A lifting column, a shelf robot and a buffer shelf stereoscopic warehouse system

Abstract

The utility model discloses a kind of lifting column, shelf robot and buffer shelf stereoscopic warehouse system.The lifting column includes at least two column parts and at least one tensioning connecting mechanism, each column part is extended in first direction and is arranged, and the end of column part in first direction is equipped with connecting structure, the splicing in first direction is realized through the cooperation of tensioning connecting mechanism and connecting structure between two column parts arranged adjacent, and two column parts can be tensioned in first direction and be limited in second direction and third direction through the cooperation of tensioning connecting mechanism and connecting structure.The lifting column is spliced to form column part using at least two column parts, so that cost is reduced, transportation and installation difficulty is reduced.The cooperation of tensioning connecting mechanism and connecting structure can realize that two column parts are tensioned in first direction and are limited in second direction and third direction, so that stability is improved, high-speed horizontal motion can be adapted, and it is safe and reliable.

Description

Technical Field

[0001] This utility model relates to the field of logistics technology, and in particular to a lifting column, shelf robot and buffer shelf automated warehouse system. Background Technology

[0002] Lifting columns are a crucial component of automated storage and retrieval systems (AS / RS). This mechanism raises and lowers the loading platform to a designated position, facilitating operations on goods by forks and other retrieval mechanisms. Currently, AS / RS systems utilize horizontal rails installed on the racks, with lifting columns positioned on these rails. The vertical movement of the lifting columns, combined with their lateral movement along the horizontal rails, enables the loading platform to move both horizontally and vertically.

[0003] To meet the demand, the shelving may need to be made taller, which requires the lifting columns to be longer. If the longer lifting columns are manufactured as a single piece, not only will the production cost be higher, but there will also be greater difficulties in transportation and installation. Utility Model Content

[0004] The purpose of this utility model is to provide a lifting column, a shelf robot, and a buffer shelf automated warehouse system. The lifting column is not only low in cost and easy to transport and install, but also has good stability, can adapt to high-speed horizontal movement, and is safe and reliable.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A lifting column includes: at least two column members, each column member extending in a first direction, and a connecting structure at the end of each column member in the first direction; at least one tensioning connecting mechanism, wherein two adjacent column members are spliced ​​together in the first direction through the cooperation of the tensioning connecting mechanism and the connecting structure, and the two column members are tensioned in the first direction through the cooperation of the tensioning connecting mechanism and the connecting structure; and the two column members are capped in a second direction and a third direction, wherein the first direction, the second direction, and the third direction are perpendicular to each other.

[0007] Preferably, the connection structure includes interconnected connecting rod through holes and tensioning holes. The centerline of the connecting rod through holes extends in the first direction, and the centerline of the tensioning holes extends in the second direction. Each tensioning connection mechanism includes a connecting rod, two tensioning seats, and two plug-in components. The connecting rod extends in the first direction, and the connecting end of the connecting rod in the first direction is provided with a plug-in structure. The tensioning seats are provided with interconnected mounting holes and fixing holes. Each connecting end of the connecting rod is connected to the corresponding column component through a tensioning seat and a plug-in component. The tensioning seat is installed in the tensioning hole, the connecting end of the connecting rod is inserted into the connecting rod through hole and the mounting hole on the corresponding side along the first direction, and the plug-in component is inserted into the fixing hole and the plug-in structure along the second direction.

[0008] Preferably, the insertion structure is a groove with a first inclined surface, and the insertion member includes a wedge with a second inclined surface. The wedge is inserted into the groove, and the first inclined surface and the second inclined surface have the same inclination direction and slide against each other.

[0009] Preferably, the connecting rod has the first inclined surface at both ends in the first direction, and the two first inclined surfaces have opposite inclination directions; and / or, the connecting end of the connecting rod has an inclined groove on each side in the third direction, and the plug includes two wedges, which are inserted into the two inclined grooves in a one-to-one correspondence.

[0010] Preferably, the tensioning connection mechanism further includes a first fixing member, which is fixed in the fixing hole to confine the plug-in member within the fixing hole and the plug-in structure.

