Warehouse checking robot

Abstract

The invention discloses a warehouse checking robot which comprises a mobile robot, a detection robot for checking articles, a supporting frame fixedly connected with the detection robot and an electric telescopic rod arranged at the top of the mobile robot. The storage inventory robot further comprises a limiting device for fixing the mobile robot and the detection robot, when the mobile robot makes contact with the supporting frame, a rotating rod is automatically triggered to rotate through physical blocking of the supporting frame, then a first connecting rod drives a first limiting key to move, and therefore limiting of an electric telescopic rod is relieved; only after the mobile robot accurately moves to the bottom of the detection robot, the electric telescopic rod which is not limited can push the fixed plate and the sliding plate to move upwards, the detection robot is stably pushed up, the situation that jacking is started by mistake in a misalignment or non-working state is avoided, and the operation safety is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of robot docking technology, specifically to a robot for warehouse inventory management. Background Technology

[0002] Currently, in the field of automated warehousing and inventory management, in order to improve inventory efficiency and reduce the intensity of manual labor, an increasing number of warehousing systems are introducing warehouse inventory robots. Common warehouse inventory robots typically include the mobile robot body and a detection robot used to perform item identification and data collection.

[0003] Traditional warehouse inventory robots, while capable of basic material handling and relocation, often suffer from drawbacks in practice. The mobile robot and the inspection robot typically rely on a rigid connection or simple mechanical interlocking. This connection method lacks effective sequential triggering and anti-misoperation lifting mechanisms when the robot moves to the bottom of the items to be inventoried. If the mobile robot doesn't move precisely under the inspection robot, the lifting mechanism may prematurely activate due to misoperation or flawed control logic, causing the lifting component to collide or jam with the bottom of the inspection robot. This not only easily damages the equipment but also poses safety hazards. Furthermore, after completing the lifting action, older robots lack an automatic and reliable locking structure between the mobile and inspection robots, relying solely on friction or simple positioning pins for fixation. When the robot carries the inspection robot for inventory counting, the inertial forces generated during startup, turning, or sudden stops can easily cause relative displacement or even separation between the two, leading to the inspection robot swaying, tilting, or falling. This affects the accuracy and stability of the inventory count and reduces the reliability of the entire warehouse inventory system. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a warehouse inventory robot that solves the problems mentioned in the background section.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: a warehouse inventory robot, including a mobile robot, a detection robot for inventorying items, a support frame fixedly connected to the detection robot, and an electric telescopic rod set on the top of the mobile robot. The warehouse inventory robot further includes: a limiting device for fixing the mobile robot and the detection robot, a switching device for reducing friction between the support frame and the ground when the mobile robot moves the detection robot, and an auxiliary device for enhancing the support effect of the electric telescopic rod. The limiting device includes a fixed plate fixedly connected to the fixed end of the electric telescopic rod, a sliding plate sliding on the inner wall of the fixed plate, a rotating rod rotatably connected to the mobile robot, a limiting key 1 slidably connected to the mobile robot, and a connecting rod 1. One end of the connecting rod 1 is rotatably connected to the limiting key 1, and the other end of the connecting rod rotatably connected to the rotating rod.

[0006] The limiting device further includes a rotating component rotatably connected to the inner wall of the fixed plate, a second limiting key sliding on the inner wall of the fixed plate, and a limiting frame fixedly connected to the bottom of the detection robot. The rotating component is fixedly connected to the rotating rod. A sliding groove is provided on the surface of the sliding plate, and the sliding groove matches the rotating component. A slot is provided on the side of the limiting frame near the second limiting key.

[0007] A torsion spring is provided between the rotating rod and the mobile robot. The torsion spring is provided to drive the rotating rod to reset. A limit groove is provided on the side of the electric telescopic rod near the first limit key. The electric telescopic rod contacts the inner wall of the limit groove. An elastic element is provided between the second limit key and the fixed plate. The elastic element is provided to drive the second limit key to reset. The side of the second limit key near the rotating element is provided with an inclined surface. The inclined surface is provided to facilitate the rotating element to push the second limit key to move.

[0008] The switching device includes a sliding frame that slides on the inner wall of the support frame, a push rod that is fixedly connected to the sliding frame, a rotating wheel that slides on the inner wall of the support frame, and a connecting rod. One end of the connecting rod is rotatably connected to the sliding frame, and the other end of the connecting rod is rotatably connected to the rotating wheel.

