with the bottom of the turntable through a connecting rod, an electric extension rod is installed on the rotating sleeve, a supporting plate is installed on the electric extension rod, an electric lifting rod is installed on the supporting plate, and a supporting plate is installed on the electric lifting rod; when the clamping head clamps the articles, the electric extension rod can be started to move the supporting plate to the bottom of the articles, and then the electric lifting rod can be started to control the supporting plate to support the bottom of the articles; at the same time, when the steering drive seat controls the mechanical hand to rotate, the rotating sleeve can be synchronously rotated by the connecting rod during the rotation of the turntable, so as to realize the synchronous support of the supporting plate to the moving articles.

[0008] Further, two groups of vertical plates are symmetrically installed on the bottom of the supporting plate, two vertical plates on the same side are connected through a cross bar, a sliding plate is slidably installed on the cross bar, a through hole is formed on the sliding plate away from the electric lifting rod, an antiskid washer is sleeved in the through hole, a linkage rod is installed on the side of the sliding plate close to the through hole, the linkage rod penetrates the antiskid washer, a stress plate is installed on the end of the linkage rod away from the sliding plate, and an offset sensor is installed on the stress plate.

[0009] Further, two groups of vertical plates are symmetrically installed on the bottom of the supporting plate, two vertical plates on the same side are connected through a cross bar, a sliding plate is slidably installed on the cross bar, a through hole is formed on the sliding plate away from the electric lifting rod, an antiskid washer is sleeved in the through hole, a linkage rod is installed on the side of the sliding plate close to the through hole, the linkage rod penetrates the antiskid washer, a stress plate is installed on the end of the linkage rod away from the sliding plate, and an offset sensor is installed on the stress plate.

[0010] Further, a micro-drive motor is installed on the inner top of the movable tank, a transmission shaft is installed on the output shaft of the micro-drive motor, a plurality of metal blades are uniformly installed on the side wall of the transmission shaft, 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, the current sensor and the rotary joint are connected through an electric wire, a magnetic plate is installed at the bottom of the sliding plate, an electromagnet is installed on the vertical plate on the same side close to the through hole, and the current sensor and the electromagnet are electrically connected.

[0011] Further, a rotary ring is installed at the bottom of the rotating sleeve, two slide cavities are symmetrically arranged in the rotary ring, a compression ball is rollingly arranged in each slide cavity, a pressure-sensitive sensor is installed on the proximal end of each slide cavity, the bottom of each slide cavity is a slope, and the pressure-sensitive sensor is located at the highest position of the slope.

[0012] Further, the pressure sensitive sensors are positive rotation pressure sensitive sensors and reverse rotation pressure sensitive sensors respectively, the positive rotation pressure sensitive sensors and the reverse rotation pressure sensitive sensors are respectively arranged in two slide cavities, the positive rotation pressure sensitive sensors and the reverse rotation pressure sensitive sensors are started according to the steering control of the steering driving base, the positive rotation pressure sensitive sensors and the reverse rotation pressure sensitive sensors are electrically connected with the micro-drive motors on the same side, the positive rotation pressure sensitive sensors or the reverse rotation pressure sensitive sensors can be started according to the steering control of the steering driving base, when the steering driving base rotates forward, the rotating disc can drive the rotating ring to rotate synchronously, at this time, the extrusion ball moves along the same track with the rotating ring, when the rotating ring stops, the extrusion ball continues to move along the slope of the slide cavity under the action of the inertial force, and collides with the positive rotation pressure sensitive sensor, at this time, the positive rotation pressure sensitive sensor can control the operating power of the micro-drive motor according to the change of the force coefficient, the rotating speed of the metal blade is controlled, the intensity of the induced current is correspondingly enhanced according to the change of the rotating speed of the steering driving base, and the force plate is favorable to the push reset of the object.

[0013] Compared with the prior art, the application has the following beneficial effects:

[0014] When the object on the input roller group needs to be transported, the longitudinal telescopic rod is started to drive the linkage plate to adjust the height, and then the transverse telescopic rod is started to drive the visual detector to move transversely, so that the information on the object is visually detected and scanned, the clamping head is controlled by the mechanical hand to clamp the object on the input roller group, at this time, the guide rail is started according to the logistics information of the object, the object is transported to the output roller group by the mechanical hand through the information feedback of the visual detector, and the sorting and transporting of the object can be realized.

