A safety protection mechanism for a three-dimensional warehouse handling robot

Abstract

The present invention relates to the technical field of logistics equipment, and specifically to a safety protection mechanism for a stereoscopic warehouse handling robot, including a stacker carrying platform, the stacker carrying platform including a left side plate, a right side plate and a bottom side plate connected between the bottoms of the left and right sides, a left guide rail assembly for the left wheel part of the stereoscopic warehouse handling robot to move forward and backward is installed on the right side of the left plate, and a right guide rail assembly for the right wheel part of the stereoscopic warehouse handling robot to move forward and backward is installed on the left side of the right plate, the left guide rail assembly has a left deformable part that can sink to form a left wheel part of the stereoscopic warehouse handling robot to be inserted downward to lower the center of gravity of the stereoscopic warehouse handling robot, and can rise for the stereoscopic warehouse handling robot to walk, and the right guide rail assembly has a right deformable part that can sink to form a right wheel part of the stereoscopic warehouse handling robot to be inserted downward to lower the center of gravity of the stereoscopic warehouse handling robot, and can rise for the stereoscopic warehouse handling robot to walk, and has better protection.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics equipment, and in particular to a safety protection mechanism for a stereoscopic warehouse handling robot. Background Art

[0002] The existing logistics industry is developing rapidly, especially some cargo handling robots are widely used, and they are often used in large-scale three-dimensional warehouses such as three-dimensional shelves. For this kind of inventory warehouse, it is necessary to lift the handling robot up and down to assist the stacker in the work of the handling robot. However, the existing stacker structure is not optimized for the protection of the handling robot. It will fall and easily cause the cargo of the handling robot to fall, thus posing a safety hazard.

[0003] For example, the Chinese patent application number 201721154177.2 discloses a safety protection device for a stacker loading platform, including a crossbeam and a stacker loading platform body, a waterproof film fixing box is provided at the lower end of the crossbeam, and a wire rope dividing device is provided on one side of the waterproof film fixing box, a rolling shaft is provided above the crossbeam, and a wire rope is provided on the outer surface of the rolling shaft, a slide rail connecting block is provided on the inner surface of the stacker slide rail, and a dense plate rib is provided on the outer surface of the stacker loading platform body, and a rubber base is provided at the lower end of the stacker loading platform body. Although the existing stacker protection device itself has good protection, it lacks effective protection for the handling robot to be carried on it, which is easy to cause safety hazards. Summary of the invention

[0004] The purpose of the present invention is to provide a safety protection mechanism for a stereoscopic warehouse handling robot with better protection.

[0005] The above-mentioned technical purpose of the present invention is achieved through the following technical solutions: it includes a stacker supporting platform, the stacker supporting platform includes a left side plate, a right side plate and a bottom side plate connected between the bottoms of the left and right sides, a left guide rail assembly for the left wheel part of the stereoscopic warehouse handling robot to move forward and backward is installed on the right side of the left plate, and a right guide rail assembly for the right wheel part of the stereoscopic warehouse handling robot to move forward and backward is installed on the left side of the right plate, the left guide rail assembly has a left deformable part that can sink to form a left wheel part of the stereoscopic warehouse handling robot to be inserted downward to lower the center of gravity of the stereoscopic warehouse handling robot, and can rise for the stereoscopic warehouse handling robot to walk, and the right guide rail assembly has a right deformable part that can sink to form a right wheel part of the stereoscopic warehouse handling robot to be inserted downward to lower the center of gravity of the stereoscopic warehouse handling robot, and can rise for the stereoscopic warehouse handling robot to walk.

