Automatic inspection robot applied to warehouse system

Abstract

The application relates to the technical field of inspection robots, in particular to an automatic inspection robot applied to a warehouse system, which comprises an inspection device applied to the warehouse system, the inspection device comprises an inspection robot, a lifting top rod arranged on the inspection robot and a detection module fixed to the top end of the lifting top rod; the upper surface of the inspection robot is provided with a protection mechanism located outside the lifting top rod, the protection mechanism comprises a mounting plate, a buffer structure arranged on the mounting plate, a wheel frame and a centrifugal adjusting structure, the wheel frame is rotationally provided with an abutting roller abutting against the outer surface of the lifting top rod; the mounting plate is provided with a linkage mechanism used in cooperation with the centrifugal adjusting structure, the linkage mechanism is driven through the centrifugal adjusting structure to realize adjustment of the buffer structure. Through the triple protection of a mechanical spring, hydraulic damping and centrifugal linkage, the automatic inspection demand of high-frequency lifting, high load and complex environment is realized, and the equipment life and safety are improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of inspection robots, in particular to an automatic inspection robot applied to a warehouse system. BACKGROUND

[0002] The inspection robot is a mobile robot as a carrier, a visible light camera, an infrared thermal imager and other detection instruments as a load system, a multi-field information fusion of machine vision, electromagnetic field, GPS and GIS as a navigation system of autonomous movement and autonomous inspection of the robot, an embedded computer as a software and hardware development platform of a control system, and has the functions of obstacle detection, identification and positioning, autonomous operation planning, autonomous obstacle avoidance, autonomous inspection of a power transmission line and a line corridor, automatic storage and remote wireless transmission of inspection images and data, ground remote wireless monitoring and remote control, online real-time power supply, background inspection operation management and analysis and diagnosis, and the like.

[0003] A Chinese patent CN220113321U discloses an automatic inspection robot, which belongs to the technical field of inspection robots and comprises a vehicle body, a protection bar arranged at the lower side of the two ends of the vehicle body, a moving wheel arranged at the lower side of the two ends of the vehicle body, an illuminating lamp arranged at the two ends of the vehicle body, an ultrasonic wave transmitter arranged at one side of the upper end of the vehicle body, an ultrasonic wave receiver arranged at one side of the ultrasonic wave transmitter, a supporting plate arranged at the upper side of the vehicle body, and a camera arranged at the upper end of the supporting plate.

[0004] However, the above-mentioned patent still has the following defects: for example, the inspection robot lacks a buffering function below the lifting rod of the detection module adjustment, and when the lifting rod drops to the lowest point, without buffering, a rigid collision with the base or the vehicle body occurs, resulting in structural deformation such as bending of the guide rail or loosening of the connecting piece, and the rigid impact can cause image blurring, affecting the visual inspection effect.

[0005] Therefore, it is urgent to improve the inspection robot to solve the above-mentioned problems. SUMMARY

[0006] The purpose of the present application is to provide an automatic inspection robot applied to a warehouse system, which realizes high-frequency lifting, high load and complex environmental automatic inspection requirements through triple protection of mechanical springs, hydraulic dampers and centrifugal linkage, and significantly improves the service life and safety of the equipment.

[0007] In order to achieve the above-mentioned purpose, the main technical scheme adopted by the present application comprises: an inspection device applied to a warehouse system, the inspection device comprising an inspection robot, a lifting top rod arranged 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 outside the lifting top rod, the protection mechanism comprises a mounting plate, a buffer structure arranged on the mounting plate, a wheel frame and a centrifugal adjusting structure, and a abutting roller rotating on the wheel frame abuts against the outer surface of the lifting top rod;

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

[0010] The second piston cylinder is internally provided with a second piston block, a baffle and a pressure regulating plate, the baffle and the pressure regulating plate are fixed with a second buffer spring therebetween, and the second piston block is provided with a second plug rod between the baffle;

[0011] The mounting plate is provided with a linkage mechanism used in cooperation with the centrifugal adjusting structure, the linkage mechanism is driven by the centrifugal adjusting structure to adjust the buffer structure.