[0015] In the application, the displacement of the object under the action of inertia is detected by the offset sensor at the moment when the object stops rotating, and the magnetic block is moved by the electric lifting rod according to the displacement distance, the overlapping area of the two magnetic blocks and the metal blade is controlled, the intensity of the induced current is detected by the current sensor, the operating magnetic force of the electromagnet is controlled, and the displaced object is pushed and reset.

[0016] According to the change of the rotating speed of the steering driving base, the operating power of the micro-drive motor is controlled by the positive rotation pressure sensitive sensor according to the change of the force coefficient, the rotating speed of the metal blade is controlled, the intensity of the induced current is correspondingly enhanced according to the change of the rotating speed of the steering driving base, and the force plate is favorable to the push reset of the object. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a first perspective structure schematic view of the application;

[0018] Figure 2 The second perspective structure schematic diagram of the application;

[0019] Figure 3 The local structure schematic diagram of the application;

[0020] Figure 4 The local first cut structure schematic diagram of the application;

[0021] Figure 5 The local second cut structure schematic diagram of the application;

[0022] Figure 6 The enlarged structure schematic diagram of A in Figure 4

[0023] Figure 7 The enlarged structure schematic diagram of B in Figure 4

[0024] Figure 8 The turning ring turning schematic diagram.

[0025] In the figure: 1, base; 2, input roller group; 3, output roller group; 4, guide rail; 5, moving seat; 6, turning drive seat; 7, turntable; 8, mechanical hand; 9, clamping head; 10, bottom plate; 11, longitudinal telescopic rod; 12, linkage plate; 13, transverse telescopic rod; 14, visual detector; 15, position inductor; 16, position sensor;

[0026] 1701, rotating sleeve; 1702, connecting rod; 1703, electric extension rod; 1704, support plate; 1705, electric lifting rod; 1706, supporting plate; 1707, vertical plate; 1708, crossbar; 1709, sliding plate; 1710, linkage rod; 1711, perforation; 1712, stress plate; 1713, deviation sensor; 1714, movable tank; 1715, electric jacking rod; 1716, magnetic block;

[0027] 1801, micro-drive motor; 1802, transmission shaft; 1803, metal blade; 1804, current sensor; 1805, electric wire; 1806, rotating 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 DESCRIPTION

[0028] ​​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.

[0029] Example: Figures 1-8 As 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.

[0030] 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.

[0031] The rotating sleeve 1701 is arranged on the steering drive base 6, the top of the rotating sleeve 1701 is connected with the bottom of the rotating disc 7 through the connecting rod 1702, the electric extension rod 1703 is installed on the rotating sleeve 1701, the supporting plate 1704 is installed on the electric extension rod 1703, the electric lifting rod 1705 is installed on the supporting plate 1704, and the supporting plate 1706 is installed on the electric lifting rod 1705. When the clamping head 9 clamps and lifts the object, the electric extension rod 1703 can be started to drive the supporting plate 1704 to move to the bottom of the object, and then the electric lifting rod 1705 can be started to control the supporting plate 1706 to support the bottom of the object. At the same time, when the steering drive base 6 controls the mechanical arm 8 to rotate, the rotating disc 7 can drive the rotating sleeve 1701 to rotate synchronously through the connecting rod 1702 in the rotating process, so that the supporting plate 1706 can synchronously support the moving object.

[0032] Two groups of vertical plates 1707 are symmetrically installed on the bottom of the supporting plate 1706, the two vertical plates 1707 on the same side are connected through the cross rod 1708, the sliding plate 1709 is slidingly installed on the cross rod 1708, the perforation 1711 is formed in the sliding plate 1709 away from the electric lifting rod 1705, the anti-skid washer is sleeved in the perforation 1711, the linkage rod 1710 is installed on the side of the sliding plate 1709 close to the perforation 1711, the linkage rod 1710 penetrates through the anti-skid washer, the stress plate 1712 is installed at the end of the linkage rod 1710 away from the sliding plate 1709, and the offset sensor 1713 is installed on the stress plate 1712. When the steering drive base 6 controls the mechanical arm 8 to rotate 180°, the object is easy to be offset under the action of inertia force at the moment when the rotation is finished, at this time, the object can extrude the stress plate 1712 to move synchronously in the offset process, and the moving distance is detected through the offset sensor 1713. The stress plate 1712 can drive the sliding plate 1709 to move synchronously through the linkage rod 1710 in the moving process.