[0011] Preferably, two adjacent column members are connected by at least two tensioning connection mechanisms, and the at least two tensioning connection mechanisms are spaced apart.

[0012] Preferably, all the column members are spliced ​​together in the first direction to form a long column; the lifting column also includes a belt conveyor assembly, which includes a driving member, a driving wheel, a transmission belt and a driven wheel. The driving wheel is rotatably disposed at one end of the long column, and the driven wheel is rotatably disposed at the other end of the long column. The transmission belt is sleeved on the driving wheel and the driven wheel. The output end of the driving member is connected to the driving wheel and can drive the driving wheel to rotate. The transmission belt is used to connect to an external loading platform.

[0013] Preferably, the lifting column further includes an external connector, which is detachably connected to the joint of two adjacent column members and abuts against the outer wall surface of the column member.

[0014] Preferably, the outer wall of the column member is provided with a column groove along the first direction, and the column grooves of two adjacent column members are spliced ​​together to form a long column groove; the external connecting member includes a groove condition, a connecting plate and a second fixing member, the groove condition is fixed in the long column groove, the connecting plate abuts against the outer wall of the column member, and the second fixing member is used to fix the connecting plate on the groove condition.

[0015] A shelving robot includes a loading platform and the aforementioned lifting column, wherein the loading platform is vertically and retractably mounted on the lifting column.

[0016] A cache rack automated storage and retrieval system includes racks and the aforementioned rack robot. The racks include horizontal tracks and cache positions located below the racks. The lifting columns of the rack robot include wheels that cooperate with the horizontal tracks to enable the rack robot to move horizontally along the surface of the racks.

[0017] The beneficial effects of this utility model are:

[0018] The lifting column provided by this utility model includes at least two column members and at least one tensioning connection mechanism. Each column member extends in a first direction, and a connecting structure is provided at the end of the column member in the first direction. Adjacent column members are spliced ​​together in the first direction through the cooperation of the tensioning connection mechanism and the connecting structure. The tensioning connection mechanism and the connecting structure can also tension the two column members in the first direction and limit their movement in a second and third direction. The first, second, and third directions are perpendicular to each other. This lifting column, formed by splicing at least two column members, not only reduces costs but also simplifies transportation and installation. Furthermore, because the tensioning connection mechanism and the connecting structure can tension adjacent column members in the first direction and limit their movement in the second and third directions, the stability of the lifting column is improved, allowing it to adapt to high-speed horizontal movement and ensuring safety and reliability. Attached Figure Description

[0019] Figure 1 This is an exploded view of the two column members and two tensioning connection mechanisms provided by this utility model;

[0020] Figure 2 This is another exploded view of the two column members and two tensioning connection mechanisms provided by this utility model;

[0021] Figure 3 This is an exploded view of a tensioning connection mechanism provided by this utility model;

[0022] Figure 4This is an exploded view of the two tensioning connection mechanisms provided by this utility model;

[0023] Figure 5 This is a schematic diagram showing the engagement between the second inclined surface of the wedge and the first inclined surface of the connecting rod provided by this utility model;

[0024] Figure 6 This is an assembly drawing of the external connector and two uprights provided by this utility model;

[0025] Figure 7 This is a schematic diagram of the lifting column provided by this utility model;

[0026] Figure 8 yes Figure 7 Enlarged view of section A;

[0027] Figure 9 yes Figure 7 Enlarged view of section B.

[0028] In the picture:

[0029] 100. Column component; 110. Connecting rod through hole; 120. Tensioning hole; 130. Column groove;

[0030] 200. Tensioning connection mechanism;

[0031] 210. Connecting rod; 211. Plug-in structure; 212. First inclined plane;

[0032] 220. Tensioner seat; 221. Mounting hole; 222. Fixing hole;

[0033] 230. Connector; 231. Wedge; 232. Second inclined plane;

[0034] 240. First fastener;

[0035] 300. Long column;

[0036] 400. Belt transmission assembly; 410. Drive unit; 420. Drive pulley; 430. Drive belt; 440. Driven pulley;

[0037] 500. External connector; 510. Slot condition; 520. Connecting plate. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0039] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0040] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is horizontally higher than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is horizontally lower than the second feature.