[0012] Preferably, the inspection device further comprises a charging box for charging the inspection robot, the inspection robot is provided with a driving wheel for movement, the front and rear sides of the inspection robot are fixed with protective frames, and the inside of the inspection robot is provided with a telescopic hole for the lifting top rod.

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

[0014] The abutting roller is internally fixed with a rotating shaft, the abutting roller is mounted on the wheel frame through the rotating shaft, and the rotating shaft is connected with the internal bearing of the wheel frame.

[0015] Preferably, the centrifugal adjusting structure comprises a rotating rod, a rotating sleeve and a sliding sleeve sleeved outside the rotating rod, the outer surface of the rotating rod is hinged with a swing arm, the rotating sleeve and the swing arm are hinged with a connecting rod therebetween, the end of the swing arm is fixed with a swing ball, and the rotating rod and the rotating shaft are provided with a synchronous structure therebetween.

[0016] Preferably, the synchronous structure comprises synchronous wheels fixed to the outer surfaces of the rotating rod and the rotating shaft, the two synchronous wheels are transmissionally connected with a synchronous belt, and the two synchronous wheels are different in size.

[0017] Preferably, the number of swing arms, connecting rods and swing balls in the centrifugal adjusting 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 in bearing connection with the outer surface of the wheel frame.

[0018] Preferably, the linkage mechanism comprises transmission structure one and transmission structure two, the transmission structure one comprises a vertical plate fixed to the lower surface of the rotating sleeve, a threaded sleeve rotatably installed in 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 engaged with the gear, and a screw rod penetrating through the inside of the wheel frame is screwedly installed in the threaded sleeve.

[0019] Preferably, the transmission structure two comprises a sliding seat slidingly arranged above the mounting plate, one side of the sliding seat is fixed with an abutting block, the outer surface of the abutting block is bolted with an abutting pad abutting against the outer surface of the lifting top rod, the outer surface of the sliding seat is hingedly connected with two pushing arms, and one end of the screw rod is fixed to the outer surface of the sliding seat.

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

[0021] The 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, the mounting plate is provided with a limiting structure supporting the centrifugal adjusting structure and the transmission structure one, the limiting structure comprises 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, the vertical plate and the limiting rod are fixed with a return spring, and the end of the rotating rod away from the wheel frame is in bearing connection with the outer surface of the first limiting seat.

[0023] The present application has at least the following advantages:

[0024] 1、The present application directly adjusts the damping through the rotating speed of the roller, has fast response speed, automatically adjusts the buffering degree under different weights, realizes the advantages of dynamic damping self-adaptation, absorbs instantaneous impact through the first buffering spring, cooperates with the second-stage hydraulic pressure and the second buffering spring to provide continuous damping, and prolongs the service life of the equipment.

[0025] 2、The application has the advantages of double buffering protection mechanism, the impact force when the lifting rod falls is directly absorbed by the first buffer spring, rapid shock absorption is realized, when the first piston block moves in the cylinder, the hydraulic oil flows through the communication pipe, forming controllable resistance, wherein the pressure plate dynamically adjusts the hydraulic oil flow through the second buffer spring, adapts to different impact intensity, the stop block prevents the stop plate from excessive displacement, avoiding structure damage.

[0026] 3、The application realizes nonlinear damping adjustment by synchronously transmitting the lifting rod speed to the centrifugal mechanism in real time through the synchronous belt, the swing ball displacement is proportional to the square of the speed, the basic damping is maintained by the buffer structure 4 at low speed, when falling at high speed, the centrifugal force drives the sleeve to axially displace, drives the gear to rotate through the tooth plate, makes the screw push the sliding seat to compress the pressure plate through the push rod, realizing accurate matching of speed and damping. BRIEF DESCRIPTION OF DRAWINGS

[0027] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application. In the drawings:

[0028] Figure 1 It is the overall structure perspective view of the inspection equipment in the application;

[0029] Figure 2 It is the structure perspective view of the inspection robot in the application;

[0030] Figure 3 It is the structure perspective view of the detection module in the application;

[0031] Figure 4 It is the structure perspective view of the detection module after rising in the application;

[0032] Figure 5 It is the overall structure perspective view of the protection mechanism in the application;

[0033] Figure 6 It is the structure schematic view of the first piston cylinder in the application;

[0034] Figure 7 It is the structure schematic view of the second piston cylinder in the application;

[0035] Figure 8 It is the structure schematic view of the wheel frame in the application;

[0036] Figure 9 It is the structure schematic view of the centrifugal adjustment structure in the application;

[0037] Figure 10 It is the structure schematic view of the transmission structure two in the application.

