CN214981070U

CN214981070U - Checking robot

Info

Publication number: CN214981070U
Application number: CN202120134157.9U
Authority: CN
Inventors: 邢一凡; 赵万秋; 颜彪; 单世强; 余雄杰; 郭杰
Original assignee: Shenzhen Youibot Robotics Technology Co ltd
Current assignee: Shenzhen Youibot Robotics Technology Co ltd
Priority date: 2021-01-18
Filing date: 2021-01-18
Publication date: 2021-12-03
Anticipated expiration: 2031-01-18

Abstract

The utility model is suitable for the technical field of cargo inventory management, and discloses a stock counting robot, which comprises a base, a scanning assembly and a lifting device for driving the scanning assembly to perform lifting motion relative to the base; the lifting device comprises a first lifting mechanism, a second lifting mechanism arranged at intervals with the first lifting mechanism and a cross beam connected between the first lifting mechanism and the second lifting mechanism, and the first lifting mechanism is arranged on the cross beam and connected with the scanning assembly so as to drive the scanning assembly to perform lifting motion; the bottom end of the second lifting mechanism is connected with the base, and the top end of the second lifting mechanism is connected with the cross beam so as to drive the cross beam to drive the first lifting mechanism to perform lifting motion and further drive the scanning assembly to perform lifting motion. The utility model provides a check robot adopts two elevating system drive scanning subassembly movements of first elevating system and second elevating system, does not receive an elevating system's structural constraint, and the scanning subassembly can scan and place in the goods of low level, reduces artificial participation.

Description

Checking robot

Technical Field

The utility model relates to a goods inventory management technical field especially relates to a stock robot.

Background

In the traditional technology, inventory in a warehouse is generally checked by scanning identification codes of goods one by one through a manually held scanning gun, and the checking mode needs to consume much labor and time.

In order to solve the above problems of the conventional technologies, the prior art proposes to design an inventory robot to automatically inventory goods. However, the prior art inventory robot still has the following disadvantages:

1) the existing checking robot comprises a base, a scanning assembly and a lifting mechanism for driving the scanning assembly to move up and down relative to the base, and the scanning assembly is driven to move by the lifting mechanism in the prior art, so that the scanning assembly is easily limited by the structure of the lifting mechanism and cannot scan goods placed at a low position;

2) the existing checking robot is difficult to accurately position the lifting height during working, and is difficult to quickly and effectively acquire the information of cargos with different heights, so that the cargo information acquisition efficiency and the checking efficiency are low;

3) when the warehouse is dark or the light of the position where the goods are located is insufficient, in the prior art, the scanning result of the scanning component of the checking robot is inaccurate, so that the checking result has errors;

4) in the prior art, the obstacle avoidance detection design scheme of the checking robot is that a laser radar for detecting obstacles in the horizontal direction is arranged on the side part of a base, the existing checking robot can only detect the obstacles within the height range of the base but cannot detect the obstacles within the height range of a lifting mechanism, so that the phenomenon that the lifting mechanism collides with the obstacles easily occurs in the walking or lifting process of the checking robot, and therefore, the existing checking robot still has great potential safety hazards in specific application;

5) the robot of checking usually can take place to rock at the during operation, and goods shelves are than higher usually, and the cable of current robot of checking is hung easily on objects such as goods shelves or goods, leads to appearing the check trouble, simultaneously, because the continuous lift of elevating system of robot of checking, the cable takes place the friction and is worn and torn with the spare part rather than the contact easily, can appear when serious risk such as electric leakage, robot trouble even.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an inventory robot, it aims at solving current inventory robot and can't scan the technical problem who places the goods in the low level.

In order to achieve the above purpose, the utility model provides a scheme is: the checking robot comprises a base, a scanning assembly and a lifting device for driving the scanning assembly to perform lifting motion relative to the base;

the lifting device comprises a first lifting mechanism, a second lifting mechanism arranged at intervals with the first lifting mechanism and a cross beam connected between the first lifting mechanism and the second lifting mechanism, and the first lifting mechanism is arranged on the cross beam and connected with the scanning assembly so as to drive the scanning assembly to perform lifting motion; the bottom end of the second lifting mechanism is connected with the base, and the top end of the second lifting mechanism is connected with the cross beam so as to be used for driving the cross beam to drive the first lifting mechanism to carry out lifting motion and further drive the scanning assembly to carry out lifting motion.

Furthermore, the first lifting mechanism comprises a first support and a first driving mechanism, the first driving mechanism comprises a lifting component which is arranged on the first support and connected with the scanning component and a driving component which is used for driving the lifting component to drive the scanning component to perform lifting motion, the driving component is arranged on the first support and/or the cross beam, and the scanning component is provided with a connecting piece connected with the lifting component.

Further, lifting unit is conveyer belt or driving chain, drive assembly includes from driving wheel, action wheel and motor, the conveyer belt or the driving chain around locating from the driving wheel with on the action wheel, the motor with the action wheel transmission is connected, the connecting piece centre gripping is connected conveyer belt or driving chain.

Further, the driving assembly further comprises a speed reduction transmission part which is in transmission connection between the motor and the driving wheel.

Furthermore, a guide rail is arranged on the first support, the scanning assembly is further provided with a sliding part in sliding fit with the guide rail, and the connecting piece is installed on the sliding part.

Furthermore, second elevating system include one end with fixed cover, an at least lesson swing joint that the base is connected fixed cover is in order to be used for driving the crossbeam is relative the base carries out elevating movement's telescopic link and is used for driving the telescopic link carries out elevating movement's second actuating mechanism, the crossbeam with apart from the farthest lesson of base the telescopic link is connected.

Further, the second driving mechanism is any one of a pneumatic driving mechanism, a hydraulic driving mechanism or an electric driving mechanism; and/or the second driving mechanism is arranged in the base.

Further, the inventory robot further comprises a first obstacle avoidance detecting component for detecting obstacles for the second lifting mechanism.

Furthermore, the first obstacle avoidance detecting component detects an obstacle in the vertical direction, and is mounted on the side of the fixed sleeve or on the top of the base; alternatively, the first and second electrodes may be,

the first obstacle avoidance detection part comprises at least two horizontal obstacle avoidance detection parts for detecting obstacles in the horizontal direction, at least one horizontal obstacle avoidance detection part is installed on the side portion of the fixed sleeve and each section of the telescopic rod, and the horizontal obstacle avoidance detection parts are arranged on the telescopic rod and are far away from the end portion of the base.