[0041] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0042] This utility model discloses a lifting column for use in a shelf robot, used to achieve vertical lifting and lowering of the loading platform. Specifically, as shown... Figures 1 to 5 As shown, the lifting column includes at least two column members 100 and at least one tensioning connection mechanism 200. Each column member 100 extends in a first direction, and a connecting structure is provided at the end of the column member 100 in the first direction. Two adjacent column members 100 are spliced ​​together in the first direction through the cooperation of the tensioning connection mechanism 200 and the connecting structure. The tensioning connection mechanism 200 and the connecting structure can tighten the two column members 100 in the first direction and limit the two column members 100 in the second and third directions. The first, second, and third directions are perpendicular to each other. The first direction is as follows: Figure 1 As shown in direction a, the second direction is as follows. Figure 1 As shown in the b direction, the third direction is as follows Figure 1 As shown in direction c. It should be noted that the first direction is vertical, while the second and third directions are horizontal.

[0043] Compared to the one-piece molded long column components in related technologies, the lifting column provided by this utility model uses at least two column components 100 spliced ​​together to form the column part. This arrangement allows each column component 100 to be made smaller in height, making the smaller column components 100 easier to manufacture and transport. After multiple smaller column components 100 are transported to the site, they can be spliced ​​on-site to obtain a larger column component 100, which not only reduces costs but also simplifies transportation and installation. Furthermore, the cooperation between the tensioning connection mechanism 200 and the connection structure can tension two adjacent column components 100 in the first direction and limit the two column components 100 in the second and third directions, thereby improving the stability of the lifting column and enabling it to adapt to high-speed horizontal movement. Even during acceleration and deceleration at high speeds, the spliced ​​column components 100 remain firmly fixed during movement, making it safer and more reliable.

[0044] Continue to refer to Figures 1 to 2 As shown, the connection structure includes a connecting rod through hole 110, and each tensioning connection mechanism 200 includes a connecting rod 210. Two adjacent upright members 100 are spliced ​​in the first direction through the insertion and engagement of the connecting rod 210 and the connecting rod through hole 110. Specifically, the centerline of the connecting rod through hole 110 extends in the first direction, and one end of the connecting rod through hole 110 forms an opening on the end face of the upright member 100. The openings of two adjacent upright members 100 are aligned. The connecting rod 210 extends in the first direction, and both ends of the connecting rod 210 are inserted into the connecting rod through hole 110 of the corresponding upright member 100 through the openings on the corresponding sides, thereby achieving the insertion and engagement.

[0045] Define the end of the connecting rod 210 in the first direction as the connecting end, such as Figure 3As shown, the connecting rod 210 has two connecting ends, and each connecting end of the connecting rod 210 is provided with a plug-in structure 211. Each tensioning connection mechanism 200 also includes two tension seats 220 and two plug-in pieces 230. One tension seat 220 and one plug-in piece 230 form a group, and the two groups of tension seats 220 and plug-in pieces 230 are arranged one-to-one with the two connecting ends. Each connecting end of the connecting rod 210 and the corresponding side column member 100 are connected by one tension seat 220 and one plug-in piece 230, respectively. Specifically, the connection structure also includes a tension hole 120. The center line of the tension hole 120 extends in the second direction. The connecting rod through hole 110 and the tension hole 120 are interconnected and form a cross shape. One tension seat 220 can be installed in each tension hole 120. The tensioning seat 220 is provided with a mounting hole 221 and a fixing hole 222. The mounting hole 221 and the fixing hole 222 are interconnected and are cross-shaped. The central axis of the mounting hole 221 extends along a first direction, and the central axis of the fixing hole 222 extends along a second direction. After the tensioning seat 220 is inserted into the tensioning hole 120, the connecting rod through hole 110 and the mounting hole 221 are interconnected. The connecting end of the connecting rod 210 can be inserted into the corresponding side of the connecting rod through hole 110 and the mounting hole 221 along the first direction. After the connecting rod 210 is inserted into the connecting rod through hole 110 and the mounting hole 221, the plug-in member 230 can be inserted into the fixing hole 222 and the plug-in structure 211 along the second direction.