[0033] Two movable pots 1714 are installed on the bottom of the supporting plate 1706, two electric lifting rods 1715 are symmetrically installed in the inner bottom of each movable pot 1714, the magnetic block 1716 is installed on each electric lifting rod 1715, the two magnetic blocks 1716 are positive and negative magnetic poles respectively, and the two electric lifting rods 1715 on the same side are electrically connected with the offset sensor 1713 on the same side. When the offset sensor 1713 detects that the offset occurs, the electric lifting rod 1715 can be controlled to drive the magnetic block 1716 to move by a corresponding distance according to the offset distance.

[0034] The inner top of the movable tank 1714 is provided with a micro drive motor 1801, an output shaft of the micro drive motor 1801 is provided with a transmission shaft 1802, a plurality of metal blades 1803 are uniformly arranged on the side wall of the transmission shaft 1802, a rotary joint 1813 is arranged at the lower end of the transmission shaft 1802, a current sensor 1804 is arranged at the bottom of the movable tank 1714, the current sensor 1804 is connected with the rotary joint 1813 through an electric wire 1805, a magnetic plate 1811 is arranged at the bottom of the sliding plate 1709, an electromagnet 1812 is arranged on the vertical plate 1707 close to the perforated plate 1711 on the same side, the current sensor 1804 is electrically connected with the electromagnet 1812, when the electric lifting rod 1715 moves, the micro drive motor 1801 operates, the micro drive motor 1801 can drive the metal blades 1803 to rotate through the transmission shaft 1802, at this time, through the coincidence of the two magnetic blocks 1716 and the metal blades 1803, the transmission shaft 1802 can form an induced current, the induced current enters the current sensor 1804 through the electric wire 1805, the intensity of the induced current is detected through the current sensor 1804, and the operation magnetic force of the electromagnet 1812 is controlled correspondingly, so that the magnetic plate 1811 can drive the stressed plate 1712 to reset and move through the sliding plate 1709, and the offset object can be pushed and reset.

[0035] The bottom of the rotating sleeve 1701 is provided with a rotating ring 1806, two slide cavities 1807 are symmetrically arranged in the rotating ring 1806, and extruded balls 1808 are arranged in the two slide cavities 1807 and roll, pressure sensitive sensors are arranged on the proximal ends of the two slide cavities 1807, and the bottoms of the two slide cavities 1807 are inclined surfaces, and the pressure sensitive sensors are located at the highest positions of the inclined surfaces.

[0036] The pressure sensitive sensors are respectively forward rotation pressure sensitive sensor 1809 and reverse rotation pressure sensitive sensor 1810, the forward rotation pressure sensitive sensor 1809 and the reverse rotation pressure sensitive sensor 1810 are respectively in two slide cavities 1807, according to the steering control of the steering drive base 6, the forward rotation pressure sensitive sensor 1809 and the reverse rotation pressure sensitive sensor 1810 are started, the forward rotation pressure sensitive sensor 1809 and the reverse rotation pressure sensitive sensor 1810 are electrically connected with the micro drive motor 1801 on the same side, the forward rotation pressure sensitive sensor 1809 or the reverse rotation pressure sensitive sensor 1810 can be started according to the steering control of the steering drive base 6, when the steering drive base 6 rotates forward, the rotating ring 1806 can be driven to rotate synchronously by the rotating disc 7, at this time, the extrusion ball 1808 will move along the same track with the rotating ring 1806, when the rotating ring 1806 stops, the extrusion ball 1808 will continue to move along the slope of the slide cavity 1807 under the action of inertia force, and collide with the forward rotation pressure sensitive sensor 1809, at this time, the forward rotation pressure sensitive sensor 1809 can control the operating power of the micro drive motor 1801 according to the change of the force coefficient, realize the speed control of the metal blade 1803, facilitate to enhance the intensity of the induced current according to the change of the rotating speed of the steering drive base 6, and be beneficial to the displacement reset of the force plate 1712 to the object.