[0009] The switching device further includes a support rod that slides on the inner wall of the support frame, a sliding member that slides on the limiting frame, an insert rod that slides on the support frame, a second connecting rod, and a second linking rod. One end of the second connecting rod is rotatably connected to the support rod, and the other end of the second connecting rod is rotatably connected to the sliding frame. One end of the second linking rod is rotatably connected to the sliding member, and the other end of the second linking rod is rotatably connected to the insert rod.

[0010] An elastic element is provided between the sliding member and the limiting frame. The elastic element is provided to drive the sliding member to reset. An elastic element is provided between the support rod and the support frame. The elastic element is provided to drive the support rod to reset. A limiting groove is provided on the side of the sliding frame near the insertion rod.

[0011] The auxiliary device includes a push rod fixedly connected to the rotating rod, a sliding frame slidably connected to the mobile robot, a fixed frame fixedly connected to the mobile robot, a key slidably connected to the inner wall of the sliding frame, and a fixing block fixedly connected to the key. The sliding frame is slidably connected to the inner wall of the fixed frame, and a fixing groove is provided on the side of the support frame near the key.

[0012] The auxiliary device also includes a sliding rod slidably connected to the mobile robot, a retainer slidably connected to the electric telescopic rod, a rotating rod, and a pulling rod. One end of the rotating rod is rotatably connected to the sliding rod, and the other end of the rotating rod is rotatably connected to the retainer. One end of the pulling rod is rotatably connected to the fixed plate, and the other end of the pulling rod is rotatably connected to the retainer.

[0013] An elastic element is provided between the key and the sliding frame. The elastic element is provided to drive the key to reset. The side of the fixed block near the sliding rod is set as an inclined surface. The inclined surface is provided to facilitate the sliding rod to push the fixed block to move. An elastic element is provided between the sliding frame and the mobile robot.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In this invention, when the mobile robot contacts the support frame, the physical obstruction of the support frame automatically triggers the rotation of the rotating rod, which in turn drives the limit key to move via the connecting rod, thereby releasing the limit on the electric telescopic rod. Only after the mobile robot accurately moves to the bottom of the detection robot will the released electric telescopic rod push the fixed plate and sliding plate upward, smoothly pushing the detection robot up. This avoids accidental start of lifting when misaligned or not in operation, ensuring operational safety. During lifting, the cooperation between the rotating component and the sliding groove, as well as the rotating component pushing the limit key to move, ensures that the limit key to automatically insert into the slot of the limit frame after the mobile robot is in position. This helps to maintain the relative position of the two during subsequent movement and prevents them from separating.

[0015] 2. In this invention, when the mobile robot enters the bottom of the inspection robot, it contacts the push rod, achieving a synchronous switch between the upward retraction of the support rod and the downward extension of the rotating wheel. This allows the support frame, which originally generated significant friction with the ground, to be lifted when the mobile robot moves the inspection robot, and the weight is instead borne by the rotating wheel with rolling friction. This significantly reduces the ground friction when the mobile robot moves the inspection robot, making the movement smoother. The push rod is locked by the insertion rod to ensure that even if it is subjected to vibration or external force during the handling process, the switched rotating wheel support state will not accidentally revert, ensuring that the rotating wheel can provide sufficient and stable support to the support frame, thereby maintaining the reliability of the handling state.

[0016] 3. In this invention, when the output end of the electric telescopic rod extends, the retainer is pulled by the pull rod to clamp the output end, which enhances the rigidity between the output end and the fixed end of the electric telescopic rod. This helps to reduce the swaying, bending or lateral displacement that may occur when lifting and carrying the inspection robot, and improves the stability and positioning accuracy of the lifting process. When the retainer clamps, it pushes the rotating rod, which in turn pushes the sliding rod to release the limit on the fixed block, making the connection between the two more solid and reliable, able to withstand greater motion inertia and external disturbances, and preventing detachment due to vibration or sudden stop. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram showing the positional structure of the fixed plate and sliding plate of the present invention; Figure 3 This is a schematic diagram of the position structure of the connecting rod and the limiting key of the present invention; Figure 4 This is a schematic diagram showing the position and structure of the fixed frame and sliding frame of the present invention; Figure 5 This is a schematic diagram of the position structure of the connecting rod 2 and the insertion rod of the present invention; Figure 6 This is a schematic diagram showing the position and structure of the connecting rod 2 and the support rod of the present invention; Figure 7 This is a schematic diagram of the position structure of the limiting frame and sliding member of the present invention.