Furthermore, the checking robot further comprises a second obstacle avoidance detecting component for detecting obstacles for the base, and the second obstacle avoidance detecting component is installed on the side portion of the base and detects the obstacles in the horizontal direction.

Further, the lifting device further comprises a height distance sensor, and the height distance sensor is arranged on at least one of the cross beam, the first support and the scanning assembly.

Further, the scanning assembly comprises a second bracket, at least one scanner mounted on the second bracket, and a connecting assembly connected with the second lifting mechanism.

Furthermore, the scanning assembly further comprises a light supplement lamp, and the light supplement lamp is arranged beside the scanner and used for supplementing light for the scanner.

Furthermore, the scanning assembly still includes the third support, the light filling lamp install in on the third support, the third support be located the side of second support and with coupling assembling or the second leg joint.

Further, the third bracket is arranged beside the second bracket in a manner of being capable of rotating relative to the second bracket; alternatively, the first and second electrodes may be,

the third support is arranged beside the second support in a fixed mode relative to the second support, and an included angle of-25 degrees to 25 degrees is formed between the third support and the second support.

Further, the scanning assembly further comprises at least one horizontal distance sensor mounted on the second support.

Furthermore, the number of the horizontal distance sensors is the same as that of the scanners, and one horizontal distance sensor is correspondingly arranged beside each scanner.

Furthermore, the scanning assembly further comprises a control circuit board, the control circuit board is mounted on the third support, and the scanner, the light supplement lamp and the horizontal distance sensor are electrically connected with the control circuit board respectively.

Furthermore, the base is also provided with a groove which is positioned under the scanning assembly, and the groove is provided with a first opening which is arranged at the top of the base and used for the scanning assembly to descend and penetrate through the groove and a second opening which is arranged at the side part of the base and used for the scanning assembly to scan goods from the groove.

Furthermore, the groove is also provided with a third opening, and the second opening and the third opening are respectively arranged at two opposite side parts of the base; and/or the presence of a gas in the atmosphere,

the groove is further provided with a fourth opening, and the second opening and the fourth opening are respectively arranged on two adjacent side portions of the base.

Further, the inventory robot further comprises a cable, a winder, a battery and a controller, wherein the winder is installed at the top of the base or in the base, the cable is partially wound on the winder, one end of the cable is connected with the scanning assembly, the other end of the cable is connected with the battery or the controller, and the battery is electrically connected with the controller.

Further, the checking robot further comprises a first limiting device, the first limiting device is installed on the second lifting mechanism, and the first limiting device is provided with a first threading hole for the cable to pass through so as to limit the cable.

Further, the first limiting device comprises a first mounting frame and a first rolling assembly; first mounting bracket install in on the second elevating system, just first mounting bracket runs through and is equipped with first through-hole, first rolling subassembly install in the first through-hole, by first rolling subassembly encloses to close and forms first through wires hole.

Further, the first rolling assembly comprises at least two first rollers, wherein the two first rollers are respectively distributed along two inner side walls of the first through hole; alternatively, the first and second electrodes may be,

the first rolling assembly comprises a plurality of first balls distributed around the inner side wall of the first through hole.

Further, the robot of checing still includes second stop device, second stop device install in on the winder, second stop device is equipped with and is used for supplying the cable passes in order to be used for to the cable carries out spacing second through wires hole.

Further, the second limiting device comprises a second mounting frame and a second rolling assembly, the second mounting frame is mounted on the winder, a second through hole penetrates through the second mounting frame, the second rolling assembly is mounted in the second through hole, and the second rolling assembly surrounds the second through hole.

Further, the second rolling assembly comprises at least two second rollers, wherein the two second rollers are respectively distributed along two inner side walls of the second through hole; or, the second rolling assembly comprises a plurality of second balls distributed around the inner side wall of the second through hole.

Furthermore, the inventory robot further comprises a drag chain, one end of the drag chain is connected with the beam, the other end of the drag chain is connected with the scanning assembly, and the part of the cable, which is positioned between the beam and the scanning assembly, is arranged in the drag chain in a penetrating manner.

The utility model provides an inventory robot, through setting up the first elevating system connected with scanning assembly, the first elevating system can directly drive the scanning assembly to carry out the lifting movement; through setting up second elevating system, second elevating system passes through the crossbeam and is connected with first elevating system, and second elevating system can drive the crossbeam and carry out elevating movement, and the crossbeam can drive first elevating system and carry out elevating movement and then drive the scanning subassembly and carry out elevating movement, that is to say that second elevating system can indirectly drive the scanning subassembly and carry out elevating movement. Therefore, the utility model provides an inventory robot adopts first elevating system and second elevating system drive scanning subassembly motion, also adopts two elevating system drive scanning subassembly motions promptly, and this kind of mode of setting can not receive an elevating system's structural limitation, and the scanning subassembly can scan the goods of placing in the low level under first elevating system and second elevating system drive effect, and then reduces the artifical participation degree in the inventory work.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic perspective view of an inventory robot according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of another view angle of the checking robot according to the first embodiment of the present invention;

fig. 3 is a perspective view of a first lifting mechanism and a scanning assembly assembled together according to an embodiment of the present invention;

fig. 4 is a schematic perspective view of another view angle of the first lifting mechanism and the scanning assembly assembled together according to the first embodiment of the present invention;

FIG. 5 is an enlarged view of a portion of FIG. 4 at A;

FIG. 6 is a partial enlarged view at B in FIG. 4;

fig. 7 is a perspective view of a second viewing angle of the first lifting mechanism and the scanning assembly according to an embodiment of the present invention;

fig. 8 is a schematic perspective view of another view angle of the checking robot according to the first embodiment of the present invention;