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

[0039] The technical solutions of the present application will be further described in detail below in combination with specific embodiments.

[0040] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0041] Example one:

[0042] As Figures 1-3As shown, the application provided by the embodiment applied to the warehousing system includes the inspection equipment 1 applied to the warehousing system, the inspection equipment 1 includes the inspection robot 101, the lifting top rod 102 arranged on the inspection robot 101 and the detection module 103 fixed to the top end of the lifting top rod 102; Flexible adjustment in the vertical direction can be realized, and the inspection requirements of shelves of different heights do not need manual intervention. The inspection equipment 1 further includes a charging box 107 for charging the inspection robot 101, the inspection robot 101 is provided with a driving wheel 105 for movement, the front and rear sides of the inspection robot 101 are fixed with a protection frame 106, and the inside of the inspection robot 101 is provided with an expansion hole 104 for the lifting top rod 102.

[0043] Embodiment two:

[0044] As Figures 4-10 shown, in order to realize the protection of the detection module 103, 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 includes 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 the wheel frame 5 is rotatably provided with an abutting roller 51 abutting the outer surface of the lifting top rod 102. 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, the first piston cylinder 401 is internally provided with a first piston block 402, the upper surface of the first piston block 402 is fixedly provided with a first plug rod 403 extending to the outside of the first piston cylinder 401, the top end of the first plug rod 403 is fixedly provided with a bearing block 404, and the bearing block 404 is fixedly provided with a first buffer spring 405 between the first piston cylinder 401; the second piston cylinder 406 is internally provided with a second piston block 407, a baffle 408 and a pressure regulating plate 409, the baffle 408 and the pressure regulating plate 409 are fixedly provided with a second buffer spring 412 therebetween, and the second piston block 407 is provided with a second plug rod 411 between the baffle 408. Wherein, the abutting roller 51 is fixedly provided with a rotating shaft 52, the abutting roller 51 is installed on the wheel frame 5 through the rotating shaft 52, and the rotating shaft 52 is connected with the bearing in the wheel frame 5. In the embodiment, when the buffer structure 4 is used, the spring first absorbs high-frequency impact, and then the hydraulic damping consumes energy to avoid "hard landing", the hydraulic oil of the first piston cylinder 401 and the second piston cylinder 406 is communicated, and the damping force of the two cylinders is changed synchronously, when the lifting top rod 102 falls at high speed, the first piston cylinder 401 is quickly compressed, the hydraulic oil flows into the second piston cylinder 406 through the communication pipe 410, the pressure regulating plate 409 is limited by the resistance of the second buffer spring 412, the oil flow rate is limited, and the reverse damping force is formed.

[0045] It should be noted that the first piston cylinder 401 and the second piston cylinder 406 are hollow inside, and the communication pipe 410 is fixed between the first piston cylinder 401 and the second piston cylinder 406. The outer surface of the lifting top rod 102 is fixed with a contact block in contact with the bearing block 404, and the second piston cylinder 406 is fixed with a stop block 413 limiting the baffle plate 408; the first buffer spring 405 directly absorbs the impact force when the lifting rod drops, realizing rapid damping. When the first piston block 402 moves in the cylinder, the hydraulic oil flows through the communication pipe 410, forming a controllable resistance. The pressure regulating plate 409 dynamically adjusts the hydraulic oil flow through the second buffer spring 412, adapts to different impact strengths, and the stop block 413 prevents the baffle plate 408 from excessive displacement to avoid structural damage, realizing the advantages of double buffering protection mechanism, and at the same time, it is not dependent on electricity, and it is a pure mechanical hydraulic system. The number of first piston cylinders 401 can be two, and the two first piston cylinders 401 are symmetrically arranged. When the number of first piston cylinders 401 is two, the communication pipe 410 is a three-way pipe. The buffering structure 4 is made of high-pressure resistant material.

