CN113895847B

CN113895847B - Protection structure of three-dimensional storehouse robot

Info

Publication number: CN113895847B
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: 2023-05-16
Anticipated expiration: 2041-11-08
Also published as: CN113895847A

Abstract

The invention relates to the technical field of logistics equipment, in particular to a protection structure of a three-dimensional warehouse robot, which 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 through, wherein a left stacker guide rail and a right stacker guide rail which are arranged at left and right intervals are arranged on the stacker, 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 front-back mode and can be in butt joint are arranged on the goods shelf, the butt joint module comprises a turnover protection plate which is arranged at a goods shelf inlet and outlet of the goods shelf and can be switched through turnover and a horizontal turnover shaft which is used for sleeving and turnover the turnover protection plate, and the horizontal turnover protection plate is divided into a goods shelf butt joint part which is used for being in engagement with the left goods shelf guide rail and the right stacker guide rail and a goods shelf butt joint part which is used for being in engagement with the left stacker guide rail and the right stacker guide rail, so that the protection performance is better.

Description

Protection 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 garage robot.

Background

The existing three-dimensional goods shelves or three-dimensional libraries all need robots to finish goods carrying, a plurality of stacking machines are arranged between the goods shelves, the robots are transported to the appointed positions of the goods shelves through the stacking machines, and then the robots carry the goods, but in the prior art, no good protective measures exist between the three-dimensional libraries and the stacking machines, especially when the robots fall off in the goods carrying process, equipment, goods and the like are easy to cause damage to the goods shelves and the like, safety hazards to workers are brought, in addition, in order to enable the stacking machines to run smoothly, the space distance between the three-dimensional libraries and the stacking machines is kept, the space is unfavorable for the relatively good running of the robots, jolt and the like are generated, and various running safety problems are generated.

The warehouse stacker system disclosed in China patent application No. 202021870936.7 relates to the technical field of logistics, and solves the technical problems that an existing warehouse stacker system is difficult to realize accurate operation and the warehouse-in or warehouse-out efficiency of products and cargoes is affected. The system comprises a goods shelf, a tray and a stacker; the goods shelf is of a multi-layer multi-column structure and can accommodate a plurality of trays at the same time; the tray can contain articles; the stacker is positioned at 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 places the tray into or takes the tray out of the goods shelf.

The aforementioned problems occur with existing warehouse stacker systems of the type described above.

Disclosure of Invention

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

The technical aim of the invention is realized by the following technical scheme: the utility model provides a three-dimensional storehouse robot's protective structure, includes stacker, goods shelves and be used for with install on the goods shelves dock and supply the current butt joint module of robot with the stacker, install left stacker guide rail and right stacker guide rail that left and right interval set up on the stacker, install on the goods shelves with left stacker guide rail and right stacker guide rail front-back correspondence and can dock left goods shelves guide rail and right goods shelves guide rail, the butt joint module is including installing the goods shelves import and export department of goods shelves and can be in through upset switching between vertical state and horizontal state upset guard plate and supply the horizontal upset axle that the upset guard plate cover was established and was overturned, the horizontal upset axle will the upset guard plate divide into with be used for with left stacker guide rail and right stacker guide rail's goods shelves butt joint part that the left stacker guide rail and right stacker guide rail are engaged.

As a preferable mode of the invention, the stacker is provided with a turnover driving device for driving the turnover protection plate to turn 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.

As a preferable aspect of the invention, the turning driving device includes a telescopic arm connected to the stacker and capable of telescoping, and a pulling head connected to a front end of the telescopic arm for pulling the turning protection plate to turn.

Preferably, the back of the turnover protection plate is provided with a driven part for the pulling head to pull.

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

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

Preferably, the outer limit module for preventing the butt joint part of the goods shelf from turning to one side of the stacker is arranged on the goods shelf.

Preferably, the left shelf guide rail comprises a left rigid body part and a left buffer part, wherein the left buffer part is arranged at the position, close to a shelf inlet and outlet, of the left rigid body part, can compress up and down and is used for enabling the shelf butt joint part to lean against downwards close to the left part, and the right shelf guide rail comprises a right rigid body part and a right buffer part is arranged at the position, close to the shelf inlet and outlet, of the right rigid body part, can compress up and down and is used for enabling the shelf butt joint part to lean against downwards close to the right part.