FIG. 9 is an enlarged view of a portion of FIG. 8 at C;

fig. 10 is a perspective view of a second viewing angle of the first lifting mechanism and the scanning assembly according to the first embodiment of the present invention;

fig. 11 is a schematic perspective view of another view angle of the checking robot according to the first embodiment of the present invention;

fig. 12 is a simplified schematic diagram of cable routing of an inventory robot according to an embodiment of the present invention;

fig. 13 is a perspective view of the reel according to the first embodiment of the present invention assembled with a second position-limiting device;

fig. 14 is a schematic structural diagram of a first limiting device according to a first embodiment of the present invention;

fig. 15 is a schematic structural view of a second limiting device according to a first embodiment of the present invention;

fig. 16 is a schematic perspective view of an inventory robot provided in the second embodiment of the present invention;

fig. 17 is a schematic distribution diagram of the first obstacle avoidance detecting component on the second lifting mechanism according to the third embodiment of the present invention;

fig. 18 is a schematic structural view of a third bracket fixedly disposed beside the second bracket and forming an included angle α with the second bracket according to the fourth embodiment of the present invention;

fig. 19 is another schematic structural diagram of the third bracket fixedly arranged beside the second bracket and forming an included angle α with the second bracket according to the fourth embodiment of the present invention;

fig. 20 is a schematic perspective view of an inventory robot provided in the fifth embodiment of the present invention;

fig. 21 is a schematic structural diagram of a first limiting device according to a sixth embodiment of the present invention.

The reference numbers illustrate: 10. an inventory robot; 100. a base; 101. a first side portion; 102. a second side portion; 103. a third side portion; 104. a fourth side portion; 110. a groove; 1101. a first opening; 1102. a second opening; 1103. a third opening; 1104. a fourth opening; 200. a scanning assembly; 210. a connecting assembly; 2101. a connecting member; 2102. a slider; 220. a second bracket; 2201. a fifth side portion; 2202. a sixth side portion; 230. a scanner; 240. a third support; 2401. a seventh side portion; 2402. an eighth side portion; 250. a light supplement lamp; 260. a horizontal distance sensor; 270. mounting a box; 300. a lifting device; 1. a first lifting mechanism; 11. a first bracket; 111. a guide rail; 12. a first drive mechanism; 121. a lifting member; 122. a drive assembly; 1221. a driven wheel; 1222. a driving wheel; 1223. a motor; 1224. a speed reduction transmission member; 1225. a drive shaft; 1226. a driven shaft; 2. a second lifting mechanism; 21. fixing a sleeve; 22. a telescopic rod; 3. a cross beam; 4. a height distance sensor; 410. a first obstacle avoidance detection part; 4101. a horizontal obstacle avoidance detection component; 420. a second obstacle avoidance detection component; 500. a cable; 600. a reel; 710. a first limiting device; 711. a first threading hole; 712. a first mounting bracket; 713. a first rolling assembly; 7131. a first roller; 7132. a first ball bearing; 720. a second limiting device; 721. a second threading hole; 722. a second mounting bracket; 723. a second rolling assembly; 7231. a second roller; 800. a drag chain; 900. a battery; 20. and (5) dragging the trolley.

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture, if the specific posture is changed, the directional indicator is changed accordingly.

It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The first embodiment is as follows:

as shown in fig. 1 and fig. 2, an inventory robot 10 according to an embodiment of the present invention includes a base 100, a scanning assembly 200, and a lifting device 300 for driving the scanning assembly 200 to perform a lifting motion relative to the base 100; the lifting device 300 comprises a first lifting mechanism 1, a second lifting mechanism 2 arranged at intervals with the first lifting mechanism 1 and a beam 3 connected between the first lifting mechanism 1 and the second lifting mechanism 2, wherein the first lifting mechanism 1 is arranged on the beam 3 and connected with the scanning assembly 200 so as to drive the scanning assembly 200 to perform lifting movement; the bottom end of the second lifting mechanism 2 is connected with the base 100, and the top end is connected with the beam 3, so as to drive the beam 3 to drive the first lifting mechanism 1 to perform lifting motion, and further drive the scanning assembly 200 to perform lifting motion. By arranging the first lifting mechanism 1 connected with the scanning assembly 200, the first lifting mechanism 1 can directly drive the scanning assembly 200 to perform lifting movement; through setting up second elevating system 2, second elevating system 2 passes through crossbeam 3 and is connected with first elevating system 1, and second elevating system 2 can drive crossbeam 3 and carry out elevating movement, and crossbeam 3 can drive first elevating system 1 and carry out elevating movement and then drive scanning subassembly 200 and carry out elevating movement, that is to say second elevating system 2 can indirectly drive scanning subassembly 200 and carry out elevating movement. Therefore, the utility model provides an inventory robot 10 adopts first elevating system 1 and the motion of the 2 drive scanning assembly 200 of second elevating system, also adopts the motion of two elevating system drive scanning assemblies 200 exactly, and this kind of mode of setting can not receive an elevating system's structure restriction, and scanning assembly 200 can scan the goods of placing in the low level under first elevating system 1 and the 2 driving action of second elevating system, and then reduces the artifical participation degree in the inventory work.

Referring to fig. 2 and 3, the first lifting mechanism 1 includes a first bracket 11 and a first driving mechanism 12, the first driving mechanism 12 includes a lifting member 121 mounted on the first bracket 11 and connected to the scanning assembly 200, and a driving assembly 122 for driving the lifting member 121 to drive the scanning assembly 200 to move up and down, the driving assembly 122 is mounted on the first bracket 11 and/or the cross beam 3, and the scanning assembly 200 has a connecting member 2101 connected to the lifting member 121. The first support 11 mainly realizes connection between the first lifting mechanism 1 and the beam 3, the lifting member 121 is mainly used for realizing connection between the first lifting mechanism 1 and the scanning assembly 200, and the driving assembly 122 is mainly used for providing driving power for movement of the lifting member 121. As a preferred embodiment of this embodiment, the driving assembly 122 is mounted on the first frame 11; of course, in a specific application, as an alternative embodiment, the driving assembly 122 may be installed on the first bracket 11 in a portion and installed on the cross beam 3 in another portion; alternatively, the drive assembly 122 may be mounted entirely on the cross member 3.

