Automatic inspection robot applied to warehousing system

Abstract

The invention relates to the technical field of inspection robots, in particular to an automatic inspection robot applied to a warehousing system, which comprises inspection equipment applied to the warehousing system, and the inspection equipment comprises an inspection robot, a lifting ejector rod arranged on the inspection robot and a detection module fixed at the top end of the lifting ejector rod; a protection mechanism located outside the lifting ejector rod is arranged on the upper surface of the inspection robot, the protection mechanism comprises a mounting plate, a buffer structure arranged on the mounting plate, a wheel carrier and a centrifugal adjusting structure, and an abutting roller abutting against the outer surface of the lifting ejector rod is rotationally arranged on the wheel carrier; a linkage mechanism used in cooperation with the centrifugal adjusting structure is arranged on the mounting plate, and the linkage mechanism is driven by the centrifugal adjusting structure to achieve adjustment of the buffer structure. Through triple protection of a mechanical spring, hydraulic damping and centrifugal linkage, automatic inspection requirements of high-frequency lifting, high load and complex environment are met, the service life of equipment is prolonged, and the safety of the equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to an automated inspection robot applied to a warehousing system. Background Art

[0002] An inspection robot uses a mobile robot as a carrier, a visible light camera, an infrared thermal imager, and other detection instruments as a payload system, a multi-field information fusion of machine vision, electromagnetic field, GPS, and GIS as a navigation system for the robot's autonomous movement and autonomous inspection, and an embedded computer as a software and hardware development platform for the control system. It has functions such as obstacle detection, identification and positioning, autonomous operation planning, autonomous obstacle crossing, autonomous inspection of transmission lines and their corridors, automatic storage and remote wireless transmission of inspection images and data by the robot body, ground remote wireless monitoring and remote control, on-line real-time power supply, and background inspection operation management and analysis and diagnosis;

[0003] Chinese Patent CN220113321U discloses "an automated inspection robot, belonging to the technical field of inspection robots, including a vehicle body. Protective bars are provided on the lower sides of both ends of the vehicle body, moving wheels are provided on both sides of the lower end of the vehicle body, lighting lamps are provided at both ends of the vehicle body, an ultrasonic transmitter is provided on one side of the upper end of the vehicle body, an ultrasonic receiver is provided on one side of the ultrasonic transmitter, a support plate is provided on the upper side of the vehicle body, and a camera is provided on the upper end of the support plate. This application can automatically clean the camera lens by setting a cleaning component, avoiding the influence of dust and other impurities adhering to the lens after long-term use of the camera on the shooting quality."

[0004] However, the above patent still has the following defects: For example, there is a lack of a buffering function under the lifting rod for adjusting the detection module of the inspection robot. When the lifting rod descends to the lowest point, without buffering, it will have a rigid collision with the base or the vehicle body, resulting in structural deformation such as rail bending or loosening of the connecting parts. Moreover, the rigid impact will cause image blurring and affect the visual inspection effect.

[0005] Therefore, it is urgent to improve the inspection robot to solve the above existing problems. Summary of the Invention

[0006] The object of the present invention is to provide an automated inspection robot applied to a warehousing system, which realizes the automated inspection requirements of high-frequency lifting, high load, and complex environment through triple protection of mechanical springs, hydraulic dampers, and centrifugal linkage, and significantly improves the equipment life and safety.

[0007] To achieve the above object, the main technical solutions adopted by the present invention include: an inspection device applied to a warehousing system, the inspection device including an inspection robot, a lifting top rod provided on the inspection robot, and a detection module fixed to the top end of the lifting top rod;

[0008] The upper surface of the inspection robot is provided with a protection mechanism located outside the lifting push rod, the protection mechanism includes a mounting plate, a buffer structure arranged on the mounting plate, a wheel frame and a centrifugal adjustment structure, and an abutting roller that abuts against the outer surface of the lifting push rod is rotatable on the wheel frame;

[0009] The buffer structure comprises a first piston cylinder and a second piston cylinder fixed to the upper surface of the mounting plate, a first piston block is arranged inside the first piston cylinder, a first plug rod extending to the outside of the first piston cylinder is fixed on the upper surface of the first piston block, a bearing block is fixed on the top end of the first plug rod, and a first buffer spring is fixed between the bearing block and the first piston cylinder;

[0010] A second piston block, a baffle and a pressure regulating plate are arranged inside the second piston cylinder, a second buffer spring is fixed between the baffle and the pressure regulating plate, and a second plug rod is installed between the second piston block and the baffle;

[0011] The mounting plate is provided with a linkage mechanism used in conjunction with the centrifugal adjustment structure, and the linkage mechanism is driven by the centrifugal adjustment structure to achieve adjustment of the buffer structure.