[0018] The meanings of the labels in the diagram are as follows: 1. Mobile robot; 2. Inspection robot; 3. Support frame; 4. Electric telescopic rod; 5. Fixed plate; 6. Sliding plate; 7. Rotating rod; 8. Link 1; 9. Limit key 1; 10. Limit key 2; 11. Rotating component; 12. Limiting frame; 21. Push rod; 22. Sliding frame; 23. Connecting rod 1; 24. Rotating wheel; 25. Connecting rod 2; 26. Support rod; 27. Sliding component; 28. Link 2; 29. ​​Insert rod; 31. Push rod; 32. Sliding frame; 33. Fixed frame; 34. Fixed block; 35. Sliding rod; 36. Rotating rod; 37. Cage; 38. Pull rod; 39. Insert key. Detailed Implementation

[0019] 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.

[0020] Please see Figures 1-7 One embodiment of the present invention is: a warehouse inventory robot, including a mobile robot 1, a detection robot 2 for inventorying items, a support frame 3 fixedly connected to the detection robot 2, and an electric telescopic rod 4 set on the top of the mobile robot 1. The warehouse inventory robot also includes: a limiting device for fixing the mobile robot 1 and the detection robot 2, a switching device for reducing the friction between the support frame 3 and the ground when the mobile robot 1 moves the detection robot 2, and an auxiliary device for enhancing the support effect of the electric telescopic rod 4. The limiting device includes a fixed plate 5 fixedly connected to the fixed end of the electric telescopic rod 4, a sliding plate 6 sliding on the inner wall of the fixed plate 5, a rotating rod 7 rotatably connected to the mobile robot 1, a limiting key 9 slidably connected to the mobile robot 1, and a connecting rod 8. One end of the connecting rod 8 is rotatably connected to the limiting key 9, and the other end of the connecting rod 8 is rotatably connected to the rotating rod 7.

[0021] The limiting device also includes a rotating component 11 rotatably connected to the inner wall of the fixed plate 5, a second limiting key 10 sliding on the inner wall of the fixed plate 5, and a limiting frame 12 fixedly connected to the bottom of the detection robot 2. The rotating component 11 is fixedly connected to the rotating rod 7. A sliding groove is provided on the surface of the sliding plate 6. The sliding groove matches the rotating component 11. A slot is provided on the side of the limiting frame 12 near the second limiting key 10.

[0022] A torsion spring is provided between the rotating rod 7 and the mobile robot 1. The torsion spring is provided to drive the rotating rod 7 to reset. A limit groove is provided on the side of the electric telescopic rod 4 near the limit key 9. The electric telescopic rod 4 contacts the inner wall of the limit groove. An elastic element is provided between the limit key 10 and the fixed plate 5. The elastic element is provided to drive the limit key 10 to reset. The side of the limit key 10 near the rotating component 11 is set as an inclined surface. The inclined surface is provided to facilitate the rotating component 11 to push the limit key 10 to move.