[0006] As a preferred embodiment of the present invention, the left guide rail assembly includes a left front fixed guide rail and a left rear fixed guide rail, which are spaced apart front and back and installed on the right side plate surface of the left side plate, and a left deformable guide rail that can move relative to the left front fixed guide rail and the left rear fixed guide rail, wherein a section of the left deformable guide rail mounted on the left front fixed guide rail and the left rear fixed guide rail is the left deformable part, and a left spacing space is formed between the left front fixed guide rail and the left rear fixed guide rail between the front and back for the left deformable part to sink and rise, and the right guide rail assembly includes a right front fixed guide rail and a right rear fixed guide rail, which are spaced apart front and back and installed on the left side plate surface of the right side plate, and a right deformable guide rail that can move relative to the right front fixed guide rail and the right rear fixed guide rail, wherein a section of the right deformable guide rail is mounted on the right front fixed guide rail and the right rear fixed guide rail is the right deformable part, and a right spacing space is formed between the right front fixed guide rail and the right rear fixed guide rail between the front and back for the right deformable part to sink and rise.

[0007] As a preferred embodiment of the present invention, the left deformable guide rail and the right deformable guide rail are both rubber guide rails.

[0008] As a preferred embodiment of the present invention, the back pad of the left deformable guide rail is provided with a left rigid chain, and the back pad of the right deformable guide rail is provided with a right rigid chain.

[0009] As a preferred embodiment of the present invention, a left middle lifting support rail is installed on the stacker loading platform, which is located between the left front fixed guide rail and the left rear fixed guide rail and can carry and pull the left deformed part to sink and rise; and a right middle lifting support rail is installed on the stacker loading platform, which is located between the right front fixed guide rail and the right rear fixed guide rail and can carry and pull the right deformed part to sink and rise.

[0010] As a preferred embodiment of the present invention, a left-side follow-up pulling device for pulling the front and rear end portions of the left deformable guide rail so that the left deformable guide rail is always in a tensioned state is installed on the stacker supporting platform, and a right-side follow-up pulling device for pulling the front and rear end portions of the right deformable guide rail so that the right deformable guide rail is always in a tensioned state is installed on the stacker supporting platform.

[0011] As a preferred embodiment of the present invention, the rear end portion of the left front fixed guide rail is hinged to the left front guide rail, the front end portion of the left rear fixed guide rail is hinged to the left rear guide rail, the left front guide rail and the left rear guide rail are respectively located at the front and rear sides of the left middle lifting support rail, the rear end portion of the right front fixed guide rail is hinged to the right front guide rail, the front end portion of the right rear fixed guide rail is hinged to the right rear guide rail, and the right front guide rail and the right rear guide rail are respectively located at the front and rear sides of the right middle lifting support rail.

[0012] As a preferred embodiment of the present invention, the left front guide rail is connected to a first elastic buffer support device to prevent it from tipping downward from a horizontal state, the left rear guide rail is connected to a second elastic buffer support device to prevent it from tipping downward from a horizontal state, the right front guide rail is connected to a third elastic buffer support device to prevent it from tipping downward from a horizontal state, and the right rear guide rail is connected to a fourth elastic buffer support device to prevent it from tipping downward from a horizontal state.

[0013] As a preferred embodiment of the present invention, a left front extending lifting plate extending forward and able to abut upward against the left front guide rail is fixed to the bottom of the left middle lifting support rail, and a left rear extending lifting plate extending backward and able to abut upward against the left rear guide rail is fixed to the bottom of the left lifting support rail.

[0014] As a preferred embodiment of the present invention, a right front extension lifting plate extending forward and able to abut upward against the right front guide rail is fixed to the bottom of the right middle lifting support rail, and a right rear extension lifting plate extending backward and able to abut upward against the right rear guide rail is fixed to the bottom of the right middle lifting support rail.