[0012] Preferably, the inspection equipment also includes a charging box for charging the inspection robot, the inspection robot is provided with driving wheels for movement, protective frames are fixed on the front and rear sides of the inspection robot, and a telescopic hole for a lifting top rod is opened inside the inspection robot.

[0013] Preferably, the first piston cylinder and the second piston cylinder are both hollow inside, and a connecting pipe is fixed between the first piston cylinder and the second piston cylinder, a contact block in contact with the bearing block is fixed on the outer surface of the lifting push rod, and a stopper for limiting the baffle is fixed inside the second piston cylinder;

[0014] A rotating shaft is fixed inside the abutting roller, the abutting roller is installed on the wheel frame through the rotating shaft, and the rotating shaft is connected to the internal bearing of the wheel frame.

[0015] Preferably, the centrifugal adjustment structure includes a rotating rod, a rotating sleeve and a sliding sleeve mounted on the outside of the rotating rod, a swing arm is hinged on the outer surface of the rotating rod, a connecting rod is hinged between the rotating sleeve and the swing arm, a swing ball is fixed at the end of the swing arm, and a synchronization structure is arranged between the rotating rod and the rotating shaft.

[0016] Preferably, the synchronization structure includes synchronization wheels fixed to the rotating rod and the outer surface of the rotating shaft, a synchronization belt is connected between the two synchronization wheels, and the two synchronization wheels are arranged in different sizes.

[0017] Preferably, the number of swing arms, connecting rods and swing balls in the centrifugal adjustment structure is two, and the two swing arms are symmetrically arranged. The sliding sleeve rotates on the outer surface of the rotating sleeve, and one end of the rotating rod is connected to the outer surface of the wheel frame through a bearing.

[0018] Preferably, the linkage mechanism includes a first transmission structure and a second transmission structure. The first transmission structure includes a vertical plate fixed to the lower surface of the rotating sleeve, a threaded sleeve rotatably installed inside the wheel frame, a gear fixed to the outer surface of the threaded sleeve, and a toothed plate fixed to the bottom end of the vertical plate and meshing with the gear. A screw rod penetrating through the inside of the wheel frame is installed inside the threaded sleeve in a threaded manner.

[0019] Preferably, the second transmission structure includes a sliding seat slidably arranged above the mounting plate. One side of the sliding seat is fixed with an abutting block, and an abutting pad abuting against the outer surface of the lifting push rod is bolted to the outer surface of the abutting block. Two pushing arms are hinged to the outside of the sliding seat, and one end of the screw rod is fixed to the outer surface of the sliding seat.

[0020] Preferably, a push rod extending into the inside of the second piston cylinder and fixed to the pressure regulating plate is hinged to the end of one of the pushing arms, and a trigger block is hinged to the end of the other pushing arm. A mounting seat is fixed to the upper surface of the mounting plate, and a pressure sensing structure for cooperating with the trigger block is bolted to the outer surface of the mounting seat;

[0021] One side of the sliding seat close to the wheel frame is fixed with a guide rod extending into the inside of the wheel frame.

[0022] Preferably, a limiting structure for supporting the centrifugal adjustment structure and the first transmission structure is arranged on the mounting plate. The limiting structure includes a horizontal plate fixed to the side wall of the mounting plate, a first limiting seat fixed to the upper surface of the horizontal plate, a second limiting seat fixed between the first limiting seat and the wheel frame. A limiting rod penetrating through the inside of the vertical plate is fixed between the two second limiting seats. A return spring is fixed between the vertical plate and the limiting rod. The end of the rotating rod away from the wheel frame is connected to the outer surface of the first limiting seat through a bearing.

[0023] The present invention has at least the following beneficial effects:

[0024] 1. The present invention directly adjusts the damping through the roller speed, has a fast response speed, automatically adjusts the buffering force under different weights, realizes the advantage of dynamic damping self-adaptation, absorbs instantaneous impact through the first buffer spring, and provides continuous damping in cooperation with the second-stage hydraulic pressure and the second buffer spring, thereby prolonging the service life of the equipment.