Referring to fig. 3 to 6, the lifting member 121 is a conveyor belt, the driving assembly 122 includes a driven wheel 1221, a driving wheel 1222 and a motor 1223, the conveyor belt is disposed on the driven wheel 1221 and the driving wheel 1222, the motor 1223 is in transmission connection with the driving wheel 1222, and the connecting member 2101 is clamped and connected to the conveyor belt. When motor 1223 drive action wheel 1222 rotated, action wheel 1222's rotation can drive the conveyer belt and move from driving wheel 1221 together, and the motion of conveyer belt can drive scanning component 200 and carry out elevating movement to the realization is by the effect of first elevating system 1 drive scanning component 200 elevating movement. In this embodiment, adopt the conveyer belt to drive scanning subassembly 200 and carry out elevating movement, do benefit to the stationarity that ensures scanning subassembly 200 elevating movement. Of course, in a specific application, the lifting member 121 is not limited to a conveyor belt, and for example, the lifting member 121 may be a transmission chain.

Referring again to fig. 3 and 5, the driving assembly 122 further includes a speed reduction transmission member 1224 drivingly connected between the motor 1223 and the driving wheel 1222. The reduction transmission part 1224 is arranged to adjust the rotation speed output by the motor 1223 to a suitable rotation speed and transmit the rotation speed to the driving wheel 1222, so that the moving speed of the conveyor belt is neither too fast nor too slow; on the other hand, the transmission direction of the force can be changed so that the output shaft of the motor 1223 does not necessarily have to be coaxial with the drive shaft of the drive wheel 1222. As a preferred embodiment of this embodiment, the reduction gear unit 1224 is a gear reduction box, which is compact and smooth in transmission, so as to reduce the volume of the reduction gear unit 1224 and ensure the smoothness of the lifting movement of the scanning assembly 200 driven by the driving assembly 122. Of course, the speed reduction drive 1224 can be other types of drives for particular applications.

Referring to fig. 2, 3 and 7, the first bracket 11 is provided with a guide rail 111, the scanning assembly 200 further has a sliding member 2102 slidably engaged with the guide rail 111, and the connecting member 2101 is mounted on the sliding member 2102. The arrangement of the guide rail 111 can guide the lifting movement of the scanning assembly 200, thereby being beneficial to improving the stability of the lifting movement of the scanning assembly 200 driven by the first lifting mechanism 1.

Referring to fig. 2 and 5 to 7, the driving assembly 122 further includes a driving shaft 1225 and a driven shaft 1226, the driving shaft 1225 is disposed near the top end of the guide rail 111, the driven shaft 1226 is disposed near the bottom end of the guide rail 111, the driving shaft 1225 and the driven shaft 1226 are disposed in parallel, the driving shaft 1225 and the driven shaft 1226 are both perpendicular to the direction of the lifting movement of the scanning assembly 200 along the guide rail 111, the reduction transmission part 1224 is installed between the motor 1223 and the driving shaft 1225, the driving wheel 1222 is installed on the driving shaft 1225, and the driven wheel 1221 is installed on the driven shaft 1226. Through this kind of mode of setting, scanning assembly 200 can carry out elevating movement along whole guide rail 111, and guide rail 111 obtains fully using, and can make drive assembly 122 be close to the top of first support 11 to reduce the bearing of first support 11 bottom, improve first elevating system 1's structural reliability.

Referring to fig. 1, 2, 8 and 9, the second lifting mechanism 2 includes a fixing sleeve 21 having one end connected to the base 100, at least one section of an expansion link 22 movably connected to the fixing sleeve 21 for driving the beam 3 to perform lifting movement relative to the base 100, and a second driving mechanism (not shown) for driving the expansion link 22 to perform lifting movement, wherein the beam 3 is connected to the expansion link 22 of the section farthest from the base 100. The second driving mechanism is lifted through the driving telescopic rod 22, so that the beam 3 drives the first lifting mechanism 1 to perform lifting movement, and further drives the scanning assembly 200 to be lifted to different height positions, so that the scanning assembly 200 can scan and count goods in different height ranges.

Preferably, in this embodiment, the second driving mechanism is a pneumatic driving member, and includes a compressor, an air tank, an air valve, and an air pipe, the compressor, the air tank, and the air valve are connected by the air pipe to form an air path system, and the air path system can provide driving force for the lifting of each section of the telescopic rod 22, so that the second driving mechanism can be lifted to different heights. The second driving mechanism adopts a pneumatic driving component, and has the characteristics of good environmental adaptability, no pollution, low cost, quick response, convenient adjustment and convenient later maintenance. Of course, in a specific application, the second driving mechanism is not limited to adopt a pneumatic solution, for example, as an alternative embodiment, the second driving mechanism may also be a hydraulic driving member, that is, the telescopic rod 22 may also be driven to lift by a hydraulic system, or the second driving mechanism may also be an electric driving member, that is, the telescopic rod 22 may also be driven to lift by an electric system.

Preferably, the second driving mechanism is installed in the base 100, that is, the second driving mechanism is completely accommodated in the base 100, which is beneficial to improve the appearance of the inventory robot 10.

In this embodiment, the second lifting mechanism 2 includes seven telescopic rods 22, which can be lifted to a height of 12 meters, and the application range is wide. Of course, in a specific application, the number of the sections and the lifting height of the telescopic rod 22 are not limited thereto, for example, the number of the sections of the telescopic rod 22 may also be five sections, six sections, eight sections, nine sections, or the like.

Referring again to fig. 2, 8 and 9, the inventory robot 10 further includes a first obstacle avoidance detecting part 410 for detecting an obstacle for the second lifting mechanism 2. The first obstacle avoidance detecting component 410 is mainly used for detecting obstacles within the height range of the second lifting mechanism 2, and the safety and reliability of the operation of the checking robot 10 can be effectively improved.

Preferably, the first obstacle avoidance detecting part 410 detects an obstacle in a vertical direction, that is, the first obstacle avoidance detecting part 410 detects an obstacle in a direction parallel to the fixed sleeve 21. The first obstacle avoidance detecting component 410 can detect obstacles in a vertical plane parallel to the height direction of the fixed sleeve 21, so that the first obstacle avoidance detecting component 410 can detect the obstacles in different height ranges of the second lifting mechanism 2, and the safety and reliability of the operation of the inventory robot 10 are fully ensured. In this embodiment, the first obstacle avoidance detecting component 410 is installed at the side of the fixing sleeve 21, so that the first obstacle avoidance detecting component 410 can detect the obstacle in a certain area range at two opposite sides of the second lifting mechanism 2 by taking the fixing sleeve 21 as the center.