[0037] The working principle of the application is as follows:

[0038] When the object on the input roller group 2 needs to be transported, the longitudinal telescopic rod 11 is started to drive the linkage plate 12 to adjust the height, and then the transverse telescopic rod 13 is started to drive the visual detector 14 to move transversely, so as to facilitate visual detection and scanning of the information on the object, the clamping head 9 can be controlled by the mechanical hand 8 to clamp the object on the input roller group 2, at this time, the guide rail 4 can be started according to the logistics information of the object, the position sensor 15 is moved to the corresponding position sensor 16 to control the movement of the moving seat 5 to stop moving according to the information feedback of the visual detector 14, and then the rotating drive base 6 is operated to drive the rotating disc 7 to rotate 180°, so as to facilitate the mechanical hand 8 to transport the object to the output roller group 3 for transportation, so as to realize the sorting and transportation of the object.

[0039] When the clamping head 9 clamps and lifts the object, the electric extension rod 1703 can be started to drive the supporting plate 1704 to move to the bottom of the object, and then the electric lifting rod 1705 is started to control the supporting plate 1706 to support the bottom of the object, at the same time, when the rotating drive base 6 controls the mechanical hand 8 to rotate, the rotating sleeve 1701 can be driven to rotate synchronously by the connecting rod 1702 during the rotation of the rotating disc 7, so as to realize the synchronous support of the supporting plate 1706 to the moving object.

[0040] When the steering drive base 6 controls the robot 8 to rotate 180 degrees, the object on the tray 1706 is easy to deviate under the action of inertia at the moment of rotation, at this time, the object will extrude the stress plate 1712 to move synchronously during the deviation, and the moving distance is detected by the deviation sensor 1713, the stress plate 1712 can drive the sliding plate 1709 to move synchronously during the movement through the linkage rod 1710, which can shorten the distance between the electromagnet 1812 and the magnetic plate 1811, and when the deviation sensor 1713 detects the deviation, the magnetic block 1716 can be moved by the distance according to the deviation distance controlled by the electric lifting rod 1715, and the micro-drive motor 1801 can drive the metal blade 1803 to rotate through the transmission shaft 1802, at this time, the transmission shaft 1802 can form an induced current through the coincidence of the two magnetic blocks 1716 and the metal blade 1803, so that the induced current enters the current sensor 1804 through the wire 1805, and the strength of the induced current is detected by the current sensor 1804 to control the operating magnetic force of the electromagnet 1812, which is beneficial to repelling the magnetic plate 1811 through the electromagnet 1812 and the magnetic plate 1811, so that the magnetic plate 1811 can drive the stress plate 1712 to move back, which is convenient for pushing and resetting the deviated object.

[0041] When the steering drive base 6 is in forward rotation, the rotating disc 7 can drive the rotating ring 1806 to rotate synchronously, at this time, the extrusion ball 1808 will move along the same track with the rotating ring 1806, when the rotating ring 1806 stops, the extrusion ball 1808 will continue to move along the inclined surface of the sliding 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 control the rotating speed of the metal blade 1803, which is convenient for increasing the strength of the induced current according to the change of the rotating speed of the steering drive base 6, and is beneficial to the pushing and resetting of the object by the stress plate 1712.

[0042] It is apparent for those skilled in the art that the present application is not limited to the details of the above-described exemplary embodiments, but can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and not restrictive, the scope of the present application being defined by the appended claims rather than the above description, and it is intended to embrace all changes and modifications that fall within the meaning and scope of equivalents of the claims. Any reference signs in the claims should not be construed as limiting the claims to which they belong.