[0025] 2. The present invention has the advantage of a dual buffer protection mechanism. The impact force when the lifting rod falls is directly absorbed by the first buffer spring to achieve rapid shock absorption. When the first piston block moves in the cylinder, the hydraulic oil flows through the connecting pipe to form a controllable resistance. Among them, the pressure plate dynamically adjusts the hydraulic oil flow through the second buffer spring to adapt to different impact intensities, and the stop block prevents the baffle from excessive displacement to avoid structural damage.

[0026] 3. The present invention transmits the speed of the lifting rod to the centrifugal mechanism in real time through a synchronous belt. The centrifugal displacement of the swinging ball is proportional to the square of the speed, realizing non-linear damping adjustment. At low speeds, the buffer structure 4 maintains the basic damping. When falling at high speeds, the centrifugal force pushes the rotating sleeve to axially displace, drives the gear to rotate through the toothed plate, and enables the screw to push the sliding seat to compress the pressure adjusting plate through the push rod, achieving precise matching of speed and damping. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0028] Figure 1 is a three-dimensional view of the overall structure of the inspection device in the present invention;

[0029] Figure 2 is a three-dimensional view of the structure of the inspection robot in the present invention;

[0030] Figure 3 is a three-dimensional view of the structure of the detection module in the present invention;

[0031] Figure 4 is a three-dimensional view of the structure of the detection module after it is raised in the present invention;

[0032] Figure 5 is a three-dimensional view of the overall structure of the protection mechanism in the present invention;

[0033] Figure 6 is a schematic view of the structure of the first piston cylinder in the present invention;

[0034] Figure 7 is a schematic view of the structure of the second piston cylinder in the present invention;

[0035] Figure 8 is a schematic view of the structure of the wheel bracket in the present invention;

[0036] Figure 9 is a schematic view of the structure of the centrifugal adjustment structure in the present invention;

[0037] Figure 10 is a schematic view of the structure of the second transmission structure in the present invention.

[0038] In the figure, 1 is the inspection device; 101 is the inspection robot; 102 is the lifting jack; 103 is the detection module; 104 is the telescopic hole; 105 is the driving wheel; 106 is the protective frame; 107 is the charging box; 2 is the protection mechanism; 3 is the mounting plate; 4 is the buffer structure; 401 is the first piston cylinder; 402 is the first piston block; 403 is the first piston rod; 404 is the bearing block; 405 is the first buffer spring; 406 is the second piston cylinder; 407 is the second piston block; 408 is the baffle; 409 is the pressure regulating plate; 410 is the connecting pipe; 411 is the second piston rod; 412 is the second buffer spring; 413 is the stop block; 5 is the wheel frame; 51 is the abutting roller; 52 is the rotating shaft; 6 is the centrifugal adjustment structure; 601 is the rotating rod; 602 is the rotating sleeve; 603 is the sliding sleeve; 604 is the swing arm; 605 is the swing ball; 606 is the connecting rod; 7 is the first transmission structure; 701 is the vertical plate; 702 is the toothed plate; 703 is the gear; 704 is the threaded sleeve; 705 is the screw rod; 8 is the second transmission structure; 801 is the sliding seat; 802 is the abutting block; 803 is the abutting pad; 804 is the pushing arm; 805 is the pushing rod; 806 is the trigger block; 807 is the mounting seat; 808 is the pressure sensing structure; 809 is the guide rod; 9 is the limiting structure; 901 is the horizontal plate; 902 is the first limiting seat; 903 is the second limiting seat; 904 is the limiting rod; 905 is the return spring; 10 is the synchronization structure; 1001 is the synchronous pulley; 1002 is the synchronous belt. Detailed implementation manners

[0039] The technical solutions of the present invention will be further described in detail below in conjunction with the specific implementation manners.

[0040] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0041] Embodiment 1:

[0042] As Figures 1 - 3As shown in the figure, the automated inspection robot applied to the warehousing system provided in this embodiment includes an inspection device 1 applied to the warehousing system. The inspection device 1 includes an inspection robot 101, a lifting jack 102 disposed on the inspection robot 101, and a detection module 103 fixed to the top end of the lifting jack 102; it can achieve flexible adjustment in the vertical direction to meet the inspection requirements of shelves at different heights without manual intervention. The inspection device 1 further includes a charging box 107 for charging the inspection robot 101. The inspection robot 101 is provided with driving wheels 105 for movement. Protective frames 106 are fixed on both the front and rear sides of the inspection robot 101. A telescopic hole 104 for the lifting jack 102 is opened inside the inspection robot 101.

