CN113895847A

CN113895847A - Protective structure of three-dimensional storehouse robot

Info

Publication number: CN113895847A
Application number: CN202111311067.3A
Authority: CN
Inventors: 张涛
Original assignee: Wap Intelligence Storage Equipment Zhejiang Co Ltd
Current assignee: Wap Intelligence Storage Equipment Zhejiang Co Ltd
Priority date: 2021-11-08
Filing date: 2021-11-08
Publication date: 2022-01-07
Anticipated expiration: 2041-11-08
Also published as: CN113895847B

Abstract

The invention relates to the technical field of logistics equipment, in particular to a protective structure of a three-dimensional warehouse robot, which comprises a stacker, a goods shelf and a docking module arranged on the goods shelf and used for docking with the stacker and allowing the robot to pass through, wherein the stacker is provided with a left stacker guide rail and a right stacker guide rail which are arranged at intervals at the left and right, the goods shelf is provided with a left goods shelf guide rail and a right goods shelf guide rail which correspond to the left stacker guide rail and the right stacker guide rail at the front and back and can dock with each other, the docking module comprises a turning protective plate which is arranged at the goods shelf inlet and outlet of the goods shelf and can be switched between a vertical state and a horizontal turning shaft which is sleeved with the turning protective plate and can be turned over, the horizontal turning shaft divides the turning protective plate into a goods shelf docking part which is used for being in contact with the left goods shelf guide rail and the right goods shelf guide rail and a stacker docking part which is used for being in contact with the left stacker guide rail and the right stacker guide rail, the protection is better.

Description

Protective structure of three-dimensional storehouse robot

Technical Field

The invention relates to the technical field of logistics equipment, in particular to a protection structure of a three-dimensional warehouse robot.

Background

The existing three-dimensional goods shelf or three-dimensional warehouse needs a robot to complete the transportation of goods, a plurality of stackers are configured between goods shelves, the robot is transported to a designated position of the goods shelf through the stackers, then the robot carries the goods, but in the prior art, no good protection measure exists between the three-dimensional warehouse and the stackers, especially when the robot is in the goods transportation process, equipment, goods and the like are easily dropped, damage to the goods shelves and the like is caused, and safety hazards to workers are brought.

The warehouse stacker system disclosed in the chinese patent with the application number of 202021870936.7 relates to the technical field of logistics, and solves the technical problem that the warehouse entry or warehouse exit efficiency of products and goods is affected by the difficulty in realizing accurate operation of the existing warehouse stacker system. The system comprises a goods shelf, a tray and a stacker; the goods shelf is of a multi-layer and multi-row structure and can accommodate a plurality of trays simultaneously; the tray can contain articles therein; the stacking machine is positioned on the side of the goods shelf and can accommodate the tray; the stacker adjusts the height and position of the tray through three degrees of freedom directions, and the tray is placed into or taken out of the shelf.

The above-described problems arise with prior art warehouse stacker systems of the type described above.

Disclosure of Invention

The invention aims to provide a protective structure of a three-dimensional warehouse robot with better protection performance.

The technical purpose of the invention is realized by the following technical scheme: a protection structure of a robot in a three-dimensional warehouse comprises a stacker, a goods shelf and a butt joint module which is arranged on the goods shelf and is used for butt joint with the stacker and allowing the robot to pass, the stacker is provided with a left stacker guide rail and a right stacker guide rail which are arranged at left and right intervals, the goods shelf is provided with a left goods shelf guide rail and a right goods shelf guide rail which correspond to the left stacker guide rail and the right stacker guide rail in the front-back direction and can be butted, the butt joint module comprises a turning protection plate which is arranged at the goods shelf inlet and outlet of the goods shelf and can be switched between a vertical state and a horizontal state through turning and a horizontal turning shaft for the turning protection plate to be sleeved and turned, the horizontal overturning shaft divides the overturning protection plate into a goods shelf butt joint part used for being jointed with the left goods shelf guide rail and the right goods shelf guide rail and a stacker butt joint part used for being jointed with the left stacker guide rail and the right stacker guide rail.