Claims

1. A composite handling robot with integrated vision inspection, characterized by: The integrated visual inspection composite carrying robot comprises a base (1), one side of the base (1) is provided with an input roller set (2), the other side of the base (1) is provided with a plurality of output roller sets (3), a guide rail (4) is installed on the base (1), a moving seat (5) is slidably installed on the guide rail (4), a steering drive seat (6) is installed on the moving seat (5), a rotating disc (7) is installed on the steering drive seat (6), a mechanical hand (8) is installed on the rotating disc (7), a clamping head (9) is installed on the mechanical hand (8), a bottom plate (10) is installed on one side of the moving seat (5) close to the input roller set (2), a longitudinal telescopic rod (11) is installed on the bottom 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 visual detector (14) is installed on the transverse telescopic rod (13); A rotating sleeve (1701) is rotatably sleeved on the steering drive seat (6), the top of the rotating sleeve (1701) is connected with the bottom of the rotating disc (7) through a connecting rod (1702), an electric extension rod (1703) is installed on the rotating sleeve (1701), a supporting plate (1704) is installed on the electric extension rod (1703), an electric lifting rod (1705) is installed on the supporting plate (1704), and a supporting plate (1706) is installed on the electric lifting rod (1705); Two groups of vertical plates (1707) are symmetrically installed on the bottom of the supporting plate (1706), two vertical plates (1707) on the same side are connected through a cross bar (1708), a sliding plate (1709) is slidably installed on the cross bar (1708), a through hole (1711) is formed in the sliding plate (1709) away from the electric lifting rod (1705), a non-slip washer is sleeved in the through hole (1711), a linkage rod (1710) is installed on one side of the sliding plate (1709) close to the through hole (1711), the linkage rod (1710) penetrates through the non-slip washer, a stress plate (1712) is installed at one end of the linkage rod (1710) away from the sliding plate (1709), and an offset sensor (1713) is installed on the stress plate (1712); Two movable pots (1714) are installed on the bottom of the supporting plate (1706), two electric lifting rods (1715) are symmetrically installed in the inner bottom of each movable pot (1714), a magnetic block (1716) is installed on each electric lifting rod (1715), the two magnetic blocks (1716) are respectively positive and negative magnetic poles, and the two electric lifting rods (1715) on the same side are electrically connected with the offset sensor (1713) on the same side. The inner top of the movable tank (1714) is provided with a micro-drive motor (1801), the output shaft of the micro-drive motor (1801) is provided with a transmission shaft (1802), a plurality of metal blades (1803) are uniformly arranged on the side wall of the transmission shaft (1802), the lower end of the transmission shaft (1802) is provided with a rotary joint (1813), the bottom of the movable tank (1714) is provided with a current sensor (1804), the current sensor (1804) is connected with the rotary joint (1813) through an electric wire (1805), the bottom of the sliding plate (1709) is provided with a magnetic plate (1811), the electromagnet (1812) is arranged on the vertical plate (1707) close to the perforated plate (1711) on the same side, and the current sensor (1804) is electrically connected with the electromagnet (1812).

2. The composite handling robot with integrated vision inspection of claim 1, wherein: The position sensor (15) is arranged on the side, away from the bottom plate (10), of the moving seat (5), and the position sensor (16) is arranged at the abutment position of the plurality of output roller groups (3) and the base (1).

3. The composite handling robot with integrated vision inspection of claim 1, wherein: The bottom of the rotating sleeve (1701) is provided with a rotating ring (1806), two slide cavities (1807) are symmetrically arranged in the rotating ring (1806), and extrusion balls (1808) are arranged in the two slide cavities (1807) and roll. The proximal ends of the two slide cavities (1807) are provided with pressure-sensitive sensors, the bottoms of the two slide cavities (1807) are inclined surfaces, and the pressure-sensitive sensors are located at the highest positions of the inclined surfaces.

4. The composite handling robot with integrated vision inspection of claim 3, wherein: The pressure-sensitive sensors are forward rotation pressure-sensitive sensors (1809) and reverse rotation pressure-sensitive sensors (1810), the forward rotation pressure-sensitive sensors (1809) and the reverse rotation pressure-sensitive sensors (1810) are arranged in the two slide cavities (1807) respectively, the forward rotation pressure-sensitive sensors (1809) and the reverse rotation pressure-sensitive sensors (1810) are started according to the steering control of the steering drive seat (6), and the forward rotation pressure-sensitive sensors (1809) and the reverse rotation pressure-sensitive sensors (1810) are electrically connected with the micro-drive motors (1801) on the same side respectively.

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