CN218344385U - Cargo storage device of robot and robot - Google Patents

Abstract

The application relates to the technical field of warehousing robots, in particular to a goods storage device of a robot and the robot. The goods storage device comprises a storage rack and a goods pressing assembly. Wherein, storage rack includes the bottom plate that is used for bearing the weight of goods and connects the lateral wall on the bottom plate. The goods pressing component is arranged on the storage rack. The goods pressing component comprises a pressing plate and an elastic piece. The pressing plate is arranged on the side wall and can move relative to the side wall. One end of the elastic piece is connected with the pressing plate, and the other end of the elastic piece is connected with the side wall. The elastic piece is used for pushing the pressing plate to clamp the goods through self resilience force. Because of the scram probably appears in the robot handling, when the goods received the inertial force and had the trend of dashing out storage rack, the direction of the frictional force direction that the clamp plate produced the goods centre gripping is opposite with the direction of inertial force, and then makes goods atress balance, restraines the motion of goods, reduces the risk that the goods dropped from storage rack.

Description

Cargo storage device of robot and robot

Technical Field

The application relates to the technical field of warehousing robots, in particular to a goods storage device of a robot and the robot.

Background

Along with the development of science and technology, intelligent equipment is more and more, begins to use the robot on a large scale in order to facilitate carrying the goods in intelligent warehouse.

The goods storage device of the existing robot does not have a prevention structure, so that the running speed of the robot is limited, the problem that the goods storage shelf falls out due to sudden braking of the robot is solved, and the problem of great potential safety hazard is solved.

SUMMERY OF THE UTILITY MODEL

The application provides a storage device and robot of robot aims at reducing the risk that the goods dropped in handling.

The application provides a storage device of robot, storage device includes storage rack and pressure goods subassembly. The storage rack comprises a bottom plate for bearing goods and a side wall connected to the bottom plate. The goods pressing assembly is installed on the storage rack and comprises a pressing plate and an elastic piece, the pressing plate is arranged on the side wall and can move relative to the side wall, one end of the elastic piece is connected with the pressing plate, the other end of the elastic piece is connected with the side wall, and the elastic piece is used for pushing goods to be clamped by the pressing plate through self resilience force.

In this application, when the in-process of placing the goods toward storage rack, goods extrusion clamp plate, the clamp plate is promoted by the goods, makes the clamp plate overcome the elasticity of elastic component and moves towards the direction of the lateral wall that is close to storage rack to make storage rack have sufficient space and place the goods. After goods are placed into the storage rack, the elastic piece is in a compression state, and the elastic piece extrudes the pressing plate through resilience force of the elastic piece, so that the pressing plate tightly presses the goods, and the goods are clamped and fixed. Because of the scram probably appears in the storage device handling, when the goods received the inertial force and had the trend of dashing out storage rack, the direction of the frictional force direction that the clamp plate produced to the centre gripping of goods is opposite with the direction of inertial force, and then makes the goods atress balanced, restraines the motion of goods, reduces the risk that the goods dropped from storage rack. When the goods are taken out from the storage rack, the driving force for taking out the goods is far greater than the friction force generated by clamping the goods by the pressing plate, so that the goods can be taken out normally. Meanwhile, after the goods are taken out, the pressure of the goods on the pressing plate is eliminated, the pressing plate is released, and the elastic piece can push the pressing plate to move towards the direction far away from the side wall of the storage rack through the elasticity of the elastic piece so as to push the pressing plate to return to the initial position to wait for subsequent goods fastening.

In one possible design, there are two of the side walls, with the two side walls being disposed opposite each other. The number of the pressing plates is two, and the two pressing plates are arranged in one-to-one correspondence with the two side walls. When the elastic piece is in a natural state, the distance between the two pressing plates is smaller than the width of the goods.

In a possible design, the cargo pressing assembly further comprises two guide plates, the two guide plates are respectively correspondingly connected with the two pressing plates, and the guide plates are used for guiding cargo between the pressing plates.

In one possible design, the distance between the two guide plates increases gradually in the direction away from the pressing plate, and the distance between the ends of the two guide plates away from the pressing plate is greater than the width of the goods.

In a possible design, the cargo pressing assembly further comprises a guide rod, and the side wall is provided with a through hole. One end of the guide rod is connected with the pressing plate, and the other end of the guide rod penetrates through the through hole and extends towards the direction far away from the pressing plate. The elastic piece is sleeved on the guide rod.