[0023] In this embodiment, when an inventory check of stored items is required, the mobile robot 1 is fixed to the support frame 3, allowing the mobile robot 1 to drive the detection robot 2 to move via the support frame 3, enabling the detection robot 2 to perform the inventory check. When the mobile robot 1 is fixed to the support frame 3, it drives the rotating rod 7 to move. The rotating rod 7 then contacts the support frame 3, causing it to rotate towards the electric telescopic rod 4 due to the obstruction of the support frame 3. The movement of the rotating rod 7 pushes the connecting rod 8 to move, which in turn pushes the limit key 9 to move away from the electric telescopic rod 4. The movement of the limit key 9 then releases the electric telescopic rod. The electric telescopic rod 4 has a limit setting. The output end of the electric telescopic rod 4 can push the fixed plate 5 to move. When the mobile robot 1 is at the bottom of the inspection robot 2, the output end of the electric telescopic rod 4 will push the fixed plate 5 to move. The movement of the fixed plate 5 will push the sliding plate 6 to move upward, so that the sliding plate 6 can contact the bottom of the inspection robot 2. The electric telescopic rod 4 can push the inspection robot 2 up. When the rotating rod 7 rotates, it will drive the rotating component 11 to rotate. Then the position of the rotating component 11 will coincide with the position of the sliding groove. When the electric telescopic rod 4 pushes the sliding plate 6 to contact the inspection robot 2 through the fixed plate 5, the sliding plate 6 will be squeezed and slide inward towards the inside of the fixed plate 5. Then the rotating component 11 will slide into the sliding groove. In the process, the rotating component 11 will contact the inclined surface of the second limit key 10, and the rotating component 11 will push the second limit key 10 to move. When the mobile robot 1 moves, it will drive the fixed plate 5 and the sliding plate 6 to slide towards the inner wall of the limit frame 12. When the mobile robot 1 is at the bottom of the detection robot 2, the position of the second limit key 10 will coincide with the position of the slot. When the second limit key 10 slides away from the fixed plate 5, the second limit key 10 will be inserted into the limit frame 12, so that the mobile robot 1 and the detection robot 2 can be easily fixed. When the mobile robot 1 contacts the support frame 3, the physical block of the support frame 3 will automatically trigger the rotating rod 7 to rotate, which will then drive the first connecting rod 8 to rotate. The limit key 9 moves, thereby releasing the limit on the electric telescopic rod 4. Only after the mobile robot 1 accurately moves to the bottom of the detection robot 2 will the released electric telescopic rod 4 push the fixed plate 5 and the sliding plate 6 upward, smoothly pushing the detection robot 2 up. This avoids accidental start of the lifting when it is not aligned or in a non-working state, ensuring the safety of operation. At the same time as the lifting, the cooperation between the rotating part 11 and the sliding groove, as well as the movement of the rotating part 11 pushing the limit key 10, will eventually cause the limit key 10 to automatically insert into the slot of the limit frame 12 after the mobile robot 1 is in place. This helps to keep the relative position of the two fixed during the subsequent moving process and prevent them from separating.

[0024] Please see Figures 1-7Based on the above embodiments, in another embodiment of the present invention, the switching device includes a sliding frame 22 that slides on the inner wall of the support frame 3, a push rod 21 that is fixedly connected to the sliding frame 22, a rotating wheel 24 that slides on the inner wall of the support frame 3, and a connecting rod 23. One end of the connecting rod 23 is rotatably connected to the sliding frame 22, and the other end of the connecting rod 23 is rotatably connected to the rotating wheel 24.

[0025] The switching device also includes a support rod 26 that slides on the inner wall of the support frame 3, a sliding member 27 that slides on the limit frame 12, an insert rod 29 that slides on the support frame 3, a connecting rod 25, and a connecting rod 28. One end of the connecting rod 25 is rotatably connected to the support rod 26, and the other end of the connecting rod 25 is rotatably connected to the sliding frame 22. One end of the connecting rod 28 is rotatably connected to the sliding member 27, and the other end of the connecting rod 28 is rotatably connected to the insert rod 29.

[0026] An elastic element is provided between the sliding member 27 and the limiting frame 12. The elastic element is provided to drive the sliding member 27 to reset. An elastic element is provided between the support rod 26 and the support frame 3. The elastic element is provided to drive the support rod 26 to reset. A limiting groove is provided on the side of the sliding frame 22 near the insertion rod 29.

[0027] The auxiliary device includes a push rod 31 fixedly connected to the rotating rod 7, a sliding frame 32 slidably connected to the mobile robot 1, a fixed frame 33 fixedly connected to the mobile robot 1, a key 39 slidably connected to the inner wall of the sliding frame 32, and a fixing block 34 fixedly connected to the key 39. The sliding frame 32 is slidably connected to the inner wall of the fixed frame 33, and a fixing groove is provided on the side of the support frame 3 near the key 39.

[0028] The auxiliary device also includes a sliding rod 35 slidably connected to the mobile robot 1, a retainer 37 slidably connected to the electric telescopic rod 4, a rotating rod 36, and a pulling rod 38. One end of the rotating rod 36 is rotatably connected to the sliding rod 35, and the other end of the rotating rod 36 is rotatably connected to the retainer 37. One end of the pulling rod 38 is rotatably connected to the fixed plate 5, and the other end of the pulling rod 38 is rotatably connected to the retainer 37.

[0029] An elastic element is provided between the key 39 and the sliding frame 32. The elastic element is provided to drive the key 39 to reset. The side of the fixed block 34 near the sliding rod 35 is set as an inclined surface. The inclined surface is provided to facilitate the sliding rod 35 to push the fixed block 34 to move. An elastic element is provided between the sliding frame 32 and the mobile robot 1.