[0015] Beneficial effects of the present invention: The present application improves the design of the stacker, so that the structure of the guide rail part of the stacker can not only be used for the walking of the handling robot, but also play a better protective role, so that the stacker is better protected during the lifting, starting and stopping processes, and the goods will not fall to cause safety accidents, and the safety level is high;

[0016] It has better protection, noise reduction and vibration reduction, which further improves the safety of equipment, goods and personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure when no transport robot is parked in Example 1;

[0018] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure from another perspective;

[0019] Figure 3 for Figure 1 Front view of the right part of the middle steel structure during the guide rail deformation process;

[0020] Figure 4 for Figure 1 A schematic diagram of the three-dimensional structure when a transport robot is parked in the middle;

[0021] Figure 5 for Figure 4 The schematic diagram of the three-dimensional structure after removing the left part of the structure in the middle structure;

[0022] Figure 6It is a three-dimensional structural schematic diagram of a section of the left front fixed guide rail, the left rigid chain and the left deformable guide rail after being separated up and down;

[0023] Figure 7 for Figure 6 Schematic diagram of the three-dimensional structure after the separated structures are assembled together;

[0024] Figure 8 for Figure 6 Schematic diagram of the optimized three-dimensional structure of the left rigid chain. DETAILED DESCRIPTION

[0025] The following specific embodiments are merely explanations of the present invention and are not limitations of the present invention. After reading this specification, those skilled in the art may make modifications to the embodiments without any creative contribution as needed. However, such modifications are protected by the patent law as long as they are within the scope of the claims of the present invention.

[0026] Examples, such as Figure 1-8 As shown, this embodiment is essentially formed by further modifying the stacker, and this structure is specially designed for a handling robot with wheels on the left and right sides, specifically:

[0027] A safety protection mechanism for a handling robot in a stereoscopic warehouse comprises a stacker loading platform 1, wherein the stacker loading platform 1 comprises a left side plate 11, a right side plate 12 and a bottom side plate 13 connected between the bottoms of the left side plate 11 and the right side plate 12, which is also a conventional U-shaped structure of the stacker loading platform 1. The area surrounded by the U-shaped structure is where the handling robot is parked. On the one hand, the existing stacker does not limit the robot very well, and on the other hand, it does not effectively protect the robot during the operation of the stacker, thereby causing safety accidents such as goods falling and hitting people or equipment. Especially for stereoscopic warehouses, the height is relatively high, and it is quite dangerous if goods fall. However, if only attention is paid to completeness, each handling robot puts very little goods, which is not conducive to transportation efficiency. It would be too costly, so the following modification is made, namely, a left guide rail assembly for the left wheel part of the stereoscopic warehouse handling robot j to move forward and backward is installed on the right side of the left side plate 11, and a right guide rail assembly for the right wheel part of the stereoscopic warehouse handling robot j to move forward and backward is installed on the left side of the right side plate 12, the left guide rail assembly has a left deformable part a0 that can sink to form a left wheel part of the stereoscopic warehouse handling robot j to be inserted downward to lower the center of gravity of the stereoscopic warehouse handling robot j, and can rise for the stereoscopic warehouse handling robot j to walk, the right guide rail assembly has a right deformable part b0 that can sink to form a right wheel part of the stereoscopic warehouse handling robot j to be inserted downward to lower the center of gravity of the stereoscopic warehouse handling robot j, and can rise for the stereoscopic warehouse handling robot j to walk. The design point of the left deformable part a0 and the right deformable part b0 is that they collapse downward to form a U-shaped enclosing structure with the opening facing upward. This structure can firstly reduce the original height of the stereoscopic warehouse handling robot j on the guide rail, and the center of gravity can sink, which will greatly improve the stability. Secondly, this covering structure provides excellent external limiting for the stereoscopic warehouse handling robot j, and provides good protection for the stereoscopic warehouse handling robot j and the goods on the stereoscopic warehouse handling robot j. This collapsed state is adopted in the process of lifting and lowering the stacker, but when the stacker reaches the specified shelf height position, the left deformable part a0 and the right deformable part b0 must be restored to a horizontal and straight position because they are required for the stereoscopic warehouse handling robot j to walk.