[0043] Embodiment 2:

[0044] As Figures 4 - 10 shown in the figure, to protect the detection module 103, a protection mechanism 2 is provided on the upper surface of the inspection robot 101 outside the lifting jack 102. The protection mechanism 2 includes a mounting plate 3, a buffer structure 4 disposed on the mounting plate 3, a wheel frame 5, and a centrifugal adjustment structure 6. A contact roller 51 that abuts against the outer surface of the lifting jack 102 is rotatably mounted on the wheel frame 5. Specifically, the buffer structure 4 includes a first piston cylinder 401 and a second piston cylinder 406 fixed to the upper surface of the mounting plate 3. A first piston block 402 is disposed inside the first piston cylinder 401. A first piston rod 403 extending outside the first piston cylinder 401 is fixed to the upper surface of the first piston block 402. A bearing block 404 is fixed to the top end of the first piston rod 403. A first buffer spring 405 is fixed between the bearing block 404 and the first piston cylinder 401; a second piston block 407, a baffle 408, and a pressure regulating plate 409 are disposed inside the second piston cylinder 406. A second buffer spring 412 is fixed between the baffle 408 and the pressure regulating plate 409. A second piston rod 411 is installed between the second piston block 407 and the baffle 408. Among them, a rotating shaft 52 is fixed inside the contact roller 51. The contact roller 51 is installed on the wheel frame 5 through the rotating shaft 52, and the rotating shaft 52 is connected to the inside of the wheel frame 5 through a bearing. In this embodiment, when the buffer structure 4 is in use, high-frequency impacts are first absorbed by the spring, and then hydraulic damping dissipates energy to avoid "hard landing". The hydraulic oils in the first piston cylinder 401 and the second piston cylinder 406 are interconnected to ensure that the damping forces of the two cylinders change synchronously. When the lifting jack 102 falls rapidly, the first piston cylinder 401 is quickly compressed, and the hydraulic oil flows into the second piston cylinder 406 through the connecting pipe 410. The pressure regulating plate 409 is resisted by the second buffer spring 412 to limit the flow rate of the oil, forming a reverse damping force.

[0045] It should be noted that both the interior of the first piston cylinder 401 and the second piston cylinder 406 are hollow, and a connecting pipe 410 is fixed between the first piston cylinder 401 and the second piston cylinder 406. A contact block that contacts the bearing block 404 is fixed on the outer surface of the lifting ejector rod 102. A stop block 413 that limits the baffle 408 is fixed inside the second piston cylinder 406. The first buffer spring 405 directly absorbs the impact force when the lifting rod falls, achieving rapid shock absorption. When the first piston block 402 moves inside the cylinder, the hydraulic oil flows through the connecting pipe 410 to form a controllable resistance. Among them, the pressure regulating plate 409 dynamically adjusts the hydraulic oil flow through the second buffer spring 412 to adapt to different impact intensities. The stop block 413 prevents the baffle 408 from excessive displacement, avoiding structural damage, realizing the advantages of a dual buffer protection mechanism, and at the same time having no power dependence, being a pure mechanical hydraulic system. The number of the first piston cylinders 401 can be two, and the two first piston cylinders 401 are symmetrically arranged. When the number of the first piston cylinders 401 is two, the connecting pipe 410 is a tee pipe. The buffer structure 4 is made of high-pressure resistant material.

[0046] To further improve the buffer effect, a linkage mechanism that cooperates with the centrifugal adjustment structure 6 is provided on the mounting plate 3. The linkage mechanism is driven by the centrifugal adjustment structure 6 to realize the adjustment of the buffer structure 4. Specifically, the centrifugal adjustment structure 6 includes a rotating rod 601, a rotating sleeve 602 sleeved outside the rotating rod 601, and a sliding sleeve 603. A swing arm 604 is hinged on the outer surface of the rotating rod 601. A connecting rod 606 is hinged between the rotating sleeve 602 and the swing arm 604. A swing ball 605 is fixed at the end of the swing arm 604. A synchronization structure 10 is provided between the rotating rod 601 and the rotating shaft 52. Specifically, the number of the swing arms 604, the connecting rods 606, and the swing balls 605 in the centrifugal adjustment structure 6 are all two, and the two swing arms 604 are symmetrically arranged. The sliding sleeve 603 rotates on the outer surface of the rotating sleeve 602. One end of the rotating rod 601 is connected to the outer surface of the wheel frame 5 through a bearing.