As a preferred aspect of the present invention, the left side cushioning portion and the right side cushioning portion are both compressible cushioning pads, and in an initial state, the upper surface height of the left side cushioning portion is higher than the upper surface height of the left side rigid main body portion, and the upper surface height of the right side cushioning portion is higher than the upper surface height of the right side rigid main body portion. .

Preferably, the left shelf guide rail is provided with a left step part for the installation and connection of the left buffer part at a position close to the shelf entrance and exit, and the right shelf guide rail is provided with a right step part for the installation and connection of the right buffer part at a position close to the shelf entrance and exit.

The invention has the beneficial effects that: the stacker and the goods shelves can be better subjected to butt joint treatment to form a more complete guide rail path, so that the robot can run more safely and reliably, and the safety is higher;

the applicability is better;

the protection is better, noise reduction and vibration reduction are achieved, and the safety of equipment to cargoes to personnel is further improved.

Drawings

FIG. 1 is a schematic perspective view of a protective structure in an initial state of non-docking according to an embodiment;

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

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

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

Detailed Description

The following specific examples are intended to be illustrative of the invention and are not intended to be limiting, as modifications of the invention will be apparent to those skilled in the art upon reading the specification without inventive contribution thereto, and are intended to be protected by the patent law within the scope of the appended claims.

1-4, a protection structure of a three-dimensional garage robot includes a stacker 1, a shelf 2, and a docking module installed on the shelf 2 and used for docking with the stacker 1 and allowing the robot to pass through, where the docking module can better dock the stacker 1 and the shelf 2 before the robot operates, specifically, a left stacker rail 101 and a right stacker rail 102 are installed on the stacker 1 and are arranged at left and right intervals, a left shelf rail 201 and a right shelf rail 202 corresponding to the left stacker rail 101 and the right stacker rail 102 and capable of docking are installed on the shelf 2, the stacker 1 generally adopts a U-shaped framework, and mainly includes a left side plate 11, a right side plate 12, and a bottom plate 13 connected between bottoms of the left side plate 11 and the right side plate 12, the left stacker rail 101 is installed and fixed on a side of the left side plate 11, that is, a right side surface of the right stacker rail 102 is positioned on an inner side of the left side plate 11, that is, and the right stacker rail 102 is installed and fixed on a left side surface of the right side plate 12. The shelf 2 is generally a three-dimensional rectangular solid formed by building the upright posts 21 and the cross beams 22, a plurality of upright posts are arranged front and back on the left and right sides, 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 part of the left upright post of the shelf, and the right shelf guide rail 202 can be installed and fixed on the left side part of the right upright post of the shelf. When the stacker operates at a designated height position, the left stacker guide rail 101 and the right stacker guide rail 102 on the stacker 1 correspond to the left rack guide rail 201 and the right rack guide rail 202 which are positioned directly on the racks in front and back, but a section of interval is left between the left stacker guide rail 101 and the left rack guide rail 201 and between the right stacker guide rail 102 and the right rack guide rail 202, in the application, the section of interval can be left very large, even if the interval exceeds 20cm, the butt joint can be realized, because the butt joint between the stacker and the racks is completed by a special butt joint module in the application, the interval is large, so that the lifting of the stacker is safer and more reliable without interference, and meanwhile, the operation of a robot between the stacker and the racks after the stacker reaches the designated position is not influenced.