Preferably, the first obstacle avoidance detecting component 410 is disposed near the end of the fixing sleeve 21 far from the base 100, that is, the first obstacle avoidance detecting component 410 is disposed near the top end of the fixing sleeve 21, so that the first obstacle avoidance detecting component 410 can detect an obstacle at a higher position as much as possible, and even if the second lifting mechanism 2 is lifted to the maximum height, the first obstacle avoidance detecting component 410 can detect the obstacle around the topmost end of the second lifting mechanism 2, thereby facilitating further improvement of the safety and reliability of the operation of the inventory robot 10.

Preferably, the inventory robot 10 further includes a second obstacle avoidance detecting part 420 for detecting an obstacle for the base 100, and the second obstacle avoidance detecting part 420 is installed at a side of the base 100 and detects an obstacle in a horizontal direction. The second obstacle avoidance detecting component 420 is mainly used for detecting obstacles within the height range of the base 100, so as to be beneficial to avoiding the phenomenon that the base 100 collides with the obstacles in the walking process of the checking robot 10.

Preferably, there are two second obstacle avoidance detecting components 420, and two opposite sides of the base 100 are respectively provided with one second obstacle avoidance detecting component 420, so that the detection range is wide.

In this embodiment, the first obstacle avoidance detecting component 410 and the second obstacle avoidance detecting component 420 are both laser radars, but in a specific application, as an alternative embodiment, the first obstacle avoidance detecting component 410 and the second obstacle avoidance detecting component 420 may also be infrared distance sensors or ultrasonic distance sensors, etc.

Preferably, the lifting device 300 further comprises a height distance sensor 4, and the height distance sensor 4 is disposed on at least one of the cross beam 3, the first bracket 11 and the scanning assembly 200. When the height distance sensor 4 is arranged on the cross beam 3 and/or the first bracket 11, the height distance sensor can be used for detecting the lifting height of the second lifting mechanism 2; when height distance sensor 4 locates on scanning component 200, except can realizing monitoring the lift height of second elevating system 2, can also follow scanning component 200 and be elevating movement after monitoring the lift height of second elevating system 2 to monitor the lift height of scanning component 200, thereby acquire the accurate height of goods shelves, goods. Through set up high distance sensor 4 on at least one in crossbeam 3, first support 11 and scanning mechanism, can carry out accurate location to the lift height of checking robot 10 in the elevating movement in-process, and then can acquire goods information fast effectively to improve the work efficiency of checking robot 10. Referring to fig. 1 and 9, the height and distance sensor 4 is disposed on the cross beam 3.

Referring to fig. 1 to 3 and 10, the scanning assembly 200 includes a second frame 220, at least one scanner 230 mounted on the second frame 220, and a connecting assembly 210 connected to the second lifting mechanism 2. In this embodiment, the connecting assembly 210 includes a connecting member 2101 and a sliding member 2102, and the first lifting mechanism 1 drives the second bracket 220 to perform lifting movement through the connecting assembly 210, so as to drive the scanner 230 to perform lifting movement, thereby scanning goods located on cargo spaces with different heights.

Preferably, the scanner 230 is a bar code scanner for scanning a bar code on the cargo pallet. Of course, in a specific application, the scanner 230 may also be other types of scanners, such as a radio frequency identification tag scanner, a two-dimensional code scanner, a sonar, and the like, wherein the radio frequency identification tag scanner is used for scanning a radio frequency identification tag on a cargo pallet, the two-dimensional code scanner is used for scanning a two-dimensional code on the cargo pallet, and the sonar is used for detecting an ultrasonic generator on the cargo pallet.

Preferably, the scanning assembly 200 further includes a light supplement lamp 250, and the light supplement lamp 250 is disposed beside the scanner 230 to supplement light for the scanner 230. The supplementary lighting lamp 250 is provided so that the inventory robot 10 can operate in a dark environment.

Preferably, the scanning assembly 200 further includes a third bracket 240, the fill-in light 250 is mounted on the third bracket 240, and the third bracket 240 is located beside the second bracket 220 and connected to the connecting assembly 210 or the second bracket 220. In this embodiment, the third bracket 240 is connected to the connecting assembly 210, but in a specific application, the third bracket 240 may be connected to the second bracket 220 as an alternative embodiment. It is understood that in other embodiments, the supplementary lighting 250 may be mounted on the second bracket 220.

Preferably, the third supporter 240 is rotatably disposed at a side of the second supporter 220 with respect to the second supporter 220. In the concrete application, the third support body rotates to be connected in coupling assembling 210, and the second support body sets firmly in coupling assembling 210 to make the third support body rotate for the second support body, conveniently adjust to best light filling angle, do benefit to focus and eliminate the influence of reverberation to scanner 230.

Preferably, the scanning assembly 200 further comprises at least one horizontal distance sensor 260, the horizontal distance sensor 260 being mounted on the second bracket 220. The horizontal distance sensor 260 can detect whether each cargo space on the container of the warehouse has cargo, and thus can detect the saturation of the cargo storage in the warehouse.

Preferably, the number of the horizontal distance sensors 260 is the same as the number of the scanners 230, and one horizontal distance sensor 260 is correspondingly arranged beside each scanner 230. The horizontal distance sensors 260 are correspondingly arranged beside each scanner 230, so that whether goods exist in the goods positions of the containers in the warehouse can be detected simultaneously, and the working efficiency is improved.

Preferably, the scanning assembly 200 further includes a control circuit board (not shown), the control circuit board is mounted on the third bracket 240, and the scanner 230, the fill light 250 and the horizontal distance sensor 260 are electrically connected to the control circuit board respectively. The control circuit board may supply power to the scanner 230, the fill light 250, and the horizontal distance sensor 260, and may also transmit signals to the scanner 230 and the horizontal distance sensor 260. In this embodiment, the scanning assembly 200 further includes a mounting box 270, the control circuit board is mounted in the mounting box 270, and the mounting box 270 is disposed on the third frame body. It is understood that in other embodiments, it is also possible that the mounting box 270 is provided on the second frame body or the connecting assembly 210.