In one possible design, the storage device further comprises a sleeve, the sleeve is mounted to the through hole, and the guide rod is inserted through the shaft.

In one possible design, the cargo pressing assembly further comprises a limiting member, and the limiting member is installed at one end, far away from the pressing plate, of the guide rod. The limiting part is used for being abutted against the side wall, so that one end, far away from the pressing plate, of the guide rod is kept at one side, far away from the pressing plate, of the side wall.

In a possible design, the limiting part comprises a sleeve part and a fixing part, wherein the sleeve part is annular and is provided with an opening. The guide rod is characterized in that a first mounting hole and a second mounting hole are respectively formed in two sides of the opening, and when the guide rod is sleeved with the sleeve-joint portion, the first mounting hole and the second mounting hole are arranged oppositely. The fixing part is used for being matched with the first mounting hole and the second mounting hole so as to fix the sleeving part and the guide rod.

In a possible design, the number of the side walls is two, the two side walls are arranged oppositely, the number of the pressing plates is one, and the pressing plate is arranged on one of the side walls. When the elastic piece is in a natural state, the distance between the pressing plate and the other side wall is smaller than the width of the goods.

The application also provides a robot, the robot is including removing chassis, strutting arrangement, storage device and getting the goods device. The supporting device is mounted on the movable chassis, the goods storage devices are arranged on the supporting device at intervals along the height direction of the robot, and the goods taking device is movably mounted on the supporting device and used for moving to a position corresponding to any one of the goods storage devices, taking goods out of the corresponding goods storage device or conveying the goods to the corresponding goods storage device.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

FIG. 1 is a schematic diagram of a robot in one embodiment provided herein;

FIG. 2 is a schematic top view of a storage device provided herein;

FIG. 3 is an enlarged view of the portion A in FIG. 2;

FIG. 4 is a schematic view of a storage device according to one embodiment of the present disclosure;

FIG. 5 is an enlarged view of the portion B of FIG. 4;

FIG. 6 is a schematic view of a storage device according to another embodiment of the present disclosure;

fig. 7 is a schematic view of another perspective of the storage device of the present application;

FIG. 8 is a schematic view of another perspective of the storage device of the present application;

fig. 9 is a schematic structural diagram of a position limiting element provided in the present application;

fig. 10 is a schematic structural diagram of a socket joint provided in the present application.

Reference numerals:

1-a storage device;

11-a storage shelf;

111-a backplane;

112-a side wall;

112 a-a first side wall;

112 b-a second side wall;

113-a second avoidance slot;

12-a platen;

13-an elastic member;

14-a guide plate;

141-a first avoidance slot;

15-a guide rod;

16-shaft sleeve;

17-a limit stop;

171-a socket joint;

171 a-first mounting hole;

171 b-second mounting hole;

172-a stationary part;

173-an opening;

18-a support frame;

181-connecting piece;

182-a support;

2-a support device;

21-a connecting rod;

3-a goods taking device;

4-cargo;

5-moving the chassis.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Detailed Description

For better understanding of the technical solutions of the present application, the following detailed descriptions of the embodiments of the present application are provided with reference to the accompanying drawings.

It should be understood that the embodiments described are only a few embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be understood that the term "and/or" as used herein is merely a relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B, may represent: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It should be noted that the terms "upper", "lower", "left", "right", and the like used in the embodiments of the present application are described in terms of the angles shown in the drawings, and should not be construed as limiting the embodiments of the present application. In addition, in this context, it will also be understood that when an element is referred to as being "on" or "under" another element, it can be directly on "or" under "the other element or be indirectly on" or "under" the other element via an intermediate element.

As shown in fig. 1, the present embodiment provides a robot including a moving chassis 5, a supporting device 2, a pickup device 3, and a plurality of storage devices 1. The moving chassis 5 can move according to the received instruction to reach the position where the goods 4 need to be carried. The support means 2 are mounted to a moving chassis 5. A plurality of storage devices 1 are arranged at intervals on the support device 2 in the height direction Z of the robot. The goods taking device 3 is mounted on the supporting device 2 and can move relative to the supporting device 2, so that the goods taking device 3 can move to a position corresponding to any one of the goods storage devices 1, and the goods 4 are conveyed into the corresponding goods storage device 1 or taken out of the corresponding goods storage device 1 by the goods taking device 3.