Specifically, the docking module includes a turnover protection plate 3 installed at the shelf access 20 of the shelf 2 and capable of being switched between a vertical state and a horizontal state by turnover, and a horizontal turnover shaft 30 for the turnover protection plate 3 to be sleeved and turned, wherein the horizontal turnover shaft 30 can be installed and fixed between a column 21 near the shelf access 20 on the left side of the shelf and a column 21 near the shelf access 20 on the right side of the shelf, the turnover protection plate 3 is provided with corresponding left and right through shaft holes and sleeved on the horizontal turnover shaft 30, so that the turnover protection plate 3 can be turned around the horizontal turnover shaft 30 in the vertical plane, and can be switched between the vertical state and the horizontal state by turnover, and the turnover protection plate 3 can be made of a rectangular hard plate structure, for example, a hard plastic plate can be preferably adopted. It is also important that the horizontal tilting shaft 30 divides the tilting plate 3 into a pallet docking portion 31 for engaging the left pallet rail 201 and the right pallet rail 202 and a stacker docking portion 32 for engaging the left stacker rail 101 and the right stacker rail 102, it is seen that the horizontal tilting shaft 30 is not at the end of the tilting plate 3, the tilting plate 3 is viewed in a vertical state, the horizontal tilting shaft 30 is not at the upper end or the lower end of the tilting plate 3, but at a position between the upper and lower sides of the tilting plate 3, so that the tilting plate 3 can be divided into two portions, the design is such that one portion of the tilting plate 3 above the horizontal tilting shaft 30 is the pallet docking portion 31, and one portion below the horizontal tilting shaft 30 is the stacker docking portion 32, when the butt joint is needed, the overturning protection plate 3 overturns forwards from the vertical state to be in the horizontal state, the shelf butt joint part 31 is in the horizontal state and is in butt joint with the guide rail of the shelf, the stacker butt joint part 32 is in the horizontal state and is in butt joint with the guide rail of the stacker, then under the condition that the stacker needs to leave after the robot work is finished, the overturning protection plate 3 rotates from the horizontal state to be in the vertical state, the whole butt joint guide rail assembly is more complete and continuous under the butt joint condition, the robot walks more safely and reliably, under the condition that the overturning protection plate 3 rotates to be in the vertical state, the shelf butt joint part 31 can form the baffle plate to play a good protection role on the shelf, because some goods capable of rolling or robots staying on the shelf can be temporarily stored on the shelf, the shelf interfacing portion 31 can well function as a shelf guard in the non-interfacing state. The height position of the horizontal turning shaft 30 is as high as possible in accordance with or close to the heights of the left shelf rail 201 and the right shelf rail 202 at the corresponding shelf positions, because the upper surface of the turning guard plate 3 is kept flat with the upper surface of the rail on the stacker and the upper surface of the rail on the shelf in the case of turning to the horizontal state as much as possible, and at this time, the upper surface of the turning guard plate 3, that is, the front surface on which the robot walks, is the rear side surface of the turning guard plate 3 in the vertical state. In this embodiment, the shelf and the stacker are discussed in a front-rear state, that is, the case where the shelf is provided in front of the stacker, it is obvious that the rear of the stacker may also have the shelf, so 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 orientations are opposite. In addition, the turning action of the turning protection plate 3 needs a corresponding mechanical structure to be realized, which will be described in detail later.

Specifically, a turnover driving device for driving the turnover protection plate 3 to turn from a vertical state to a horizontal state is installed on the stacker 1, and a return device for returning the turnover protection plate 3 from the horizontal state to the vertical state is installed on the goods shelf 2. The turning driving device is arranged on the stacker 1, and because the stacker is provided with electric mechanical equipment and can be driven actively, and the rack is not provided with active driving electromechanical equipment, the structure is unfavorable from the aspect of cost management, and the return device on the rack is an automatic structure or a passive structure, and of course, the return device is coupled and realized by matching with the action of the turning driving device. In short, the stacker reaches the designated position of the goods shelf, the overturning driving device drives the overturning protection plate 3 to overturn from the vertical state to be in the horizontal state, the robot transportation is finished, the overturning driving device contacts with the driving state, and the returning device automatically returns the overturning protection plate 3 without depending on other electromechanical equipment.

Under this concept, as described above: the overturning driving device specifically may include a telescopic arm 41 connected to the stacker 1 and capable of telescoping, and a pulling head 42 connected to the 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 the head part of the telescopic arm is provided with and fixed with a traction head 42, and the traction head 42 can adopt the existing pickup mechanisms such as a claw, a hook and the like, of course, other existing connection structures capable of pulling the turnover protection plate 3 to turn can also be adopted, but the traction head 42 ensures that the turnover protection plate 3 is separated from easily as much as possible, the turnover protection plate 3 is prevented from being unsmooth in rotation, and the telescopic arm can be moved to effectively drive the traction head 42 to pull the turnover protection plate 3 and separate from the turnover protection plate 3. Preferably, the back of the turnover protection board 3 is provided with a driven part 43 for pulling the pulling head 42, and the driven part 43 is matched with the pulling head 42 to perform pulling and separating actions better. The driven portion 43 is particularly preferably mounted and fixed on the rear side of the stacker interfacing portion 32 of the rollover protection plate 3, wherein the rear side is the lower surface of the rollover protection plate 3 in a horizontal state, and the driven portion 43 may be a pull ring structure or the like fixed on the rear side of the stacker interfacing portion 32, so that the pulling head 42 can be conveniently pulled.