Preferably, the stacker is provided with a turnover driving device for driving the turnover protection plate to turn over from a vertical state to a horizontal state, and the goods shelf is provided with a return device for returning the turnover protection plate from the horizontal state to the vertical state.

Preferably, the overturning driving device comprises a telescopic arm which is connected to the stacker and can be extended and retracted, and a pulling head which is connected to the front end of the telescopic arm and is used for pulling the overturning protection plate to overturn.

Preferably, a driven part for pulling the pulling head is installed on the back surface of the overturn prevention plate.

Preferably, the return device comprises a torsion spring connected between the goods shelf and the turning protection plate.

Preferably, the return means comprises a damper connected between the shelf and the roll-over protection.

Preferably, the goods shelf is provided with an external limiting module for preventing the goods shelf butt joint part from overturning to one side of the stacker.

Preferably, the left shelf rail includes a left rigid body portion and a left buffer portion provided at the left rigid body portion at the shelf entrance/exit and compressible in the up-down direction to be abutted by the left side portion of the shelf butt portion in the downward direction, and the right shelf rail includes a right rigid body portion and a right buffer portion provided at the right rigid body portion at the shelf entrance/exit and compressible in the up-down direction to be abutted by the right side portion of the shelf butt portion in the downward direction.

Preferably, the left cushioning portion and the right cushioning portion are both compressible cushioning pads, and in an initial state, the upper surface of the left cushioning portion is higher than the upper surface of the left rigid body portion, and the upper surface of the right cushioning portion is higher than the upper surface of the right rigid body portion. .

Preferably, the left shelf rail has a left step portion formed at a position near the shelf entrance and exit for the left buffering portion to be attached and connected, and the right shelf rail has a right step portion formed at a position near the shelf entrance and exit for the right buffering portion to be attached and connected.

The invention has the beneficial effects that: the stacker and the goods shelf can be better butted to form a more complete guide rail path, so that the robot can run more safely and reliably and has higher safety;

the applicability is better;

the protection nature is better, and noise reduction damping all has further promotion to equipment to the security of goods to personnel.

Drawings

FIG. 1 is a perspective view of the protective structure of the embodiment in an initial state of non-abutting;

FIG. 2 is a schematic perspective view of the structure of FIG. 1 in a docked state with a return device attached thereto;

FIG. 3 is a perspective view of the rear view of FIG. 2;

fig. 4 is a schematic perspective view of the left side of fig. 2.

Detailed Description

The following specific examples are given by way of illustration only and not by way of limitation, and it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made in the examples without inventive faculty, and yet still be protected by the scope of the claims.

In an embodiment, as shown in fig. 1 to 4, a protection structure of a stereo garage robot includes a stacker 1, a shelf 2, and a docking module installed on the shelf 2 for docking with the stacker 1 and allowing a robot to pass through, where the docking module can better dock the stacker 1 and the shelf 2 before the robot runs, specifically, the stacker 1 is installed with a left stacker guide rail 101 and a right stacker guide rail 102 spaced left and right, the shelf 2 is installed with a left shelf guide rail 201 and a right shelf guide rail 202 corresponding to the left stacker guide rail 101 and the right stacker guide rail 102 in front and back and being docked, the stacker 1 generally adopts a U-shaped frame, and mainly includes a left side plate 11, a right side plate 12, and a bottom plate 13 connected between the bottoms of the left side plate 11 and the right side plate 12, the left stacker guide rail 101 is installed and fixed on a right side portion of the left side plate 11 close to the inner side of the stacker, the right stacker guide rail 102 is fixedly mounted on the left side portion of the right side plate 12. The shelf 2 is generally a three-dimensional rectangular three-dimensional structure built by the upright posts 21 and the cross beams 22, a plurality of upright posts are arranged front and back on the left and right, a plurality of cross beams are arranged up and down, the left shelf guide rail 201 can be installed and fixed on the right side of the upright post on the left side of the shelf, and the right shelf guide rail 202 can be installed and fixed on the left side of the upright post on the right side of the shelf. When the appointed high position of stacker operation, left stacker guide rail 101 and right stacker guide rail 102 on stacker 1 will be with the left goods shelves guide rail 201 and the right goods shelves guide rail 202 front and back correspondence of goods shelves direct position, but between left stacker guide rail 101 and the left goods shelves guide rail 201 and between right stacker guide rail 102 and the right goods shelves guide rail 202, will leave one section spaced, in this application, this section interval can be left very big, just can realize the butt joint even if exceed 20cm, because, the butt joint between stacker and goods shelves has been accomplished to special butt joint module in this application, like this the interval greatly can make the lift of stacker itself safe and reliable more can not have the interference, and simultaneously, also, do not influence the operation of robot between stacker and goods shelves after the stacker arrives the assigned position.