Specifically, as shown in fig. 2 to 5, the storage device 1 includes a storage shelf 11 and a pressing assembly. The storage shelf 11 comprises a bottom plate 111 for carrying the goods 4 and side walls 112 connected to the bottom plate 111. The pressing assembly is mounted to the storage shelf 11. The cargo pressing assembly includes a pressing plate 12 and an elastic member 13, wherein the pressing plate 12 is disposed at the side wall 112 and can move relative to the side wall 112. One end of the elastic member 13 is connected to the pressing plate 12, and the other end of the elastic member 13 is connected to the side wall 112. The elastic member 13 is used for pushing the pressing plate 12 to press and clamp the goods 4 by self resilience.

In this embodiment, when the goods taking device 3 places the goods 4 on the storage rack 11, the goods 4 presses the pressing plate 12, the pressing plate 12 is pushed by the goods, so that the pressing plate 12 overcomes the elastic force of the elastic member 13 to move toward the direction close to the side wall 112 of the storage rack 11, and the storage rack 11 has a sufficient space for placing the goods 4. After the goods 4 are placed on the storage shelf 11, the elastic member 13 is in a compressed state, and the elastic member 13 presses the pressing plate 12 by its resilient force, so that the pressing plate 12 is pressed against the goods 4, thereby clamping and fixing the goods 4, as shown in fig. 2. Because of the scram that probably appears in the robot handling, when goods 4 received inertial force and had the trend of dashing out storage rack 11, the direction of the frictional force direction that the clamp plate 12 produced to the centre gripping of goods 4 is opposite with the direction of inertial force, and then makes goods 4 atress balanced, restraines the motion of goods 4, reduces the risk that goods 4 dropped from storage rack 11.

When the goods 4 are taken out from the storage rack 11 by the goods taking device 3, the driving force of the goods taking device 3 is far larger than the friction force generated by the clamping of the pressing plate 12 to the goods 4, so that the normal goods taking action can be carried out. Meanwhile, after the goods 4 are taken out, the pressure of the goods 4 on the pressing plate 12 is removed, the pressing plate 12 is released, and the elastic member 13 can push the pressing plate 12 to move in a direction away from the side wall 112 of the storage rack 11 by the self-resilience force so as to push the pressing plate 12 to return to the initial position to be used for subsequently fastening the goods 4, as shown in fig. 4.

In some embodiments, as shown in fig. 4, the number of the pressing plates 12 may be two, the number of the side walls 112 is two, the two side walls 112 are oppositely disposed, and the two pressing plates 12 are disposed in one-to-one correspondence with the two side walls 112. The cargo 4 is held between the two pressing plates 12, and when the elastic member 13 is in a natural state, the distance between the two pressing plates 12 is smaller than the width of the cargo 4, so that the elastic member 13 can be compressed when the cargo 4 is placed between the two pressing plates 12, and the cargo 4 is compressed by the resilient force of the elastic member 13. Adopt two clamp plates 12 to exert pressure to the both sides of goods 4, improve the centre gripping effect to goods 4.

The elastic member 13 may be a spring, and at least one elastic member 13 is disposed between the pressing plate 12 on each side and the side wall 112 of the storage shelf 11. Three resilient members 13, or in other embodiments, one, two, or four, etc., may be provided on each side wall 112 of the storage shelf 11 shown in fig. 2 to retain the goods 4. When a plurality of elastic members 13 are provided, the plurality of elastic members 13 are uniformly distributed between the pressing plate 12 and the side wall 112 of the storage shelf 11.

As shown in fig. 3 and 5, the pressing assembly further includes a guide rod 15. The side wall 112 of the storage rack 11 is provided with a through hole, one end of the guide rod 15 is connected with the pressure plate 12, and the other end of the guide rod 15 passes through the through hole and extends towards the direction far away from the pressure plate 12. The elastic member 13 is sleeved on the guide rod 15. The guide rods 15 are movable with the platen 12. During the placement of the goods 4 on the storage shelf 11, the guide rod 15 is moved to the side remote from the pressure plate 12. During the removal of the goods 4 from the storage shelf 11, the guide rod 15 is moved towards the side on which the pressure plate 12 is located. The elastic part 13 is sleeved on the part of the guide rod 15 between the pressure plate 12 and the side wall 112 of the storage rack 11, so that the guide rod 15 can play a role in guiding the telescopic path of the elastic part 13, the risk that the elastic part 13 is bent and cannot rebound when being compressed is reduced, the service life of the elastic part 13 is prolonged, and the normal work of the storage device 1 is ensured.