[0030] In this embodiment, during operation: when the mobile robot 1 moves towards the bottom of the detection robot 2, it will contact the push rod 21. The mobile robot 1 will then push the push rod 21 to move. The movement of the push rod 21 will pull the sliding frame 22 to move. The movement of the sliding frame 22 will drive the connecting rod 1 23 to move. The movement of the connecting rod 1 23 will drive the rotating wheel 24 to move downward. The movement of the sliding frame 22 will drive the connecting rod 25 to move. The movement of the connecting rod 25 will drive the support rod 26 to move upward. The upward movement of the support rod 26 and the downward movement of the rotating wheel 24 are synchronized, so that when the mobile robot 1 moves to the bottom of the detection robot 2, the contact between the support rod 26 and the ground is changed to the contact between the rotating wheel 24 and the bottom, reducing the friction between the support frame 3 and the ground when the mobile robot 1 moves the detection robot 2. When the limit key 2 10 is inserted into the slot, it will contact the slider 27. The movement of the slider 27 will drive the connecting rod 28 to move. The movement of the connecting rod 28 will drive the insertion rod 29 to move downward. When the insertion rod 29 moves downward, it inserts into the push rod 21 to fix the push rod 21. After the push rod 21 is fixed, the wheel 24 can provide sufficient support for the support frame 3. When the mobile robot 1 enters the bottom of the inspection robot 2, it contacts the push rod 21, realizing the synchronous switching of the upward retraction of the support rod 26 and the downward extension of the wheel 24. This allows the support frame 3, which originally had a large friction with the ground, to be lifted when the mobile robot 1 moves the inspection robot 2, and the weight is instead borne by the rolling friction of the wheel 24. This significantly reduces the ground friction when the mobile robot 1 moves the inspection robot 2, making the movement smoother. Locking the push rod 21 with the insertion rod 29 ensures that even if it is subjected to vibration or external force during the handling process, the switched support state of the wheel 24 will not accidentally revert, ensuring that the wheel 24 can provide sufficient and stable support for the support frame 3, thereby maintaining the reliability of the handling state.

[0031] When the rotating rod 7 rotates, it drives the push rod 31 to move. The movement of the push rod 31 pushes the sliding frame 32 to slide towards the support frame 3. The movement of the sliding frame 32 drives the key 39 to move. The movement of the key 39 drives the fixed block 34 to move. When the fixed block 34 moves, it comes into contact with the sliding rod 35, and the fixed block 34 is blocked by the sliding rod 35. The sliding rod 35 prevents the key 39 from sliding towards the support frame 3 through the fixed block 34. When the output end of the electric telescopic rod 4 extends, it pulls the pulling rod 38 to move. The movement of the pulling rod 38 pulls the retainer 37 to contact the movable end, so that the retainer 37 can clamp the output end of the electric telescopic rod 4, which can enhance the rigidity between the output end and the fixed end of the electric telescopic rod 4. The movement of the retainer 37 pushes the rotating rod 36 to move. The movement of the rotating rod 36 pushes the sliding rod 35 to move away from the fixed block 34, so the sliding rod 35 limits the fixed block 34. If the key is released, the key 39 can slide towards the support frame 3, and the key 39 will be fixed to the support frame 3, strengthening the fixing effect between the mobile robot 1 and the support frame 3. Through the initial blocking of the fixed block 34 and the sliding rod 35, the key 39 cannot be immediately inserted into the support frame 3 after the rotating rod 7 rotates. When the output end of the electric telescopic rod 4 extends, the pull rod 38 pulls the retainer 37 to clamp the output end, which enhances the rigidity between the output end and the fixed end of the electric telescopic rod 4. This helps to reduce the swaying, bending or lateral displacement that may occur when lifting and carrying the inspection robot 2, and improves the stability and positioning accuracy of the lifting process. When the retainer 37 clamps, it will push the rotating rod 36, and then push the sliding rod 35 to release the limit on the fixed block 34, which can make the connection between the two more firm and reliable, and can withstand greater motion inertia and external disturbances, preventing detachment due to vibration or sudden stop.