Specifically, the docking module includes a turning protection plate 3 installed at a shelf entrance/exit 20 of the shelf 2 and capable of being switched between a vertical state and a horizontal state through turning and a horizontal turning shaft 30 for the turning protection plate 3 to be sleeved and turned, the horizontal turning shaft 30 can be installed and fixed between a vertical column 21 near the shelf entrance/exit 20 on the left side of the shelf and a vertical column 21 near the shelf entrance/exit 20 on the right side of the shelf, the turning protection plate 3 is provided with a corresponding left-right through shaft hole and sleeved on the horizontal turning shaft 30, so that the turning protection plate 3 can be turned in a vertical area around the horizontal turning shaft 30, and also can be switched between the vertical state and the horizontal state through turning, and the turning protection plate 3 can adopt a rectangular hard plate structure, for example, and can be preferably made of hard plastic plates. What is more important, the horizontal turning shaft 30 divides the turning protection plate 3 into a shelf butt joint part 31 for engaging with the left shelf guide rail 201 and the right shelf guide rail 202 and a stacker butt joint part 32 for engaging with the left stacker guide rail 101 and the right stacker guide rail 102. it can be seen that the horizontal turning shaft 30 is not at the end of the turning protection plate 3, the turning protection plate 3 is observed in a vertical state, the horizontal turning shaft 30 is not at the upper end or the lower end of the turning protection plate 3, but at a position between the upper and lower parts of the turning protection plate 3, so that the turning protection plate 3 can be divided into two parts, such design that one part of the turning protection plate 3 above the horizontal turning shaft 30 is the shelf butt joint part 31, and one part below the horizontal turning shaft 30 is the stacker butt joint part 32, when butt joint is needed, the overturning protection plate 3 overturns forwards from a vertical state to be in a horizontal state, the goods shelf butt joint part 31 is in a horizontal state and is in butt joint with the guide rail of the goods shelf, the stacker butt joint part 32 is in a horizontal state and is in butt joint with the guide rail of the stacker, then the overturning protection plate 3 rotates back from the horizontal state to be in the vertical state when the robot finishes working and needs to leave, the design has the advantages that under the butt joint condition, the whole butt joint guide rail assembly is more complete and continuous, the robot walks more safely and reliably, under the contact butt joint condition, under the condition that the overturning protection plate 3 rotates back to be in the vertical state, the goods shelf butt joint part 31 can form the function of a baffle plate, the goods shelf is well protected, and some goods which can roll or robots which stay on the goods shelf can be temporarily stored on the goods shelf, the shelf abutment section 31 functions well as a shelf guard in the non-abutting state. The height position of the horizontal turning shaft 30 is as much as possible consistent with or close to the height of the left shelf guide rail 201 and the right shelf guide rail 202 at the corresponding shelf positions, because it is ensured that the upper surface of the turning protection plate 3 is level with the upper surfaces of the guide rails on the stacker and the guide rails on the shelf under the condition that the turning protection plate is turned to the horizontal state, at this moment, the upper surface of the turning protection plate 3 is also the front surface for the robot to walk, and the front surface is the rear side surface of the turning protection plate 3 in the vertical state. In this embodiment, the shelf and the stacker are discussed in a front-back state, that is, the description is made for the case where the shelf is disposed in front of the stacker, and obviously, the rear of the stacker may also be provided with the shelf, so that the protection structure related to the shelf between the stacker and the rear thereof may adopt all the structural designs in this embodiment, but the directions are opposite. In addition, the turning action of the turning protection plate 3 needs a corresponding mechanical structure, which will be described in detail later.