As shown in fig. 3 and 5, the storage device 1 further includes a bushing 16, the bushing 16 is installed in the through hole, and the guide rod 15 is inserted through the bushing 16. The sleeve 16 may be a relatively hard copper sleeve. By arranging the shaft sleeve 16, the guide rod 15 is prevented from directly rubbing against the side wall 112 of the storage rack 11 when moving, and the storage rack 11 is prevented from being abraded.

As shown in fig. 3 and 5, the cargo pressing assembly further includes a stopper 17. The limiting member 17 is mounted at one end of the guide rod 15 far away from the pressure plate 12. The limiting member 17 is used for abutting against the side wall 112, so that one end of the guide rod 15, which is far away from the pressure plate 12, is kept at one side of the side wall 112, which is far away from the pressure plate 12. Specifically, when the goods 4 in the storage shelf 11 are taken out, the pressure applied to the pressing plate 12 is removed, and the elastic member 13 is restored to its natural state by the resilient force, resulting in the guide rod 15 moving toward the side where the pressing plate 12 is located. Through set up locating part 17 in the one end of keeping away from clamp plate 12 at guide arm 15 to and locating part 17 and lateral wall 112's butt, avoid guide arm 15 to break away from storage rack 11's lateral wall 112 when receiving rebound force effect, thereby guarantee that storage device 1 normally works. In addition, the stopper 17 also has a function of maintaining balance of both ends of the guide rod 15. Specifically, two sides of the sidewall 112 are respectively defined as an inner side and an outer side, wherein the side of the bottom plate 111 is the inner side, and the side far away from the bottom plate 111 is the outer side. Because the end of the guide rod 15 located at the inner side is connected with the pressing plate 12, in order to ensure the balance between the inner side and the outer side of the guide rod 15, the end of the guide rod 15 located at the outer side is connected with the limiting part 17, so that the phenomenon that the two ends of the guide rod 15 are not consistent in weight and incline is avoided, the problem that the guide rod 15 is jammed in motion is reduced, or the problem that the clamping effect is poor due to the fact that the elastic restoring force of the elastic part 13 inclines to the acting direction of the goods 4 is reduced.

In some embodiments, a portion of the opposing side wall 112 of the sleeve 16 protrudes toward the stop 17. When the guide rod 15 moves inward under the resilience of the elastic member 13, the limiting member 17 can abut against the shaft sleeve 16, so that the risk that the limiting member 17 collides and abuts against the side wall 112 of the storage rack 11 to damage the storage rack 11 is reduced.

As shown in fig. 9 and 10, the stopper 17 includes a sleeve portion 171 and a fixing portion 172. Specifically, the sleeve portion 171 is annular and has an opening 173, and the sleeve portion 171 has a first mounting hole 171a and a second mounting hole 171b on both sides of the opening 173. When the sleeve portion 171 is sleeved on the guide rod 15, the first mounting hole 171a and the second mounting hole 171b are disposed opposite to each other. The fixing portion 172 is adapted to be fitted with the first and second mounting holes 171a and 171b to fasten the socket portion 171 to the guide bar 15.

In this embodiment, the fixing portion 172 has a screw thread on its outer periphery, and the first mounting hole 171a and the second mounting hole 171b are screw holes. When the limiting member 17 is engaged with the guide rod 15, the sleeve portion 171 is firstly sleeved on the guide rod 15, so that the first mounting hole 171a and the second mounting hole 171b of the sleeve portion 171 are oppositely disposed, and then the fixing portion 172 is in threaded engagement with the first mounting hole 171a and the second mounting hole 171b, so that the fixing portion 172 is screwed on the sleeve portion 171, thereby fastening the sleeve portion 171 and the guide rod 15 together. In this way, the size of the opening 173 of the sleeve part 171 can be adjusted by the degree of fit between the fixing part 172 and the sleeve part 171. The size of the opening 173 is adjusted to allow the engaging portion 171 to engage with a plurality of guide rods 15 of different sizes, so that the position-limiting member 17 is suitable for a plurality of guide rods 15 of different sizes.