[0046] The assembly process of the tensioning connection mechanism 200 and the column member 100 is as follows: First, the tensioning seat 220 is installed in the tensioning hole 120 until the mounting hole 221 of the tensioning seat 220 is connected to the connecting rod through hole 110; then, the connecting end of the connecting rod 210 is inserted into the corresponding side of the connecting rod through hole 110 and the mounting hole 221, so that the fixing hole 222 and the plug-in structure 211 are aligned and connected in the second direction; finally, the plug-in member 230 is inserted into the fixing hole 222 and the plug-in structure 211. The two column members 100 can be fixed by the cooperation of the connecting rod 210, the tensioning seat 220 and the plug-in member 230, and the assembly process is relatively simple and easy to operate.

[0047] Manufacturing errors may occur during the processing of the tension hole 120. In order to eliminate the influence of the manufacturing error of the tension hole 120 on the assembly, the connecting rod 210 and the plug-in 230 adopt a bevel fit. Specifically, the plug-in structure 211 is a groove with a first bevel 212, and the plug-in 230 includes a wedge 231 with a second bevel 232. The first bevel 212 and the second bevel 232 are inclined in the same direction. During the process of inserting the wedge 231 into the groove, the first bevel 212 and the second bevel 232 slide against each other.

[0048] The connecting rod 210 has a first inclined surface 212 at both ends in the first direction, and the two first inclined surfaces 212 are inclined in opposite directions. This arrangement allows the two adjacent column members 100 to be tightened by the force transmitted through the tensioning seat 220 under the action of the wedge plates 231 at both ends, making the splicing of the two column members 100 more stable, thereby ensuring that the column can remain firmly fixed during horizontal acceleration and deceleration.

[0049] The connecting end of the connecting rod 210 has a slanted groove on each of its two sides in the third direction. The insert 230 includes two wedges 231, which are inserted into the two slanted grooves one-to-one. This improves the tensioning effect on the column member 100.

[0050] To prevent the wedge 231 from disengaging from the fixing hole 222, in some embodiments, the tensioning connection mechanism 200 further includes a first fixing member 240, which is fixed within the fixing hole 222 to confine the connector 230 within the fixing hole 222 and the connector structure 211. It should be noted that after the connector 230 is inserted into the fixing hole 222 and the connector structure 211, the first fixing member 240 is then inserted into the tail end of the fixing hole 222. This holds the connector 230 in place, thus limiting its position within the fixing hole 222 and the connector structure 211.

[0051] Optionally, the first fastener 240 is a screw, and a portion of the fixing hole 222 forms a threaded hole, with the first fastener 240 threadedly connected within the fixing hole 222. Alternatively, the first fastener 240 can also be a pin or rivet, with a portion of the fixing hole 222 forming a pin hole or rivet hole.

[0052] Of course, in other embodiments, the connecting structure provided on the connecting rod 210 can also be a socket structure, and the plug-in 230 can also be a columnar structure. Optionally, a first inclined surface 212 can be provided in the socket structure, and a second inclined surface 232 is formed on the outer wall of the plug-in 230. Exemplarily, the socket structure is a conical hole, and the plug-in 230 is a frustum-shaped structure.

[0053] To further improve the fixing stability between two adjacent column members 100, in some embodiments, the two adjacent column members 100 are connected by at least two tensioning connection mechanisms 200, and the at least two tensioning connection mechanisms 200 are spaced apart. In a specific embodiment, such as Figure 1 and Figure 2As shown, two adjacent column members 100 are connected by two tensioning connection mechanisms 200. The two tensioning connection mechanisms 200 are spaced apart in the second direction, and the tensioning seats 220 and wedges 231 of the two tensioning connection mechanisms 200 are inserted into the column member 100 from both sides in the second direction. Of course, in other specific embodiments, three, four or more tensioning connection mechanisms 200 can also be provided between two adjacent column members 100 to achieve connection.