Specifically, the stacker 1 is provided with a turnover driving device for driving the turnover protection plate 3 to turn over from a vertical state to a horizontal state, and the goods shelf 2 is provided with a return device for returning the turnover protection plate 3 from the horizontal state to the vertical state. The turnover driving device is arranged on the stacker 1, because the stacker is provided with mechanical equipment with electric power and can be actively driven, and the goods shelf is not provided with active driving type electromechanical equipment generally, and is structurally disadvantageous in cost management, so that the return device on the goods shelf is of an automatic type structure or a passive type structure, and the return device is preferably coupled with the action of the turnover driving device. Briefly, the stacker arrives the goods shelves assigned position, and upset drive arrangement drive upset guard plate 3 is the horizontality from the vertical state upset, and the robot transportation finishes, and upset drive arrangement contacts driving condition itself, and return means is automatic with the 3 resets of upset guard plate, need not rely on other electromechanical device.

Under this concept described above: the overturning driving device may specifically include a telescopic arm 41 connected to the stacker 1 and capable of stretching, and a pulling head 42 connected to a front end of the telescopic arm 41 and used for pulling the overturning protection plate 3 to overturn. The telescopic arm can adopt the existing electric manipulator or linkage rod mechanism and the like, and a traction head 42 is fixed in the head installation, the traction head 42 can adopt the existing hook claw, the hook and the like to pick up the mechanism, certainly, other existing connection structures capable of pulling the overturning protection plate 3 to overturn can be adopted, but it needs to be noticed that, the traction head 42 is ensured to be separated from the overturning protection plate 3 easily as much as possible, the overturning protection plate 3 is avoided to be unsmooth when rotating, certainly, the telescopic arm can move, the traction head 42 can be effectively driven to pull the overturning protection plate 3 and be separated from the overturning protection plate 3. Preferably, the driven part 43 for pulling the pulling head 42 is installed on the back surface of the turning protection plate 3, and the driven part 43 is arranged in cooperation with the pulling head 42, so that the pulling and the separation can be better completed between the two. The driven part 43 is preferably mounted and fixed on the rear side of the stacker interfacing part 32 of the roll-over protection plate 3, i.e. the lower surface of the roll-over protection plate 3 in a horizontal state, and the driven part 43 may be a pull ring structure or the like fixed on the rear side of the stacker interfacing part 32, so as to facilitate the hooking and pulling of the pulling head 42.

Further, the driven part 43 may be a rectangular iron block, the pulling head 42 may be an existing electromagnetic structure, the pulling is performed by a magnetic attraction manner, an electromagnetic coil is disposed in the pulling head 42, for example, when the roll-over protection plate 3 needs to be horizontally butted in a roll-over manner, the electromagnetic coil is energized, the pulling head 42 can attract the driven part 43 to connect the driven part 43, and when the butting is not performed, the electromagnetic coil is not energized, and the pulling head 42 can be separated from the driven part 43.