[0028] Further optimized, the left guide rail assembly includes a left front fixed guide rail a1 and a left rear fixed guide rail a2 installed on the right side plate of the left side plate 11, which are spaced apart from each other in the front and rear directions, and a left deformable guide rail x that can move relative to the left front fixed guide rail a1 and the left rear fixed guide rail a2, wherein a section of the left deformable guide rail x that is mounted on the left front fixed guide rail a1 and the left rear fixed guide rail a2 is the left deformable portion a0, and a left spacing space a12 is formed between the left front fixed guide rail a1 and the left rear fixed guide rail a2 in the front and rear direction and is used for the left deformable portion a0 to sink. and rise, the right guide rail assembly includes a right front fixed guide rail b1 and a right rear fixed guide rail b2 installed on the left side plate of the right side plate 12, which are spaced apart from each other front to back, and a right deformable guide rail y that can move relative to the right front fixed guide rail b1 and the right rear fixed guide rail b2, wherein a section of the right deformable guide rail y mounted on the right front fixed guide rail b1 and the right rear fixed guide rail b2 is a right deformable portion b0, and a right spacing space b12 is formed between the right front fixed guide rail b1 and the right rear fixed guide rail b2 between the front and rear and for the right deformable portion b0 to sink and rise. This provides a basic framework structure. The left front fixed rail a1 and the left rear fixed rail a2 can use steel rigid rails as the main fixed support parts, and preferably use steel rails. They should preferably be an integrated structure that is not easily deformed, or other stable structural styles that are not easily deformed. At least the sections of the left front fixed rail a1 and the left rear fixed rail a2 for the robot to walk are rigid linear integrated structures for the robot to support and walk. The right front fixed rail b1 and the right rear fixed rail b2 should also use this left rail structure design. Under this framework, the left deformable rail x and the right deformable rail y are preferably rubber rails. Rubber rails not only have good support, but also can reduce vibration and noise. More importantly, they have a certain flexibility and can provide deformation capabilities, and can complete sinking and rising actions.

[0029] Preferably, the back pad of the left deformable guide rail x is provided with a left rigid chain m, and the back pad of the right deformable guide rail y is provided with a right rigid chain n. Since the upper limit of a single rubber guide rail when carrying a large weight is limited, the rigid chain here refers to a chain made of steel or hard plastic or other steel bar materials, that is, each link should be rigid, but the links are still hinged and movable, because the movement between the links can produce deformation, so that the rigid chain can not only provide better support, but the chain itself can also be deformed and turned, so that In conjunction with the deformation of the deformable guide rail, the left deformable guide rail x and the left rigid chain m can be connected up and down, and the right deformable guide rail y and the right rigid chain n can be connected up and down. The connection method is, for example, directly bonding the left deformable guide rail x to the upper side of the chain plate 4 of the chain link of the left rigid chain m. Of course, the left deformable guide rail x and the chain plate 4 of the left rigid chain m can be connected through an existing connecting structure 5 such as a clip or a pin. The connection parts should be spaced apart, not too much, otherwise it will affect the deformation ability of the two. The right deformable guide rail y and the right rigid chain n can be connected by referring to the structure on the left.In simple terms, the left deformable guide rail x and the right deformable guide rail y are padded with a cushion layer made of hard material but capable of following their deformation. Due to the cushion layer, the left deformable guide rail x is supported by the left rigid chain m and is erected on the left front fixed guide rail a1 and the left rear fixed guide rail a2. It can be understood that the left rigid chain m is sandwiched between the left deformable guide rail x and the left front fixed guide rail a1 and the left rear fixed guide rail a2, and the corresponding right rigid chain n is sandwiched between the right deformable guide rail y and the right front fixed guide rail b1 and the right rear fixed guide rail b2. The reason why the chain structure is chosen is that the chain has a good mobility because the chain The chain links are all equipped with rollers 7, which can be well supported and moved on the guide rails. Taking the left side as an example, a raised guide rail portion 6 can be formed on the left front fixed guide rail a1 and the left rear fixed guide rail a2. The left and right sides of the guide rail portion 6 are empty steps, which are just for the lower parts of the left and right chain plates 4 of the left rigid chain m to be placed in and limited on the left and right sides respectively. The rollers of the left rigid chain m are just supported on the raised guide rail portion 6. There are chain plates on the left and right sides to limit the chain, and the chain can move forward and backward very well through the rolling of the rollers. The left deformable guide rail x is supported on the upper part of the chain plate and will not affect the rollers because the rollers are lower than the upper part of the chain plate. Of course, because the left deformable guide rail x is made of a relatively flexible material and may be stuck between the left and right chain plates and squeeze the roller, the main body of the left rigid chain m can adopt the existing roller chain structure, that is, it includes a number of hinged links, each link has chain plates on the left and right, the left and right chain plates are connected by pins and rollers are mounted on the pins, and of course there are outer chain plates between adjacent links that are connected to the pins at the same time so that the two links are hinged. I will not go into details here, because the specific chain also uses different detailed designs. This embodiment only needs to use their basic structures. In order to better use it, the main body of the left rigid chain m is further modified. That is, it is improved on the basis of the existing chain structure. For example, the upper sides of the left and right chain plates of a single link of the left rigid chain m can be fixed by welding with a protective pad 8 located above the roller and used to contact and support the lower side of the left deformable guide rail x. The protective pad 8 has a flat flat portion 81 in the middle and the front and rear ends of the flat portion 81 are formed with arc-shaped rounded corner transition portions 82, which reduces the wear on the left deformable guide rail x during deformation. The right rigid chain n adopts the same chain structure design as the left rigid chain m, and the right front fixed guide rail b1 and the right rear fixed guide rail b2 adopt the same structural design as the left front fixed guide rail a1 and the left rear fixed guide rail a2. In this way, the left deformable guide rail x can also be directly connected to the protective pad 8, and it is not necessary to connect on the chain plate through existing bolts, pins, bonding, etc., and the connection effect will be better.Of course, the protective pad 8 can be fixed on the chain by the above-mentioned welding method using a steel plate, or it can be fixed on the chain by other existing methods using a plastic plate. The supporting strength of the plastic plate for the deformed guide rail is slightly weaker, but when large deformations occur in corners and other parts during the deformation process, the protection effect on the structure will be better. Both of these are better preferred methods.