Referring to fig. 1, 8 and 11, the base 100 is further provided with a groove 110 located right below the scanning assembly 200, the groove 110 has a first opening 1101 located at the top of the base 100 for the scanning assembly 200 to descend through the groove 110 and a second opening 1102 located at the side of the base 100 for the scanning assembly 200 to scan the goods from the groove 110. The first opening 1101 is opened upward, and the second opening 1102 is opened toward one side of the base 100. The lifting device 300 drives the scanning assembly 200 to lift, so that the scanning assembly 200 can be lifted to different height positions, and the scanning assembly 200 can scan and count the cargoes in different height ranges. The arrangement of the groove 110 is mainly used for avoiding the scanning assembly 200 which descends to a low position, so that the scanning assembly 200 can scan the goods placed at the low position (lower than the goods position at the top of the base 100), the trouble that the low-position goods need to be scanned manually is eliminated, and the full-automatic checking of the goods in the warehouse by the checking robot 10 is facilitated. In addition, in this embodiment, the groove 110 is only partially disposed on the base 100, so that the overall height and the lateral dimension of the base 100 are not affected, which is beneficial to the larger space inside the base 100 to accommodate other components, and is beneficial to ensuring that the center of gravity of the base 100 can be centered, thereby fully ensuring the running stability of the inventory robot 10.

Preferably, the recess 110 further has a third opening 1103, and the second opening 1102 and the third opening 1103 are respectively disposed on two opposite sides of the base 100, that is, the recess 110 extends from one side of the base 100 to the other opposite side of the base 100, so that the structure of the base 100 is relatively symmetrical, which is beneficial to centering the center of gravity of the base 100 and improving the aesthetic appearance of the base 100. Of course, in certain applications, it is possible that the groove 110 is not provided with the third opening 1103 as an alternative embodiment.

Preferably, the groove 110 further has a fourth opening 1104, and the second opening 1102 and the fourth opening 1104 are respectively disposed at two adjacent sides of the base 100. Fourth opening 1104 is provided to facilitate viewing of scanning assembly 200 by a worker from multiple dimensions as scanning assembly 200 is lowered into recess 110. Of course, in certain applications, it is possible that the recess 110 is not provided with the fourth opening 1104 as an alternative embodiment.

Referring to fig. 8 and 11 again, as a preferred embodiment of the present invention, the side contour of the base 100 is rectangular, and includes a first side 101, a second side 102, a third side 103 and a fourth side 104, wherein the first side 101 and the second side 102 are disposed oppositely, and the third side 103 and the fourth side 104 are disposed oppositely and connected to the first side 101 and the second side 102 respectively. The side of the groove 110 is provided with a second opening 1102, a third opening 1103 and a fourth opening 1104, wherein the second opening 1102 is arranged on the second side 102, the third opening 1103 is arranged on the second side 102, and the fourth opening 1104 is arranged on the third side 103.

Referring to fig. 1, 12 and 13, the inventory robot 10 further includes a cable 500, a winder 600, a battery 900 and a controller (not shown), wherein the winder 600 is installed inside the base 100, the cable 500 is partially wound around the winder 600, one end of the cable 500 is connected to the scanning assembly 200, the other end of the cable is connected to the battery 900 or the controller, and the battery 900 is electrically connected to the controller. By arranging the winder 600, the cable 500 can be partially wound on the winder 600, so that the situation of electric leakage caused by messy arrangement of the cable 500 is prevented; in addition, when the second lifting mechanism 2 is lifted, the reel 600 can freely stretch and retract the cable 500 without being broken. The reel 600 is installed inside the base 100, which is advantageous for improving the appearance of the inventory robot 10. The battery is preferably a rechargeable battery for powering the various electrical components of the inventory robot 10.

Referring to fig. 1, 9, 12 and 14, the checking robot 10 further includes a first limiting device 710, the first limiting device 710 is mounted on the second lifting mechanism 2, and the first limiting device 710 is provided with a first threading hole 711 for the cable 500 to pass through for limiting the cable 500. Through setting up first stop device 710, first stop device 710 can carry out effectual spacing to cable 500 for cable 500 can be along the length direction motion of second elevating system 2 and keep in the fixed distance scope of second elevating system 2 side, with avoid cable 500 to hang and take on objects such as goods shelves, thereby improve the fail safe nature of checking robot 10 work.

Referring again to fig. 1, 12 and 14, the first limiting device 710 includes a first mounting bracket 712 and a first rolling assembly 713; the first mounting bracket 712 is mounted on the second lifting mechanism 2, and the first mounting bracket 712 is provided with a first through hole (not shown) in a penetrating manner, and the first rolling component 713 is mounted in the first through hole and surrounded by the first rolling component 713 to form a first threading hole 711. Through setting up first rolling subassembly 713, can effectively reduce the friction of cable 500 between flexible process and first stop device 710, extension cable 500 life.

Preferably, the first rolling assembly 713 includes at least two first rollers 7131, wherein the two first rollers 7131 are respectively distributed along two inner sidewalls of the first through hole; in this embodiment, the first through hole is a rectangular hole, the first rolling assembly 713 includes four first rollers 7131, and the four first rollers 7131 are respectively distributed along four inner sidewalls of the first through hole.

Referring to fig. 11 to 13 and 15, the checking robot 10 further includes a second position-limiting device 720, the second position-limiting device 720 is mounted on the reel 600, in this embodiment, the reel 600 is mounted in the base 100, and the second position-limiting device 720 is also mounted in the base 100. The second stopper 720 is provided with a second threading hole 721 through which the cable 500 passes for stopping the cable 500. A second stop device 720 is provided to further increase the stop action on the cable 500.

Preferably, the second limiting device 720 comprises a second mounting rack 722 and a second rolling component 723, the second mounting rack 722 is mounted on the reel 600, the second mounting rack 722 is provided with a second through hole (not shown) in a penetrating manner, the second rolling component 723 is mounted in the second through hole, and the second rolling component 723 is enclosed to form a second threading hole 721. Through setting up second roll subassembly 723, can effectively reduce the friction of cable 500 between flexible process and second stop device 720, extension cable 500 life.

Preferably, the second rolling assembly 723 comprises at least two second rollers 7231, wherein the two second rollers 7231 are respectively distributed along the two inner sidewalls of the second through hole. In this embodiment, the second through hole is a rectangular hole, the second rolling assembly 723 includes four second rollers 7231, and the four second rollers 7231 are respectively distributed along four inner sidewalls of the second through hole.