Still further, the return device 6 may specifically include a torsion spring connected between the shelf 2 and the turning protection plate 3. The torsional spring can overlap and establish on horizontal trip shaft 30, respectively sets up one about, and two torsion spring feet of left torsional spring are respectively with the left stand of goods shelves and 3 back parts near the left part of upset guard plate and are connected, and two torsion spring feet of right side torsional spring are respectively with the stand on goods shelves right side and the 3 back parts near the right part of upset guard plate and are connected can. Or the return means can also adopt the following implementation mode, specifically including connecting goods shelves 2 with the attenuator between the upset guard plate 3, the attenuator can adopt structures such as pneumatic rod or spring, the attenuator also can set up two to the both ends of left attenuator are connected with the left stand of goods shelves and the portion that the upset guard plate 3 back is close to left respectively, the both ends of right side attenuator are connected with the stand on goods shelves right side and the portion that the upset guard plate 3 back is close to right respectively, the damped direction should be to prevent that upset guard plate 3 from overturning forward, also be that upset guard plate 3 is under vertical state, the attenuator is in its front side effect. However, the acting force of the torsion spring or the damper is smaller than the driving force of the turning driving device, that is, when the butt joint is required, the turning driving device can overcome the damping force to turn the turning protection plate 3 forward to be in a horizontal state, but once the non-butt joint state is reached, the turning protection plate 3 is separated from the driving force of the turning driving device, and the turning protection plate 3 is rebounded by the damping force to be turned to be in a vertical initial state.

Certainly, because there is certain inertia when gyration, it is excessive upset when perhaps making upset guard plate 3 overturn to the back upper place, will turn up to the goods shelves and cause some unsafe factors, on the other hand, after getting back to initial vertical state, when goods or the unexpected outwards flee of robot that stop on the goods shelves, the structure of only upset guard plate 3 is under the great condition of atress, probably can not play fine guard action, so no matter be in gyration in-process, still in the aspect of the goods shelves protection under the non-butt joint state, all have certain defect, from this, do the following design: and the goods shelf 2 is provided with an outer limiting module 5 for preventing the goods shelf butt joint part 31 of the overturn protection plate 3 from overturning to one side of the stacker. The outer limiting module 5 can comprise a rigid protection plate 51 fixed at the position of a goods shelf inlet and outlet and a flexible protection plate 52 connected with the front side of the rigid protection plate 51, the rigid protection plate 51 can be made of rectangular steel plates and fixed on left and right upright posts at the position close to the position of the inlet and outlet at the rear side of the goods shelf, the flexible protection plate 52 can be made of rubber plates and fixed at the front side of the rigid protection plate 51 in the existing fixing mode, namely close to one side of the goods shelf, at least one part of the goods shelf butt-joint part 31 can be abutted against the flexible protection plate 52, namely the position of the flexible protection plate 52 is guaranteed to be acted on by the goods shelf butt-joint part 31, and the adjustment of the upper height and the lower height of the outer limiting module 5 can be realized by being installed and fixed to be matched with the goods shelf butt-joint part 31. This design of outer spacing module 5 not only can carry out buffering when fine gyration to overturn protection plate 3, also can be spacing to make overturn protection plate 3 play fine goods shelves guard action.