[0047] To achieve the linkage between structures, the synchronization structure 10 includes synchronous pulleys 1001 fixed to the outer surfaces of the rotating rod 601 and the rotating shaft 52. A synchronous belt 1002 is drivingly connected between the two synchronous pulleys 1001, and the two synchronous pulleys 1001 are of different sizes. The linkage mechanism includes a first transmission structure 7 and a second transmission structure 8. The first transmission structure 7 includes a vertical plate 701 fixed to the lower surface of the rotating sleeve 602, a threaded sleeve 704 rotatably installed inside the wheel frame 5, a gear 703 fixed to the outer surface of the threaded sleeve 704, and a toothed plate 702 fixed to the bottom end of the vertical plate 701 and meshing with the gear 703. A screw rod 705 passing through the inside of the wheel frame 5 is threadedly installed inside the threaded sleeve 704. Specifically, the second transmission structure 8 includes a sliding seat 801 slidably disposed above the mounting plate 3. An abutting block 802 is fixed to one side of the sliding seat 801, and an abutting pad 803 abutting against the outer surface of the lifting jack 102 is bolted to the outer surface of the abutting block 802. The abutting pad 803 is bolted and can be quickly replaced with different materials such as rubber / silicone to adapt to low-temperature environments. Two push arms 804 are hinged to the outside of the sliding seat 801, and one end of the screw rod 705 is fixed to the outer surface of the sliding seat 801. One end of one of the push arms 804 is hinged to a push rod 805 extending into the second piston cylinder 406 and fixed to the pressure regulating plate 409. A limiting block for limiting the push rod 805 is provided inside the second piston cylinder 406, and a sealing ring for cooperating with the push rod 805 is installed inside the second piston cylinder 406. One end of the other push arm 804 is hinged to a trigger block 806. A mounting seat 807 is fixed to the upper surface of the mounting plate 3, and a pressure sensing structure 808 for cooperating with the trigger block 806 is bolted to the outer surface of the mounting seat 807. The speed of the lifting rod is transmitted to the centrifugal mechanism in real time through the synchronous belt 1002. The centrifugal displacement of the swinging ball 605 is proportional to the square of the speed, realizing non-linear damping adjustment. At low speeds, the buffer structure 4 maintains the basic damping. When falling at high speeds, the centrifugal force pushes the rotating sleeve 602 to axially displace, driving the gear 703 to rotate through the toothed plate 702, causing the screw rod 705 to push the sliding seat 801 to compress the pressure regulating plate 409 by using the push rod 805, achieving precise matching of speed and damping.

[0048] It is worth mentioning that the first-stage buffer is achieved by absorbing the instantaneous impact through the first buffer spring 405. The second-stage hydraulic spring system dynamically adjusts the damping coefficient through the pressure regulating plate 409, and the pressure sensing structure 808 monitors in real time to achieve double-stage buffering and pressure closed-loop control.

[0049] To ensure the stable operation of the first transmission structure 7 and the second transmission structure 8, a guide rod 809 extending into the interior of the wheel frame 5 is fixed to one side of the slide seat 801 close to the wheel frame 5. A limiting structure 9 for supporting the centrifugal adjustment structure 6 and the first transmission structure 7 is provided on the mounting plate 3. The limiting structure 9 includes a cross plate 901 fixed to the side wall of the mounting plate 3, a first limiting seat 902 fixed to the upper surface of the cross plate 901, and a second limiting seat 903 fixed between the first limiting seat 902 and the wheel frame 5. A limiting rod 904 penetrating through the interior of the vertical plate 701 is fixed between the two second limiting seats 903. A return spring 905 is fixed between the vertical plate 701 and the limiting rod 904. The return spring 905 in the limiting structure 9 ensures that the mechanism automatically resets in case of abnormality. The guide rod 809 prevents the slide seat 801 from deflecting and maintains the linear motion accuracy of the push rod 805. One end of the rotating rod 601 away from the wheel frame 5 is connected to the outer surface of the first limiting seat 902 by a bearing.