Referring to fig. 11 and 12, the inventory robot 10 further includes a drag chain 800, one end of the drag chain 800 is connected to the beam 3, the other end is connected to the scanning assembly 200, and a portion of the cable 500 between the beam 3 and the scanning assembly 200 is inserted into the drag chain 800. Through setting up tow chain 800, wear to locate in tow chain 800 with the part that is arranged between crossbeam 3 and scanning subassembly 200 of cable 500 for tow chain 800 can carry out spacing and protection to this partial cable 500, reduces the damage that scanning subassembly 200 caused to cable 500 in elevating movement as far as possible.

Referring to fig. 1 and 8, in particular, a tractor 20 is disposed at the bottom of the base 100, and the inventory robot 10 is driven by the tractor 20 to travel.

Example two:

referring to fig. 2, 8 and 16, the inventorying robot 10 provided in the present embodiment is different from the first embodiment mainly in that the first obstacle avoidance detecting component 410 is disposed at a different position, which is specifically embodied as: in the first embodiment, the first obstacle avoidance detecting component 410 is installed at the side of the fixing sleeve 21 of the second lifting mechanism 2; in this embodiment, the first obstacle avoidance detecting part 410 is installed on the top of the base 100. Since in this embodiment, the first obstacle avoidance detecting component 410 also detects the obstacle in the vertical direction, the first obstacle avoidance detecting component 410 can also detect the obstacle in the range of different heights of the second lifting mechanism 2, so as to avoid the occurrence of the collision between the second lifting mechanism 2 and the obstacle.

Preferably, the first obstacle avoidance detecting component 410 is disposed close to the fixing sleeve 21, which is beneficial to enable the first obstacle avoidance detecting component 410 to detect the obstacles on two opposite sides of the second lifting mechanism 2 relatively evenly. As a preferred embodiment of this embodiment, the first obstacle avoidance detecting member 410 is disposed against the bottom end of the fixing sleeve 21.

In addition to the above differences, other structures of the inventory robot 10 provided in the present embodiment may be optimized with reference to the first embodiment, and will not be described in detail herein.

Example three:

referring to fig. 2, 8, 16, and 17, the inventorying robot 10 of the present embodiment is different from the first embodiment and the second embodiment mainly in the detection directions of the first obstacle avoidance detecting component 410, which are specifically embodied as: in the first and second embodiments, the first obstacle avoidance detecting component 410 is a laser radar that detects an obstacle in the vertical direction; in this embodiment, the first obstacle avoidance detecting component 410 includes at least two horizontal obstacle avoidance detecting components 4101 for detecting obstacles in the horizontal direction, at least one horizontal obstacle avoidance detecting component 4101 is respectively installed on the side of the fixed sleeve 21 and the side of each telescopic rod 22, and the horizontal obstacle avoidance detecting component 4101 on the telescopic rod 22 is installed on the end of the telescopic rod 22 far from the base 100. By adopting the scheme of the embodiment, the obstacles in different height ranges of the second lifting mechanism 2 can be detected, so that the phenomenon that the second lifting mechanism 2 collides with the obstacles can be avoided.

Specifically, the horizontal obstacle avoidance detecting part 4101 includes at least one of an infrared ray distance sensor or an ultrasonic wave distance sensor, or a laser radar that detects an obstacle in the horizontal direction. Any one of the infrared distance sensor, the ultrasonic distance sensor and the laser radar can detect the obstacle within a certain horizontal range.

Example four:

referring to fig. 1, 3, 10, 18 and 19, the inventorying robot 10 of the present embodiment is different from the first embodiment mainly in that the third rack 240 is disposed in a different manner with respect to the second rack 220, which is specifically embodied in that: in the first embodiment, the third bracket 240 is disposed beside the second bracket 220 in a manner of being able to rotate relative to the second bracket 220; in this embodiment, the third bracket 240 is disposed beside the second bracket 220 in a manner of being fixed relative to the second bracket 220, and an included angle of-25 ° to 25 ° is formed between the third bracket 240 and the second bracket 220. An included angle of-25 degrees to 25 degrees is formed between the third support 240 and the second support 220, which is beneficial to focusing and eliminating the influence of the reflected light on the scanner 230, and the light supplementing lamp 250 is improved to provide the light supplementing effect for the scanner 230.

In a specific application, the second bracket 220 includes a fifth side portion 2201 and a sixth side portion 2202 which are oppositely arranged, and the scanner 230 is installed on the fifth side portion 2201; the third bracket 240 includes a seventh side portion 2401 and an eighth side portion 2402 which are oppositely disposed, the fill light lamp 250 is installed on the seventh side portion 2401, and when the fifth side portion 2201 and the seventh side portion 2401 are disposed in parallel, that is, the scanner 230 and the fill light lamp 250 are oriented the same, an included angle α between the third bracket 240 and the second bracket 220 is defined as 0 °. Wherein the angle α between the third bracket 240 and the second bracket 220 is-25, as shown in FIG. 18; the angle alpha between the third bracket 240 and the second bracket 220 shown in fig. 19 is 25 deg..

Example five:

referring to fig. 1 and fig. 20, the inventorying robot 10 of the present embodiment is different from the first embodiment mainly in the arrangement position of the reel 600, which is specifically embodied as follows: in the first embodiment, the reel 600 is installed inside the base 100; in this embodiment, the reel 600 is installed outside the base 100 and located on the top of the base 100, and the second position-limiting device 720 is disposed on the reel 600 and located outside the base 100. The reel 600 is installed on the top of the base 100, so that the number of components arranged in the base 100 is reduced, and the volume of the base 100 is reduced.

Example six:

referring to fig. 1, 12, 15 and 21, the difference between the present embodiment and the first embodiment is mainly the structure difference between the first rolling element 713 and the second rolling element 723. In the first embodiment, the first rolling assembly 713 and the second rolling assembly 723 are both roller structures, and the rolling of the rollers limits the cable 500 and reduces the friction between the cable 500 and the first rolling assembly 713 and the second rolling assembly 723, but in the present embodiment, the first rolling assembly 713 includes a plurality of first balls 7132 circumferentially distributed along the inner side wall of the first through hole and/or the second rolling assembly 723 includes a plurality of second balls (not shown) circumferentially distributed along the inner side wall of the second through hole.

In addition to the above differences, the inventory robot 10 and other structures provided in the present embodiment can be optimally designed with reference to the first embodiment, and will not be described in detail herein.