Further, the driven portion 43 may be a rectangular iron block, the pulling head 42 may be an existing electromagnetic structure, and the pulling head 42 is pulled by a magnetic attraction mode, for example, when the turning protection plate 3 needs to be turned horizontally and butted, the electromagnetic coil is electrified, the pulling head 42 can attract the driven portion 43 to connect the driven portion 43, and when the butting is not performed, the electromagnetic coil is not electrified any more, and the pulling head 42 can be separated from the driven portion 43.

Still further, the return means 6 may comprise in particular a torsion spring connected between the shelf 2 and the roll-over protection plate 3. The torsion springs can be sleeved on the horizontal overturning shaft 30, one torsion spring is respectively arranged at the left side and the right side, two torsion spring feet of the left torsion spring are respectively connected with the left upright post of the goods shelf and the left part of the back surface of the overturning protection plate 3, and two torsion spring feet of the right torsion spring are respectively connected with the right upright post of the goods shelf and the right part of the back surface of the overturning protection plate 3. Or the return device may further adopt an embodiment, specifically including a damper connected between the shelf 2 and the turnover protection plate 3, where the damper may adopt a structure such as a pneumatic rod or a spring, and two dampers may also be provided, and two ends of the damper on the left side are respectively connected to the upright post on the left side of the shelf and the left portion on the back of the turnover protection plate 3, two ends of the damper on the right side are respectively connected to the upright post on the right side of the shelf and the right portion on the back of the turnover protection plate 3, and the damping direction should be to prevent the turnover protection plate 3 from turning forward, that is, the turnover protection plate 3 is in a vertical state, and the damper acts on the front side of the damper. However, the acting force of the torsion spring or the damper is smaller than the driving force of the overturning driving device, that is, when the overturning driving device needs to butt, the overturning protection plate 3 can be overturned forwards to be in a horizontal state by overcoming the damping force, but once the overturning protection plate 3 enters a non-butt state, the overturning protection plate 3 is separated from the driving force of the overturning driving device, and the overturning protection plate 3 is rebounded by the damping force and returns to be in a vertical initial state.

Of course, due to certain inertia during rotation, the overturning protection plate 3 may overturns excessively when overturned backward and upward, so that some unsafe factors are caused for the outward overturning of the goods shelf, on the other hand, after returning to the initial vertical state, when goods or robots staying on the goods shelf accidentally escape outwards, the structure of the overturning protection plate 3 only may not play a good role in protection under the condition of high stress, so that certain defects exist in the aspects of goods shelf protection in the rotation process or in the non-docking state, and the following design is made: the goods shelf 2 is provided with an outer limit module 5 which prevents the goods shelf butt joint part 31 of the overturning protection plate 3 from overturning towards one side of the stacker. The outer limit module 5 may include a rigid protection plate 51 fixed at the entrance and the exit of the shelf and a flexible protection plate 52 connected to the front side of the rigid protection plate 51, the rigid protection plate 51 may be a rectangular steel plate and fixed on the left and right columns of the rear side of the shelf near the entrance and the exit, the flexible protection plate 52 may be a rubber plate and fixed on the front side of the rigid protection plate 51 by the existing fixing manner, that is, near the shelf side, where it is required to ensure that at least a part of the shelf docking portion 31 can abut against the flexible protection plate 52, that is, the position of the flexible protection plate 52 is ensured to be acted on by the shelf docking portion 31, and only the upper and lower heights of the outer limit module 5 are adjusted to be installed and fixed to cooperate with the shelf docking portion 31. The design of the outer limit module 5 not only can buffer the overturning protection plate 3 during the good rotation, but also can limit the overturning protection plate 3 to play a good role in protecting a goods shelf.