[0054] like Figure 6 As shown, the lifting column also includes an external connector 500, which is detachably connected to the joint of two adjacent column members 100 and abuts against the outer wall of the column member 100. The external connector 500 can be one or more as needed, and different external connectors 500 can be located on the same side or different sides of the two column members 100 as needed.

[0055] In some embodiments, the upright member 100 is a generally cubic profile member with four outer side walls, one of which needs to mate with a horizontal rail on the shelf, and the other three outer side walls can be provided with external connectors 500.

[0056] In some embodiments, a column groove 130 is provided on the outer side wall of the column member 100 along a first direction. The column groove 130 forms an opening on the end face of the column member 100, and the openings of two adjacent column members 100 are arranged opposite each other, so that the column grooves 130 are spliced ​​to form a column elongated groove. The external connector 500 includes a groove condition 510, a connecting plate 520, and a second fixing member. The groove condition 510 is fixed in the column elongated groove, the connecting plate 520 abuts against the outer side wall of the column member 100, and the second fixing member is used to fix the connecting plate 520 on the groove condition 510.

[0057] Optionally, a plurality of first connecting holes are provided on the groove condition 510 along the first direction, and a plurality of second connecting holes are provided on the connecting plate 520 along the first direction. The first connecting holes and the second connecting holes are arranged in a one-to-one correspondence. The second fixing member includes a plurality of screws, each screw passing through a set of first connecting holes and second connecting holes. Optionally, the groove condition 510 is fixed in the column long groove by means of bonding, welding or interference fit.

[0058] The number of column components 100 can be set to two, three, or more, depending on the requirements. All column components 100 are spliced ​​together in the first direction to form a long column 300. For example... Figures 7 to 9As shown, the lifting column also includes a belt conveyor assembly 400, which includes a drive member 410, a drive wheel 420, a transmission belt 430, and a driven wheel 440. The drive wheel 420 is rotatably mounted at one end of the long column 300, and the driven wheel 440 is rotatably mounted at the other end of the long column 300. The transmission belt 430 is sleeved on the drive wheel 420 and the driven wheel 440. The output end of the drive member 410 is connected to the drive wheel 420 and can drive the drive wheel 420 to rotate. The transmission belt 430 is used to connect an external loading platform.

[0059] This utility model also discloses a shelf robot, which includes a loading platform and the aforementioned lifting column. The loading platform is vertically mounted on the lifting column. The loading platform is used to carry goods, and by lifting the loading platform vertically along the lifting column, the goods can be lifted to a target height. By using the aforementioned lifting column, the transportation and assembly difficulty of the shelf robot is increased, manufacturing and transportation costs are reduced, stability and safety are improved, and the requirements for high-speed horizontal movement are met.

[0060] This utility model also discloses a buffer rack automated storage and retrieval system (AS / RS). The system includes racks and the aforementioned rack robot. The racks include horizontal tracks and buffer positions located below the racks. Lifting columns are installed on the racks, and the lifting columns of the rack robot include wheels that cooperate with the horizontal tracks to enable the rack robot to move horizontally along the rack surface. Through the vertical movement of the loading platform along the lifting columns and the horizontal movement of the rack robot along the racks, goods can be moved both vertically and laterally. By using the aforementioned lifting columns, the transportation and assembly difficulty of the buffer rack automated storage and retrieval system is increased, manufacturing and transportation costs are reduced, stability and safety are improved, and the requirements for high-speed horizontal movement are met.

[0061] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A lifting column, characterized in that, include: At least two upright members (100), each of the upright members (100) extending in a first direction, and the upright members (100) having a connecting structure at their ends in the first direction; At least one tensioning connection mechanism (200) is provided, and two adjacent upright members (100) are spliced ​​in the first direction through the cooperation of the tensioning connection mechanism (200) and the connection structure. The tensioning connection mechanism (200) and the connection structure can tighten the two upright members (100) in the first direction, and limit the two upright members (100) in the second direction and the third direction. The first direction, the second direction and the third direction are perpendicular to each other.