The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.

Claims

1. The inventory robot is characterized by comprising a base, a scanning assembly and a lifting device for driving the scanning assembly to perform lifting motion relative to the base;

2. The inventory robot as recited in claim 1 wherein said first elevating mechanism comprises a first frame and a first driving mechanism, said first driving mechanism comprises an elevating member mounted on said first frame and connected to said scanning assembly and a driving assembly for driving said elevating member to move said scanning assembly up and down, said driving assembly is mounted on said first frame and/or said beam, said scanning assembly has a connecting member connected to said elevating member.

3. The inventory robot as claimed in claim 2, wherein the lifting member is a conveyor belt or a transmission chain, the driving assembly includes a driven wheel, a driving wheel and a motor, the conveyor belt or the transmission chain is wound around the driven wheel and the driving wheel, the motor is in transmission connection with the driving wheel, and the connecting member is in clamping connection with the conveyor belt or the transmission chain.

4. The inventory robot as recited in claim 3 wherein said drive assembly further includes a speed reduction transmission member drivingly connected between said motor and said drive wheel.

5. The inventory robot as recited in claim 2 wherein said first support has a rail thereon, said scanning assembly further having a slider slidably engaged with said rail, said link being mounted to said slider.

6. The inventory robot as claimed in any one of claims 1 to 5, wherein said second lifting mechanism comprises a fixed sleeve having one end connected to said base, at least one telescopic rod movably connected to said fixed sleeve for driving said cross member to perform a lifting motion relative to said base, and a second driving mechanism for driving said telescopic rod to perform a lifting motion, said cross member being connected to said telescopic rod of the section farthest from said base.

7. The inventory robot as recited in claim 6 wherein said second drive mechanism is any one of a pneumatic drive mechanism, a hydraulic drive mechanism or an electric drive mechanism; and/or the second driving mechanism is arranged in the base.

8. The inventory robot of claim 6, further comprising a first obstacle avoidance detection component for detecting obstacles for said second lift mechanism.

9. The inventory robot as recited in claim 8, wherein said first obstacle avoidance detecting member detects obstacles in a vertical direction, said first obstacle avoidance detecting member being mounted to a side of said fixed housing or to a top of said base; alternatively, the first and second electrodes may be,

10. The inventory robot as recited in claim 6 further comprising a second obstacle avoidance detecting member for detecting obstacles for said base, said second obstacle avoidance detecting member being installed at a side of said base and detecting obstacles in a horizontal direction.

11. The inventory robot as recited in any of claims 2 to 5 wherein the elevator further comprises a height distance sensor disposed on at least one of the cross beam, the first support and the scanning assembly.

12. The inventory robot as recited in any of claims 1 to 5 wherein said scanning assembly includes a second support, at least one scanner mounted on said second support and a linkage assembly connected to said second elevator mechanism.

13. The inventory robot of claim 12, wherein the scanning assembly further comprises a fill-in light, the fill-in light being disposed beside the scanner to fill in light for the scanner.

14. The inventory robot of claim 13, wherein said scanning assembly further comprises a third bracket, said fill light being mounted to said third bracket, said third bracket being located alongside said second bracket and connected to said connecting assembly or said second bracket.

15. The inventory robot as recited in claim 14 wherein said third support is rotatably disposed alongside said second support; alternatively, the first and second electrodes may be,

16. The inventory robot of claim 14, wherein said scanning assembly further comprises at least one horizontal distance sensor mounted to said second support.

17. The inventory robot as recited in claim 16, wherein said horizontal distance sensors are equal in number to said scanners, one of said horizontal distance sensors being disposed beside each of said scanners.

18. The inventory robot of claim 16, wherein said scanning assembly further comprises a control circuit board, said control circuit board being mounted on said third support, said scanner, said fill light and said horizontal distance sensor being electrically connected to said control circuit board, respectively.

19. The inventory robot as claimed in any one of claims 1 to 5, wherein said base is further provided with a groove located directly below said scanning assembly, said groove having a first opening located at the top of said base for said scanning assembly to descend through said groove and a second opening located at the side of said base for said scanning assembly to scan goods from said groove.

20. The inventory robot as recited in claim 19 wherein said recess further has a third opening, said second opening and said third opening being disposed on opposite sides of said base; and/or the presence of a gas in the atmosphere,

21. The inventory robot as claimed in any one of claims 1 to 5, further comprising a cable, a winder, a battery and a controller, wherein the winder is mounted on the top of the base or mounted inside the base, the cable is partially wound on the winder, one end of the cable is connected to the scanning assembly, the other end of the cable is connected to the battery or the controller, and the battery is electrically connected to the controller.

22. The inventory robot as recited in claim 21 further comprising a first stop device mounted to said second lift mechanism, said first stop device having a first threading hole for said cable to pass through for stopping said cable.

23. The inventory robot of claim 22, wherein said first stop means includes a first mounting bracket and a first rolling assembly; first mounting bracket install in on the second elevating system, just first mounting bracket runs through and is equipped with first through-hole, first rolling subassembly install in the first through-hole, by first rolling subassembly encloses to close and forms first through wires hole.

24. The inventory robot as recited in claim 23, wherein said first rolling assembly includes at least two first rollers, wherein said two first rollers are respectively disposed along opposite inner sidewalls of said first through hole; alternatively, the first and second electrodes may be,

25. The checking robot as claimed in claim 21, further comprising a second limiting device installed on the reel, the second limiting device being provided with a second threading hole for the cable to pass through for limiting the cable.

26. The checking robot as claimed in claim 25, wherein the second limiting means comprises a second mounting bracket and a second rolling assembly, the second mounting bracket is mounted on the reel, and a second through hole is formed through the second mounting bracket, the second rolling assembly is mounted in the second through hole, and the second through hole is formed by the second rolling assembly.

27. The inventory robot as recited in claim 26 wherein said second rolling assembly includes at least two second rollers, wherein said two second rollers are respectively disposed along opposite inner sidewalls of said second through hole; or, the second rolling assembly comprises a plurality of second balls distributed around the inner side wall of the second through hole.

28. The inventory robot of claim 21, further comprising a drag chain having one end connected to said beam and another end connected to said scanning assembly, wherein a portion of said cable between said beam and said scanning assembly is threaded into said drag chain.