Further preferably, the left shelf rail 201 includes a left rigid body portion 2011 and a left buffer portion 2012 provided at the left rigid body portion 2011 adjacent to the shelf access opening 20 and capable of being compressed up and down and for the shelf docking portion 31 to abut down against the left portion, and the right shelf rail 202 includes a right rigid body portion 2021 and a right buffer portion 2022 provided at the right rigid body portion 2021 adjacent to the shelf access opening 20 and capable of being compressed up and down and for the shelf docking portion 31 to abut down against the right portion. The left rigid body portion 2011 is fixed on the right side portion of the left upright post by using a steel guide rail, the right rigid body portion 2021 is also fixed on the left side portion of the right upright post by using a steel guide rail, the left buffer portion 2012 and the right buffer portion 2022 enable the overturning protection plate 3 to be well buffered and damped and noise-reduced when being in overturning to the horizontal butt joint, the shelf butt joint portion 31 can not cause mechanical damage and other problems even if a large driving force is adopted on the driving side, the driving speed can be more reliable, moreover, the abutting degree of the abutting portion can be higher, and the problem of gaps between the butt joint portions can be reduced. Further preferably, the left cushioning portion 2012 and the right cushioning portion 2022 are compressible cushioning pads, preferably rectangular rubber sheets that are compressible, where rubber sheets with better elasticity, better cushioning and compression properties, or other elastomeric sheets with better cushioning properties may be used. In order to better match the implementation of the above structure, further optimization is performed, the left shelf rail 201 is formed with a left step 20121 for the installation and fixed connection of the left buffer portion 2012 at the position near the shelf entrance 20, the right shelf rail 202 is formed with a right step 20221 for the installation and fixed connection of the right buffer portion 2022 at the position near the shelf entrance 20, so that the buffer portion has a better placement position, after the docking is compressed, the upper surface of the shelf docking portion 31 and the upper surface of the left and right rails of the shelf can be better kept at the same horizontal position, the left step 20121 can be directly opened at the position near the shelf entrance 20 of the left rigid body portion 2011, and the right step 20221 can be directly opened at the position near the shelf entrance 20 of the right rigid body portion 2021. Further, in the above-described embodiments, in the initial state, that is, in the non-butted state, the upper surface height of the left side buffer portion 2012 is higher than the upper surface height of the left side rigid body portion 2011, and the upper surface height of the right side buffer portion 2022 is higher than the upper surface height of the right side rigid body portion 2021. Of course, the upper surface of the left side rigid body part 2011 and the upper surface of the right side rigid body part 2021 refer to the upper surfaces at the non-step portions of the front sides of the steps of the shelf guide rails, that is, the parts of the upper surfaces which are most upward for the robot to walk on, which has the advantage of compressing to achieve a smoother abutting effect when abutting. When the return reverse rotation is in the non-abutting state, the left buffer part 2012 and the right buffer part 2022 rebound to return to the original state and become high, the raised part can play a first protective role on the robot staying on the goods shelf, the wheels of the robot can be 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 out of the goods shelf abnormally, so that the situation is generally effective for the situation that the abnormal walking speed of the robot is slower, and the abnormal slight movement of the robot and the falling situation of goods thereon are prevented. The protection effect of the overturning protection plate 3 in the non-abutting state is also mentioned, the protection of the overturning protection plate 3 can be understood to be a second protection line, and the protection is mainly used for preventing the abnormal serious outward escaping condition of the robot from occurring, and the overturning protection plate 3 can be bumped to play a role in protection, so that the occurrence of the severe conditions such as falling of the whole robot can be effectively prevented. Through the protection of the two defense lines, the goods shelf can be better protected.