Preferably, the left shelf rail 201 includes a left rigid body 2011 and a left cushion 2012 provided in the left rigid body 2011 at the shelf entrance/exit 20 and capable of being compressed upward and downward to allow the shelf interface 31 to abut downward toward the left side, and the right shelf rail 202 includes a right rigid body 2021 and a right cushion 2022 provided in the right rigid body 2021 at the shelf entrance/exit 20 and capable of being compressed upward and downward to allow the shelf interface 31 to abut downward toward the right side. Left side rigidity main part 2011 adopts the steel guide rail and fixes on the right side position of left stand, right side rigidity main part 2021 also adopts the steel guide rail and fixes on the left side position of right stand, left side buffer part 2012 and right side buffer part 2022 make upset guard plate 3 when upset to the horizontal butt joint, goods shelves butt joint portion 31 can obtain buffering and damping noise reduction better, even if the drive side adopts very big drive power, can not cause the damage scheduling problem in the aspect of machinery, the speed of drive also can be leaner on, moreover, make the laminating degree of the part that leans on can be higher, reduce the problem that the crack appears between the butt joint portion. Preferably, the left cushioning part 2012 and the right cushioning part 2022 are both compressible cushioning pads, preferably compressible rectangular rubber plates, and in this place, rubber plates with better elasticity can be used, so that the cushioning and the compression performance have better effects, or other elastic material plates with better cushioning performance. In order to better match the implementation of the above structure, it is further optimized that the left shelf rail 201 is provided with a left step 20121 at a position close to the shelf entrance/exit 20 for the left buffering portion 2012 to be fixedly connected, the right shelf rail 202 is provided with a right step 20221 at a position close to the shelf entrance/exit 20 for the right buffering portion 2022 to be fixedly connected, so that the buffering portion has a better placing position, and after the docking is performed by compression, the upper surface of the shelf docking portion 31 and the upper surface of the left shelf rail can be better kept at the same horizontal position, the left step 20121 can be directly opened at a position close to the shelf entrance/exit 20 of the left rigid body portion 2011, and the right step 20221 can be directly opened at a position close to the shelf entrance/exit 20 of the right rigid body portion 2021. Further, in these embodiments described above, in the initial state, that is, in the non-abutting state, the height of the upper surface of left cushioning portion 2012 is higher than the height of the upper surface of left rigid body portion 2011, and the height of the upper surface of right cushioning portion 2022 is higher than the height of the upper surface of right rigid body portion 2021. Of course, in the case of a rack rail having a step, the upper surface of the left rigid body part 2011 and the upper surface of the right rigid body part 2021 refer to the upper surfaces at the non-step part on the front side of their step, i.e. the upper surfaces of the parts of the rack rail which are the most upper for the robot to walk, which is advantageous in that, when docking, a more even docking effect can be achieved by compression. When the return reversal is in a non-butt joint state, the left buffer part 2012 and the right buffer part 2022 rebound to return to an original state and become high, the raised parts can play a first protection role on the robot staying on the goods shelf, wheels of the robot are limited by the parts of the left buffer part 2012 and the right buffer part 2022 which are higher than the goods shelf guide rails, and the robot cannot walk outside the goods shelf abnormally, which is usually effective for the case that the abnormal walking speed of the robot is slow, so that the robot is prevented from moving abnormally and goods on the robot fall off. The protection function of the turning protection plate 3 in the non-butt joint state is also mentioned in the foregoing, the protection of the turning protection plate 3 can be understood as a second defense line, and the protection function is mainly realized by preventing the robot from being abnormally and seriously fleeing outwards, and the turning protection plate 3 can be collided to play a protection role, so that the adverse conditions such as falling of the whole robot can be effectively prevented. Through the protection of two defence lines, can play the guard action to the goods shelves better.

On the other hand, when the stacker is docked on one side, the stacker docking portion 32 only needs to be as close as possible to the left stacker rail 101 and the right stacker rail 102, and the closer the stacker rail is, the better the docking gap is, the smaller the docking gap is. At this time, it is necessary to ensure that the telescopic arm 41 is in an upward supporting state after being pulled back, and the stacker butt-joint section 32 is supported upward to be effectively supported. Then, in the docking process, the telescopic arm 41 extends to drive the pulling head 42 to connect with the driven part 43, and the backward pulling makes the turning protection plate 3 turn to the horizontal docking state, at this time, the telescopic arm 41 should be contracted to be in the upward supporting state and abut against the stacker docking part 32 of the turning protection plate 3 upwards through the pulling head 42 and the driven part 43, and the horizontal state of the whole turning protection plate 3 can be effectively maintained for the robot to walk better. When the butt joint state is removed, the telescopic arm 41 can directly drive the traction head 42 to separate from the driven part 43, the overturning protection plate 3 can return by the return device, the operation is quicker and more effective, the telescopic arm 41 does not need to extend again and drive the traction head 42 and the driven part 43 to pull back the overturning protection plate 3 again in the reverse direction, and the energy consumption and the working time are effectively reduced.