[0050] As Figures 1 - 10 shown, the principle of the book classification and placement device provided in this embodiment is as follows:

[0051] First, the abutting roller 51 contacts the outer surface of the lifting jack rod 102. When the lifting jack rod 102 moves up and down, the abutting roller 51 rotates, and the rotating shaft 52 drives the rotating rod 601 through the synchronous belt 1002, converting the linear motion of the lifting jack rod 102 into the rotational motion of the centrifugal adjustment structure 6;

[0052] When the centrifugal adjustment structure 6 is working, the rotating rod 601 thereon drives the swing arm 604 and the swing ball 605 to rotate. When the rotational speed increases, that is, when the lifting jack rod 102 descends too fast, the centrifugal force causes the swing ball 605 to swing outwards, pushing the rotating sleeve 602 to move axially. The sliding sleeve 603 drives the vertical plate 701 to move downwards, and then drives the toothed plate 702 to mesh with the gear 703, causing the threaded sleeve 704 to rotate. At this time, the screw rod 705 rotates with the threaded sleeve 704, pushing the slide seat 801 to move;

[0053] When the slide seat 801 moves, through the linkage of the push arm 804, the push rod 805 compresses the pressure adjustment plate 409, changing the hydraulic damping force of the second piston cylinder 406. At the same time, the trigger block 806 contacts the pressure sensing structure 808 to issue an alarm, absorbing the instantaneous impact through the first buffer spring 405, and providing continuous damping in cooperation with the second-stage hydraulic pressure and the second buffer spring 412, extending the service life of the equipment.

[0054] As certain terms are used in the specification and claims to refer to particular components. Those skilled in the art should understand that hardware manufacturers may use different names to refer to the same component. The specification and claims do not distinguish components by the difference in names, but by the difference in functions of the components. As used throughout the specification and claims, "comprising" is an open-ended term and should be interpreted as "comprising but not limited to". "Substantially" means within an acceptable error range. Those skilled in the art can solve technical problems within a certain error range and basically achieve the technical effect.

Claims

1. An automated inspection robot applied to a warehousing system, comprising an inspection device (1) applied to a warehousing system, characterized in that: The inspection device (1) comprises an inspection robot (101), a lifting rod (102) arranged on the inspection robot (101), and a detection module (103) fixed to the top of the lifting rod (102); The upper surface of the inspection robot (101) is provided with a protection mechanism (2) located outside the lifting top rod (102), the protection mechanism (2) comprising a mounting plate (3), a buffer structure (4) arranged on the mounting plate (3), a wheel frame (5) and a centrifugal adjustment structure (6), and an abutment roller (51) is rotatably provided on the wheel frame (5) to abut against the outer surface of the lifting top rod (102); The buffer structure (4) comprises a first piston cylinder (401) and a second piston cylinder (406) fixed to the upper surface of the mounting plate (3); a first piston block (402) is arranged inside the first piston cylinder (401); a first plug rod (403) extending to the outside of the first piston cylinder (401) is fixed on the upper surface of the first piston block (402); a bearing block (404) is fixed at the top end of the first plug rod (403); a first buffer spring (405) is fixed between the bearing block (404) and the first piston cylinder (401); A second piston block (407), a baffle (408) and a pressure regulating plate (409) are arranged inside the second piston cylinder (406); a second buffer spring (412) is fixed between the baffle (408) and the pressure regulating plate (409); and a second plug rod (411) is installed between the second piston block (407) and the baffle (408); The mounting plate (3) is provided with a linkage mechanism used in conjunction with the centrifugal adjustment structure (6); the linkage mechanism is driven by the centrifugal adjustment structure (6) to achieve adjustment of the buffer structure (4).

2. The automated inspection robot applied to a warehousing system according to claim 1, characterized in that: The inspection device (1) further comprises a charging box (107) for charging the inspection robot (101); the inspection robot (101) is provided with driving wheels (105) for movement; protection frames (106) are fixed to the front and rear sides of the inspection robot (101); and a telescopic hole (104) for lifting the top rod (102) is provided inside the inspection robot (101).