In the case of butt joint on the stacker side, the stacker butt joint portion 32 is only required to be as close as possible to the left stacker rail 101 and the right stacker rail 102, and the closer the stacker butt joint portion is, the better the butt joint gap is. Also at this time, it is necessary to ensure that the telescopic arm 41 is in an upwardly supported state after being pulled back, and the stacker interface portion 32 is supported upwardly for effective support. In this abutting process, the extension arm 41 extends to drive the traction head 42 to connect with the driven part 43, and the traction head is pulled back to turn the turning protection plate 3 to a horizontal abutting state, at this time, the extension arm 41 should be contracted to be in an upward supporting state and abut against the stacker abutting part 32 of the turning protection plate 3 upwards through the traction head 42 and the driven part 43, so that the horizontal state of the whole turning protection plate 3 can be effectively maintained for the robot to walk better. When the abutting state is released, 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 means of the return device, the overturning protection plate is more rapid and effective, the telescopic arm 41 is not required to stretch out again, the traction head 42 and the driven part 43 are driven to reversely pull back the overturning protection plate 3 again, and energy consumption and working time are effectively reduced.

While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims

1. A three-dimensional storehouse robot's protective structure, its characterized in that: the automatic overturning device comprises a stacker (1), a goods shelf (2) and an abutting module which is arranged on the goods shelf (2) and used for abutting against the stacker (1) and allowing a robot to pass through, wherein a left stacker guide rail (101) and a right stacker guide rail (102) which are arranged at left and right intervals are arranged on the stacker (1), a left goods shelf guide rail (201) and a right goods shelf guide rail (202) which correspond to the left stacker guide rail (101) and the right stacker guide rail (102) in front-back mode and can be abutted against each other are arranged on the goods shelf (2), the abutting module comprises an overturning protection plate (3) which is arranged at a goods shelf inlet and outlet (20) of the goods shelf (2) and can be used for being sleeved with and overturned by the overturning protection plate (3), and the horizontal overturning shaft (30) divides the overturning protection plate (3) into a goods shelf abutting part (31) which is used for being abutted against the left goods shelf guide rail (201) and the right goods shelf guide rail (202) and a goods shelf abutting part (31) which is used for being abutted against the left goods shelf guide rail (101) and the stacker (102) in a consistent mode; 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 (6) for returning the turnover protection plate (3) from the horizontal state to the vertical state.

2. The guard structure of a stereoscopic garage robot according to claim 1, wherein: the overturning driving device comprises a telescopic arm (41) which is connected to the stacker (1) and can stretch out and draw back heads (42) which are connected with the front end head parts of the telescopic arm (41) and used for pulling the overturning protection plates (3) to overturn.

3. The guard structure of a stereo garage robot according to claim 2, wherein: the back of the turnover protection plate (3) is provided with a driven part (43) for pulling the traction head (42).

4. The guard structure of a stereoscopic garage robot according to claim 1, wherein: the return device comprises a torsion spring connected between the goods shelf (2) and the overturning protection plate (3).

5. The guard structure of a stereoscopic garage robot according to claim 1, wherein: the return device comprises a damper connected between the goods shelf (2) and the overturning protection plate (3).

6. The guard structure of a stereoscopic garage robot according to claim 1, wherein: an outer limit module (5) for preventing the butt joint part (31) of the goods shelf (2) from overturning towards one side of the stacker is arranged on the goods shelf.

7. The guard structure of a stereoscopic garage robot according to claim 1, wherein: the left shelf guide rail (201) comprises a left rigid body part (2011) and a left buffer part (2012) which is arranged at the position, close to the shelf inlet and outlet (20), of the left rigid body part (2011) and can compress up and down, and is used for enabling the shelf butt joint part (31) to lean against downwards close to the left part, the right shelf guide rail (202) comprises a right rigid body part (2021) and a right buffer part (2022) which is arranged at the position, close to the shelf inlet and outlet (20), of the right rigid body part (2021) and can compress up and down, and is used for enabling the shelf butt joint part (31) to lean against downwards close to the right part.

8. The guard structure of a stereoscopic garage robot according to claim 7, wherein: the left side cushioning portion (2012) and the right side cushioning portion (2022) are compressible cushioning pads, and in an initial state, an upper surface height of the left side cushioning portion (2012) is higher than an upper surface height of the left side rigid body portion (2011), and an upper surface height of the right side cushioning portion (2022) is higher than an upper surface height of the right side rigid body portion (2021).

9. The guard structure of a stereoscopic garage robot according to claim 7, wherein: the left shelf guide rail (201) is provided with a left step part (20121) for installing and connecting the left buffer part (2012) at a 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 buffer part (2022) at a position close to the shelf inlet and outlet (20).