While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides a protective structure of three-dimensional storehouse robot which characterized in that: including stacker (1), goods shelves (2) and what install on goods shelves (2) be used for with stacker (1) docks and supplies the current butt joint module of robot, left stacker guide rail (101) and right stacker guide rail (102) that the interval set up about installing on stacker (1), install on goods shelves (2) with left side stacker guide rail (101) and right stacker guide rail (102) front and back correspond and can carry out left goods shelves guide rail (201) and right goods shelves guide rail (202) that dock, the butt joint module is including installing the upset (3) and the confession that can switch through the upset between vertical state and horizontal state of goods shelves exit (20) department of goods shelves (2) and can be between vertical state and horizontal state upset guard plate (3) cover establish and the horizontal trip shaft (30) of upset, horizontal trip shaft (30) will upset guard plate (3) divide into to be used for with left side goods shelves guide rail (201) and right goods shelves guide rail (202) connect the butt joint module that the robot is current, install left goods shelves guide rail (101) and right goods shelves guide rail (102) are followed A rack butt-joint part (31) and a stacker butt-joint part (32) which is used for being jointed with the left stacker guide rail (101) and the right stacker guide rail (102).

2. The protective structure of the stereoscopic library robot according to claim 1, wherein: the stacking machine (1) is provided with a turnover driving device used for driving the turnover protection plate (3) to turn over from the vertical state to be in the horizontal state, and the goods shelf (2) is provided with a return device (6) for returning the turnover protection plate (3) from the horizontal state to the vertical state.

3. The protective structure of the stereoscopic library robot as claimed in claim 2, wherein: the overturning driving device comprises a telescopic arm (41) which is connected to the stacker (1) and can be stretched, and a traction head (42) which is connected to the front end part of the telescopic arm (41) and used for pulling the overturning protection plate (3) to overturn.

4. The protective structure of the stereoscopic library robot as claimed in claim 3, wherein: and a driven part (43) for pulling the traction head (42) is arranged on the back surface of the overturning protection plate (3).

5. The protective structure of the stereoscopic library robot as claimed in claim 2, wherein: the return device comprises a torsion spring connected between the goods shelf (2) and the overturning protection plate (3).

6. The protective structure of the stereoscopic library robot as claimed in claim 2, wherein: the return device comprises a damper connected between the goods shelf (2) and the overturning protection plate (3).

7. The protective structure of the stereoscopic library robot according to claim 1, wherein: and an outer limiting module (5) for preventing the goods shelf butt joint part (31) from overturning to one side of the stacker is arranged on the goods shelf (2).

8. The protective structure of the stereoscopic library robot according to claim 1, wherein: the left shelf guide rail (201) comprises a left rigid main body part (2011) and a left buffering part (2012) which is arranged at the position, close to a shelf inlet and outlet (20), of the left rigid main body part (2011) and can be compressed up and down and is used for the downward abutting of the left side part of the shelf butt joint part (31), and the right shelf guide rail (202) comprises a right rigid main body part (2021) and a right buffering part (2022) which is arranged at the position, close to the shelf inlet and outlet (20), of the right rigid main body part (2021) and can be compressed up and down and is used for the downward abutting of the right side part of the shelf butt joint part (31).

9. The protective structure of the stereoscopic library robot of claim 8, wherein: the left buffering part (2012) and the right buffering part (2022) are both compressible buffer cushion plates, and in an initial state, the height of the upper surface of the left buffering part (2012) is higher than that of the upper surface of the left rigid main body part (2011), and the height of the upper surface of the right buffering part (2022) is higher than that of the upper surface of the right rigid main body part (2021).

10. The protective structure of the stereoscopic library robot of claim 8, wherein: the left shelf guide rail (201) is provided with a left step part (20121) for installing and connecting the left buffering part (2012) at the position close to the shelf inlet and outlet (20), and the right shelf guide rail (202) is provided with a right step part (20221) for installing and connecting the right buffering part (2022) at the position close to the shelf inlet and outlet (20).