[0046] To further improve the buffering effect, the mounting plate 3 is provided with a linkage mechanism used in cooperation with the centrifugal adjusting structure 6. The linkage mechanism is driven by the centrifugal adjusting structure 6 to adjust the buffering structure 4. Specifically, the centrifugal adjusting structure 6 includes a rotating rod 601, a rotating sleeve 602 sleeved outside the rotating rod 601, and a sliding sleeve 603. The outer surface of the rotating rod 601 is hinged with a swing arm 604. The rotating sleeve 602 and the swing arm 604 are hinged with a connecting rod 606. The end of the swing arm 604 is fixed with a swing ball 605. The rotating rod 601 and the rotating shaft 52 are provided with a synchronous structure 10. Specifically, the number of swing arms 604, connecting rods 606 and swing balls 605 in the centrifugal adjusting 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. One end of the rotating rod 601 is bearing connected with the outer surface of the wheel frame 5.

[0047] To realize linkage between structures, the synchronous structure 10 comprises synchronous wheels 1001 fixed to the outer surface of the rotating rod 601 and the rotating shaft 52, the two synchronous wheels 1001 are drivingly connected by a synchronous belt 1002, and the two synchronous wheels 1001 are not the same size. The linkage mechanism comprises transmission structure one 7 and transmission structure two 8. The transmission structure one 7 comprises a vertical plate 701 fixed to the lower surface of the rotating sleeve 602, a threaded sleeve 704 rotatably installed in the inside of 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, and a screw rod 705 penetrating through the inside of the wheel frame 5 is screwedly installed in the threaded sleeve 704. Specifically, the transmission structure two 8 comprises a sliding seat 801 slidingly arranged above the mounting plate 3, one side of the sliding seat 801 is fixed with an abutting block 802, and the outer surface of the abutting block 802 is screw-bolted with an abutting pad 803 abutting against the outer surface of the lifting top rod 102, the abutting pad 803 is screw-bolted and can be quickly replaced with different materials such as rubber / silica gel to adapt to low-temperature environment. The outside of the sliding seat 801 is hingedly connected with two pushing arms 804, and one end of the screw rod 705 is fixed to the outer surface of the sliding seat 801. The end of one of the pushing arms 804 is hingedly connected with a pushing rod 805 extending into the inside of the second piston cylinder 406 and fixed with the pressure regulating plate 409, the inside of the second piston cylinder 406 is provided with a limiting block limiting the pushing rod 805, and the inside of the second piston cylinder 406 is provided with a sealing ring matched with the pushing rod 805. The end of the other pushing arm 804 is hingedly connected with a trigger block 806, the upper surface of the mounting plate 3 is fixed with a mounting seat 807, and the outer surface of the mounting seat 807 is screw-bolted with a pressure sensing structure 808 matched with the trigger block 806. The lifting rod speed is transmitted to the centrifugal mechanism in real time through the synchronous belt 1002, the centrifugal displacement of the swing ball 605 is proportional to the square of the speed, the nonlinear damping adjustment is realized, the buffer structure 4 maintains the basic damping at low speed, and when falling at high speed, the centrifugal force drives the rotating sleeve 602 to axially displace, drives the gear 703 to rotate through the toothed plate 702, and makes the screw rod 705 push the sliding seat 801 to compress the pressure regulating plate 409 through the pushing rod 805, so that the speed and the damping are accurately matched.

[0048] It is worth mentioning that the first-stage buffer is realized by absorbing instantaneous impact through the first buffer spring 405, the damping coefficient is dynamically adjusted by the second-stage hydraulic spring system through the pressure regulating plate 409, and the pressure sensing structure 808 realizes real-time monitoring, so that the two-stage buffer and pressure closed-loop control are realized.