Further, as shown in fig. 2 and 4, when the pressing plates 12 are provided in two, the cargo pressing assembly further includes two guiding plates 14, the two guiding plates 14 are respectively connected with the two pressing plates 12, and the guiding plates 14 are used for guiding the cargo 4 between the pressing plates 12. Specifically, the guide plate 14 is attached to an end of the pressure plate 12. The distance between the two guide plates 14 gradually increases in a direction away from the platen 12. Wherein the distance between the ends of the two guide plates 14 remote from the pressure plate 12 is greater than the width of the goods 4. The distance between the ends of the two guide plates 14 far from the pressing plate 12 is larger than the width of the goods 4, so that the goods 4 can be easily placed between the two guide plates 14 and gradually move along the two guide plates 14 towards the direction of the pressing plate 12. Along with the distance between two deflectors 14 reduces gradually, goods 4 exerts thrust to two deflectors 14, makes two deflectors 14 drive two clamp plates 12 and keeps away from each other to make goods 4 can be pushed to between two clamp plates 12 on storage rack 11. The goods 4 are guided by the guide plates 14 so that the goods 4 can be pushed between the press plates 12.

In other embodiments, the platen 12 may be provided as one, as shown in FIG. 6, and the number of the sidewalls 112 may be two, with the two sidewalls 112 being disposed opposite each other. The platen 12 may be disposed on one of the sidewalls 112 such that the platen 12 is opposite the other sidewall 112. Specifically, the side wall 112 includes a first side wall 112a and a second side wall 112b, the pressing plate 12 is disposed on the first side wall 112a, and the pressing plate 12 is disposed opposite to the second side wall 112 b. Cargo 4 may be clamped between platen 12 and second sidewall 112 b. When the elastic member 13 is in a natural state, the distance between the pressing plate 12 and the second side wall 112b is smaller than the width of the cargo 4. When the cargo 4 is placed on the bottom plate 111, the cargo 4 is located between the pressing plate 12 and the second side wall 112b, and the cargo 4 must push the pressing plate 12 to be accommodated between the pressing plate 12 and the second side wall 112 b. At this time, the pressing plate 12 is pushed to move toward the first sidewall 112a connected thereto. When the goods 4 are placed between the pressing plate 12 and the second side wall 112b of the storage shelf 11, the elastic member 13 is compressed, thereby clamping the goods 4 by the resilient force of the elastic member 13. By providing a pressure plate 12, the structure of the storage device 1 can be simplified, and the manufacturing cost can be saved.

It should be noted that, when the pressing plates 12 are arranged in one, one of the guide plates 14 is connected to the pressing plate 12, and the other guide plate 14 is connected to the second side wall 112 b. The distance between the two guide plates 14 and the end of the second side wall 112b away from the corresponding connected pressing plate 12 is greater than the distance between the goods 4, so that the goods 4 can be easily placed between the two guide plates 14. The goods 4 exert a pushing force on the guide plate 14 connected to the pressing plate 12, so that the guide plate 14 drives the pressing plate 12 away from the second side wall 112b, so that the goods 4 can be pushed between the pressing plate 12 and the second side wall 112 b. It will be appreciated that in other embodiments, only one guide plate 14 may be provided, the guide plate 14 being connected to the platen 12, and the second side wall 112b being provided without the guide plate 14.

In some embodiments, the support means 2 comprise two uprights arranged vertically on the mobile chassis 5, spaced apart from each other, and a plurality of connecting rods 21 connected between the two uprights. The storage devices 1 are mounted to the corresponding connection rods 21. The guide plate 14 is provided with a first escape groove 141 to escape the connecting rod 21 through the first escape groove 141, so that the guide plate 14 is closer to the pickup device 3. When the goods 4 are placed on the goods storage device 1 by the goods taking device 3, the goods 4 on the goods taking device 3 can be located between the guide plates 14 as soon as possible.

As shown in fig. 7 and 8, the storage device 1 further includes a support frame 18, and the storage shelf 11 is disposed on the support frame 18. The supporting frame 18 includes a connecting member 181 and a supporting member 182 which are connected to each other and perpendicular to each other, and the storage shelf 11 is disposed above the supporting member 182 to support the storage shelf 11 through the supporting member 182. The connecting member 181 is located at one end of the storage shelf 11 for connection with the connecting rod 21.