3. The automated inspection robot applied to a warehousing system according to claim 1, characterized in that: The first piston cylinder (401) and the second piston cylinder (406) are both hollow inside, and a connecting pipe (410) is fixed between the first piston cylinder (401) and the second piston cylinder (406); a contact block that contacts the bearing block (404) is fixed on the outer surface of the lifting push rod (102); and a stopper (413) that limits the baffle (408) is fixed inside the second piston cylinder (406); A rotating shaft (52) is fixed inside the abutting roller (51), and the abutting roller (51) is installed on the wheel frame (5) via the rotating shaft (52), and the rotating shaft (52) is connected to the internal bearing of the wheel frame (5).

4. The automated inspection robot applied to a warehousing system according to claim 3 is characterized in that: The centrifugal adjustment structure (6) comprises a rotating rod (601), a rotating sleeve (602) and a sliding sleeve (603) which are sleeved on the outside of the rotating rod (601); a swing arm (604) is hinged on the outer surface of the rotating rod (601); a connecting rod (606) is hinged between the rotating sleeve (602) and the swing arm (604); a swing ball (605) is fixed to the end of the swing arm (604); and a synchronization structure (10) is provided between the rotating rod (601) and the rotating shaft (52).

5. The automated inspection robot applied to a warehousing system according to claim 4, characterized in that: The synchronization structure (10) comprises a synchronization wheel (1001) fixed to the outer surface of the rotating rod (601) and the rotating shaft (52), a synchronization belt (1002) is connected between the two synchronization wheels (1001), and the two synchronization wheels (1001) are arranged in different sizes.

6. The automated inspection robot applied to a warehousing system according to claim 5, characterized in that: The number of the swing arm (604), the connecting rod (606) and the swing ball (605) in the centrifugal adjustment structure (6) is two, and the two swing arms (604) are symmetrically arranged. The sliding sleeve (603) rotates on the outer surface of the rotating sleeve (602), and one end of the rotating rod (601) is connected to the bearing on the outer surface of the wheel frame (5).

7. The automated inspection robot applied to a warehousing system according to claim 6, characterized in that: The linkage mechanism comprises a transmission structure 1 (7) and a transmission structure 2 (8), wherein the transmission structure 1 (7) comprises a vertical plate (701) fixed to the lower surface of a rotating sleeve (602), a threaded sleeve (704) rotatably mounted inside a wheel frame (5), a gear (703) fixed to the outer surface of the threaded sleeve (704), and a toothed plate (702) fixed to the bottom end of the vertical plate (701) and meshing with the gear (703), wherein the internal thread of the threaded sleeve (704) is provided with a screw (705) penetrating the interior of the wheel frame (5).

8. The automated inspection robot applied to a warehousing system according to claim 7, characterized in that: The transmission structure 2 (8) comprises a slide seat (801) slidably arranged above the mounting plate (3), a contact block (802) being fixed on one side of the slide seat (801), and a contact pad (803) being fixed on the outer surface of the contact block (802) by bolts and contacting the outer surface of the lifting push rod (102), two push arms (804) being hinged on the outside of the slide seat (801), and one end of the screw rod (705) being fixed to the outer surface of the slide seat (801).

9. The automated inspection robot applied to a warehousing system according to claim 8, characterized in that: A push rod (805) extending into the interior of the second piston cylinder (406) and fixed to the pressure regulating plate (409) is hingedly connected to the end of one of the push arms (804), and a trigger block (806) is hingedly connected to the end of the other push arm (804); a mounting seat (807) is fixed to the upper surface of the mounting plate (3), and a pressure sensing structure (808) used in conjunction with the trigger block (806) is bolted to the outer surface of the mounting seat (807); A guide rod (809) extending into the interior of the wheel frame (5) is fixed to one side of the slide seat (801) close to the wheel frame (5).

10. The automated inspection robot applied to a warehousing system according to claim 9, characterized in that: The mounting plate (3) is provided with a limiting structure (9) for supporting the centrifugal adjustment structure (6) and the transmission structure (7), the limiting structure (9) comprising a transverse plate (901) fixed on the side wall of the mounting plate (3), a first limiting seat (902) fixed on the upper surface of the transverse plate (901), and a second limiting seat (903) fixed between the first limiting seat (902) and the wheel frame (5), a limiting rod (904) penetrating the interior of the vertical plate (701) is fixed between the two second limiting seats (903), a return spring (905) is fixed between the vertical plate (701) and the limiting rod (904), and the end of the rotating rod (601) away from the wheel frame (5) is connected to the outer surface bearing of the first limiting seat (902).

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