[0049] To ensure the stable operation of the transmission structure 7 and the transmission structure 8, the sliding seat 801 is fixed with a guide rod 809 extending into the inside of the wheel frame 5 near one side of the wheel frame 5. The mounting plate 3 is provided with a limiting structure 9 supporting the centrifugal adjusting structure 6 and the transmission structure 7, and the limiting structure 9 comprises a horizontal plate 901 fixed to the side wall of the mounting plate 3, a first limiting seat 902 fixed to the upper surface of the horizontal plate 901, and a second limiting seat 903 fixed between the first limiting seat 902 and the wheel frame 5, two second limiting seats 903 are fixed with a limiting rod 904 penetrating through the inside of the vertical plate 701, and the vertical plate 701 and the limiting rod 904 are fixed with a return spring 905. The return spring 905 in the limiting structure 9 ensures automatic reset of the mechanism in abnormal conditions. The guide rod 809 prevents the sliding seat 801 from deflecting and maintains the linear motion accuracy of the push rod 805. The end of the rotating rod 601 away from the wheel frame 5 is connected with the bearing on the outer surface of the first limiting seat 902.

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

[0051] First, the abutting roller 51 is in contact with the outer surface of the lifting jack 102, and when the lifting jack 102 moves up and down, the abutting roller 51 rotates, and the rotating rod 601 is driven by the synchronous belt 1002 to rotate the rotating rod 601, converting the linear motion of the lifting jack 102 into the rotary motion of the centrifugal adjusting structure 6.

[0052] When the centrifugal adjusting structure 6 works, the rotating rod 601 on it drives the swing arm 604 and the swing ball 605 to rotate, and when the rotating speed increases, that is, the lifting jack 102 descends too fast, the centrifugal force makes the swing ball 605 swing out, drives the rotating sleeve 602 to move axially, the sliding sleeve 603 drives the vertical plate 701 to move downward, and then drives the gear plate 702 to mesh with the gear 703, so that the threaded sleeve 704 rotates, and the screw rod 705 rotates with the threaded sleeve 704, and the sliding seat 801 moves;

[0053] When the sliding seat 801 moves, the push rod 805 is compressed by the push arm 804 linkage to change the hydraulic damping force of the second piston cylinder 406, and at the same time, the trigger block 806 contacts the pressure sensing structure 808 to issue an alarm, and the first buffer spring 405 absorbs the instantaneous impact, and the second stage hydraulic pressure and the second buffer spring 412 provide continuous damping to prolong the service life of the equipment.

[0054] Certain terms are used throughout the present disclosure and claims to refer to particular components. As one skilled in the art will appreciate, manufacturers can refer to a component by different names. This document does not intend to distinguish between components that differ in name but not in function. In the following description and in the claims, the terms include and comprise, and their derivatives, mean "including but not limited to" and "comprising but not limited to" to be followed by a list of one or more items. The term "consisting essentially of" to be followed by one or more items means that the list of items include those items which are equivalent in function to the recited items.