2. The lifting column according to claim 1, characterized in that, The connection structure includes a connecting rod through hole (110) and a tension hole (120) that are interconnected. The center line of the connecting rod through hole (110) extends in the first direction, and the center line of the tension hole (120) extends in the second direction. Each of the tensioning connection mechanisms (200) includes a connecting rod (210), two tensioning seats (220) and two plug-in parts (230). The connecting rod (210) extends in the first direction and has a plug-in structure (211) at the connecting end in the first direction. The tensioning seat (220) has a mounting hole (221) and a fixing hole (222) that communicate with each other. Each connecting end of the connecting rod (210) and the corresponding column member (100) are connected by a tensioning seat (220) and a plug-in member (230), respectively. The tensioning seat (220) is installed in the tensioning hole (120). The connecting end of the connecting rod (210) is inserted into the connecting rod through hole (110) and the mounting hole (221) on the corresponding side along the first direction. The plug-in member (230) is inserted into the fixing hole (222) and the plug-in structure (211) along the second direction.

3. The lifting column according to claim 2, characterized in that, The plug-in structure (211) is a groove with a first inclined surface (212), and the plug-in member (230) includes a wedge (231) with a second inclined surface (232). The wedge (231) is inserted into the groove, and the first inclined surface (212) and the second inclined surface (232) have the same inclination direction and slide against each other.

4. The lifting column according to claim 3, characterized in that, The connecting rod (210) has the first inclined surface (212) at both ends in the first direction, and the two first inclined surfaces (212) have opposite inclination directions; And / or, the connecting end of the connecting rod (210) is provided with a groove on each side of the third direction, and the plug (230) includes two wedges (231), which are inserted into the two grooves one to one.

5. The lifting column according to claim 2, characterized in that, The tensioning connection mechanism (200) further includes a first fixing member (240), which is fixed in the fixing hole (222) to confine the plug (230) within the fixing hole (222) and the plug structure (211).

6. The lifting column according to claim 1, characterized in that, The two adjacent column members (100) are connected by at least two tensioning connection mechanisms (200), and the at least two tensioning connection mechanisms (200) are spaced apart.

7. The lifting column according to any one of claims 1-6, characterized in that, All of the column members (100) are spliced ​​together in the first direction to form a long column (300); The lifting column also includes a belt conveyor assembly (400), which includes a drive member (410), a drive wheel (420), a transmission belt (430), and a driven wheel (440). The drive wheel (420) is rotatably disposed at one end of the long column (300), and the driven wheel (440) is rotatably disposed at the other end of the long column (300). The transmission belt (430) is sleeved on the drive wheel (420) and the driven wheel (440). The output end of the drive member (410) is connected to the drive wheel (420) and can drive the drive wheel (420) to rotate. The transmission belt (430) is used to connect to an external loading platform.

8. The lifting column according to any one of claims 1-6, characterized in that, The lifting column also includes an external connector (500), which is detachably connected to the joint of two adjacent column members (100) and abuts against the outer wall of the column member (100).

9. The lifting column according to claim 8, characterized in that, The outer side wall of the column member (100) is provided with a column groove (130) along the first direction, and the column grooves (130) of two adjacent column members (100) are spliced ​​together to form a column long groove. The external connector (500) includes a groove condition (510), a connecting plate (520), and a second fixing member. The groove condition (510) is fixed in the long groove of the column, and the connecting plate (520) abuts against the outer side wall of the column member (100). The second fixing member is used to fix the connecting plate (520) on the groove condition (510).

10. A shelf robot, characterized in that, It includes a loading platform and a lifting column as described in any one of claims 1-9, wherein the loading platform is vertically and retractably mounted on the lifting column.

11. A cache rack automated storage and retrieval system, characterized in that, The device includes a shelf and the shelf robot of claim 10. The shelf includes a horizontal track and a buffer position located below the shelf. The lifting column of the shelf robot includes a walking wheel, which cooperates with the horizontal track to enable the shelf robot to move horizontally along the surface of the shelf.

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