One end of the bottom plate 111 is further provided with a second avoiding groove 113, and a portion of the connecting member 181 is received in the second avoiding groove 113. This application sets up in the second dodges groove 113 through partly with connecting piece 181, has reduced bottom plate 111 and connecting rod 21's distance, and then reduces the holistic volume of robot and places the space that the robot needs to occupy.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A cargo storage device of a robot, comprising:

the storage rack (11) comprises a bottom plate (111) for bearing goods (4) and a side wall (112) connected to the bottom plate (111);

the goods pressing assembly is mounted on the storage rack (11);

the goods pressing assembly comprises a pressing plate (12) and an elastic piece (13), wherein the pressing plate (12) is arranged on the side wall (112) and can move relative to the side wall (112);

one end of the elastic piece (13) is connected with the pressing plate (12), the other end of the elastic piece (13) is connected with the side wall (112), and the elastic piece (13) is used for pushing the pressing plate (12) to clamp the goods (4) through self resilience force.

2. A store as claimed in claim 1, characterized in that said side walls (112) are two in number, two of said side walls (112) being arranged opposite each other;

the number of the pressing plates (12) is two, and the two pressing plates (12) are arranged in one-to-one correspondence with the two side walls (112);

when the elastic piece (13) is in a natural state, the distance between the two pressing plates (12) is smaller than the width of the goods (4).

3. A cargo storage device according to claim 2, characterized in that the cargo pressing assembly further comprises two guide plates (14), the two guide plates (14) are respectively correspondingly connected with the two pressing plates (12), and the guide plates (14) are used for guiding the cargo (4) between the pressing plates (12).

4. A store as claimed in claim 3, characterized in that the distance between the two guide plates (14) increases in the direction away from the platen (12), the distance between the ends of the two guide plates (14) remote from the platen (12) being greater than the width of the load (4).

5. A cargo storage device according to claim 1, characterized in that the hold-down assembly further comprises a guide rod (15); the side wall (112) is provided with a through hole;

one end of the guide rod (15) is connected with the pressure plate (12), and the other end of the guide rod (15) penetrates through the through hole and extends towards the direction far away from the pressure plate (12);

the elastic piece (13) is sleeved on the guide rod (15).

6. A store as claimed in claim 5, characterized in that the store (1) further comprises a sleeve (16), the sleeve (16) being mounted to the through hole;

the guide rod (15) penetrates through the shaft sleeve (16).

7. A cargo storage device according to claim 5, wherein the cargo pressing assembly further comprises a stopper (17), the stopper (17) being mounted to an end of the guide bar (15) remote from the platen (12);

the limiting piece (17) is used for being abutted against the side wall (112) so that one end, far away from the pressing plate (12), of the guide rod (15) is kept on one side, far away from the pressing plate (12), of the side wall (112).

8. The cargo storage device according to claim 7, wherein the stopper (17) comprises a socket (171) and a fixing portion (172);

the sleeve joint part (171) is annular and is provided with an opening (173); a first mounting hole (171 a) and a second mounting hole (171 b) are respectively formed in two sides of the opening (173), and when the sleeve-joint part (171) is sleeved on the guide rod (15), the first mounting hole (171 a) and the second mounting hole (171 b) are oppositely arranged;

the fixing portion (172) is configured to be engaged with the first mounting hole (171 a) and the second mounting hole (171 b) to fix the sleeve portion (171) and the guide bar (15).

9. A store as claimed in claim 1, characterized in that said side walls (112) are two in number, two of said side walls (112) being arranged opposite each other;

the number of the pressing plates (12) is one, and the pressing plates (12) are arranged on one side wall (112 a);

when the elastic piece (13) is in a natural state, the distance between the pressing plate (12) and the other side wall (112 b) is smaller than the width of the goods (4).

10. A robot, characterized in that the robot comprises:

a mobile chassis (5);

-a support device (2) mounted to the mobile chassis (5);

a plurality of storage devices (1) according to any one of claims 1 to 9, wherein a plurality of storage devices (1) are arranged at intervals on the support device (2) in the height direction of the robot; and

the goods taking device (3) is movably arranged on the supporting device (2) and is used for moving to a position corresponding to any one of the goods storage devices (1) and taking the goods (4) out of the corresponding goods storage device (1) or conveying the goods (4) to the corresponding goods storage device (1).

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