Claims

1. An automated inspection robot for use in a warehouse system, comprising an inspection device (1) for use in a warehouse system, characterized in that, The inspection equipment (1) comprises an inspection robot (101), a lifting jacking rod (102) arranged on the inspection robot (101), and a detection module (103) fixed to the top end of the lifting jacking rod (102); The upper surface of the inspection robot (101) is provided with a protection mechanism (2) located outside the lifting jacking rod (102), the protection mechanism (2) comprises a mounting plate (3), a buffer structure (4) arranged on the mounting plate (3), a wheel frame (5), and a centrifugal adjusting structure (6), and the wheel frame (5) is rotatably provided with an abutting roller (51) abutting against the outer surface of the lifting jacking 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), the first piston cylinder (401) is internally provided with a first piston block (402), the upper surface of the first piston block (402) is fixedly provided with a first plug rod (403) extending to the outside of the first piston cylinder (401), the top end of the first plug rod (403) is fixedly provided with a bearing block (404), and the first buffer spring (405) is fixed between the bearing block (404) and the first piston cylinder (401); The second piston cylinder (406) is internally provided with a second piston block (407), a baffle (408), and a pressure regulating plate (409), the second buffer spring (412) is fixed between the baffle (408) and the pressure regulating plate (409), and the second plug rod (411) is arranged between the second piston block (407) and the baffle (408); The mounting plate (3) is provided with a linkage mechanism used in cooperation with the centrifugal adjusting structure (6), the linkage mechanism is driven by the centrifugal adjusting structure (6) to adjust the buffer structure (4); The first piston cylinder (401) and the second piston cylinder (406) are both hollow, and the communication pipe (410) is fixed between the first piston cylinder (401) and the second piston cylinder (406), the outer surface of the lifting jacking rod (102) is fixedly provided with a contact block in contact with the bearing block (404), and the second piston cylinder (406) is internally fixedly provided with a stop block (413) limiting the baffle (408); The abutting roller (51) is internally fixedly provided with a rotating shaft (52), the abutting roller (51) is mounted on the wheel frame (5) through the rotating shaft (52), and the rotating shaft (52) is connected with the bearing in the wheel frame (5); The centrifugal adjusting structure (6) comprises a rotating rod (601), a rotating sleeve (602) and a sliding sleeve (603) sleeved outside the rotating rod (601), the outer surface of the rotating rod (601) is hingedly provided with a swing arm (604), the rotating sleeve (602) and the swing arm (604) are hingedly provided with a connecting rod (606), the end of the swing arm (604) is fixedly provided with a swing ball (605), and the rotating rod (601) and the rotating shaft (52) are provided with a synchronous structure (10). The linkage mechanism comprises transmission structure one (7) and transmission structure two (8), the transmission structure one (7) comprises a vertical plate (701) fixed to the lower surface of the rotating sleeve (602), a threaded sleeve (704) rotatably installed in the inside of 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 engaged with the gear (703), and a screw rod (705) penetrating through the inside of the wheel frame (5) is screw-mounted in the inside of the threaded sleeve (704); The transmission structure two (8) comprises a sliding seat (801) slidingly arranged above the mounting plate (3), one side of the sliding seat (801) is fixed with an abutting block (802), the outer surface of the abutting block (802) is bolted with an abutting pad (803) abutting against the outer surface of the lifting top rod (102), and one end of the screw rod (705) is fixed to the outer surface of the sliding seat (801); The outside of the sliding seat (801) is hingedly connected with two pushing arms (804), one end of one of the pushing arms (804) is hingedly connected with a pushing rod (805) extending into the inside of the second piston cylinder (406) and fixed with the pressure regulating plate (409), and the other end of the other pushing arm (804) is hingedly connected with a trigger block (806), the upper surface of the mounting plate (3) is fixed with a mounting seat (807), and the outer surface of the mounting seat (807) is bolted with a pressure sensing structure (808) matched with the trigger block (806); The side of the sliding seat (801) close to the wheel frame (5) is fixed with a guide rod (809) extending into the inside of the wheel frame (5).

2. The automated inspection robot for use in a warehouse system of claim 1, wherein: The patrol equipment (1) further comprises a charging box (107) for charging the patrol robot (101), the patrol robot (101) is provided with a driving wheel (105) for movement, the front and rear sides of the patrol robot (101) are fixed with protective frames (106), and the inside of the patrol robot (101) is provided with an expansion hole (104) for the lifting top rod (102).

3. The automated inspection robot for use in a warehouse system of claim 1, wherein: The synchronization structure (10) comprises synchronization wheels (1001) fixed to the outer surfaces of the rotating rod (601) and the rotating shaft (52), two synchronization wheels (1001) are drivingly connected with a synchronous belt (1002), and the two synchronization wheels (1001) are of different sizes.

4. The automated inspection robot for use in a warehouse system of claim 3, wherein: The number of the swing arms (604), the connecting rods (606) and the swing balls (605) in the centrifugal adjusting 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 bearing-connected with the outer surface of the wheel frame (5).

5. The automated inspection robot for use in a warehouse system of claim 1, wherein: The installation plate (3) is provided with a limiting structure (9) for supporting the centrifugal adjusting structure (6) and the transmission structure (7), the limiting structure (9) comprises a horizontal plate (901) fixed to the side wall of the installation plate (3), a first limiting seat (902) fixed to the upper surface of the horizontal plate (901), a second limiting seat (903) fixed between the first limiting seat (902) and the wheel frame (5), two second limiting seats (903) are fixed with a limiting rod (904) penetrating through the inside of the vertical plate (701), the vertical plate (701) and the limiting rod (904) are fixed with a return spring (905), and the end, away from the wheel frame (5), of the rotating rod (601) is connected with the outer surface bearing of the first limiting seat (902).

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