[0032] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0033] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A warehouse inventory robot, comprising a mobile robot (1), an inspection robot (2) for inventorying items, a support frame (3) fixedly connected to the inspection robot (2), and an electrically operated telescopic rod (4) disposed on the top of the mobile robot (1), characterized in that, The warehouse inventory robot also includes: a limiting device for fixing the mobile robot (1) and the detection robot (2), a switching device for reducing the friction between the support frame (3) and the ground when the mobile robot (1) moves the detection robot (2), and an auxiliary device for enhancing the support effect of the electric telescopic rod (4). The limiting device includes a fixed plate (5) fixedly connected to the fixed end of the electric telescopic rod (4), a sliding plate (6) sliding on the inner wall of the fixed plate (5), a rotating rod (7) rotatably connected to the mobile robot (1), a limiting key (9) slidably connected to the mobile robot (1), and a connecting rod (8). One end of the connecting rod (8) is rotatably connected to the limiting key (9), and the other end of the connecting rod (8) is rotatably connected to the rotating rod (7).

2. The warehouse inventory robot according to claim 1, characterized in that: The limiting device also includes a rotating component (11) rotatably connected to the inner wall of the fixed plate (5), a second limiting key (10) sliding on the inner wall of the fixed plate (5), and a limiting frame (12) fixedly connected to the bottom of the detection robot (2). The rotating component (11) is fixedly connected to the rotating rod (7). A sliding groove is provided on the surface of the sliding plate (6). The sliding groove matches the rotating component (11). A slot is provided on the side of the limiting frame (12) near the second limiting key (10).

3. The warehouse inventory robot according to claim 2, characterized in that: A torsion spring is provided between the rotating rod (7) and the mobile robot (1). A limit groove is provided on the side of the electric telescopic rod (4) near the limit key one (9). The electric telescopic rod (4) contacts the inner wall of the limit groove. An elastic element is provided between the limit key two (10) and the fixed plate (5). The side of the limit key two (10) near the rotating part (11) is set as an inclined surface.

4. The warehouse inventory robot according to claim 2, characterized in that: The switching device includes a sliding frame (22) that slides on the inner wall of the support frame (3), a push rod (21) that is fixedly connected to the sliding frame (22), a rotating wheel (24) that slides on the inner wall of the support frame (3), and a connecting rod (23). One end of the connecting rod (23) is rotatably connected to the sliding frame (22), and the other end of the connecting rod (23) is rotatably connected to the rotating wheel (24).

5. The warehouse inventory robot according to claim 4, characterized in that: The switching device further includes a support rod (26) that slides on the inner wall of the support frame (3), a sliding member (27) that slides on the limiting frame (12), an insert rod (29) that slides on the support frame (3), a connecting rod two (25), and a connecting rod two (28). One end of the connecting rod two (25) is rotatably connected to the support rod (26), and the other end of the connecting rod two (25) is rotatably connected to the sliding frame (22). One end of the connecting rod two (28) is rotatably connected to the sliding member (27), and the other end of the connecting rod two (28) is rotatably connected to the insert rod (29).

6. The warehouse inventory robot according to claim 5, characterized in that: An elastic element is provided between the sliding member (27) and the limiting frame (12), and an elastic element is provided between the support rod (26) and the support frame (3). A limiting groove is provided on the side of the sliding frame (22) near the insertion rod (29).

7. The warehouse inventory robot according to claim 1, characterized in that: The auxiliary device includes a push rod (31) fixedly connected to the rotating rod (7), a sliding frame (32) slidably connected to the mobile robot (1), a fixed frame (33) fixedly connected to the mobile robot (1), a key (39) slidably connected to the inner wall of the sliding frame (32), and a fixing block (34) fixedly connected to the key (39). The sliding frame (32) is slidably connected to the inner wall of the fixed frame (33), and a fixing groove is provided on the side of the support frame (3) near the key (39).

8. The warehouse inventory robot according to claim 7, characterized in that: The auxiliary device also includes a sliding rod (35) slidably connected to the mobile robot (1), a retainer (37) slidably connected to the electric telescopic rod (4), a rotating rod (36), and a pulling rod (38). One end of the rotating rod (36) is rotatably connected to the sliding rod (35), and the other end of the rotating rod (36) is rotatably connected to the retainer (37). One end of the pulling rod (38) is rotatably connected to the fixed plate (5), and the other end of the pulling rod (38) is rotatably connected to the retainer (37).

9. The warehouse inventory robot according to claim 8, characterized in that: An elastic element is provided between the key (39) and the sliding frame (32), the fixed block (34) is provided with an inclined surface on the side near the sliding rod (35), and an elastic element is provided between the sliding frame (32) and the mobile robot (1).

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