[0030] Furthermore, the stacker loading platform 1 is provided with a left middle lifting support rail a3 located between the left front fixed rail a1 and the left rear fixed rail a2 and capable of carrying and pulling the left deformed part a0 to sink and rise, and the stacker loading platform 1 is provided with a right middle lifting support rail b3 located between the right front fixed rail b1 and the right rear fixed rail b2 and capable of carrying and pulling the right deformed part b0 to sink and rise. The left middle lifting support rail a3 and the right middle lifting support rail b3 can both adopt a steel front and rear extension rail structure, and their upper surfaces can be connected to the back part of the left deformed part a0 and the right deformed part b0, that is, the lower side part, respectively. The left middle lifting support rail a3 and the right middle lifting support rail b3 mainly provide the power for lifting and deformation, and also for better bearing during the operation of the handling robot. The left middle lifting support rail a3 and the right middle lifting support rail b3 can be driven by connecting a lifting structure s such as a pneumatic cylinder or a motor. Of course, on the basis of the structure with the cushion layer, for example, when there is a left rigid chain m on the lower side of the left deformable guide rail x, the part of the left rigid chain m on the lower side of the left deformable part a0 is directly connected to the left middle lifting support guide rail a3, and the chain plate of the left rigid chain m can be connected to the left middle lifting support guide rail a3 by existing fixing methods such as welding and bundling. The lifting structure s first lifts the left middle lifting support rail a3, and the left middle lifting support rail a3 then lifts and lowers the left rigid chain m to drive the left deformable part a0 to rise and sink to complete the deformation. Of course, if there is no left rigid chain m, the left middle lifting support rail a3 can also be directly connected to the middle part of the left deformable part a0 for traction. It should be noted here that during the rising and sinking process of the left deformable part a0, the middle part is not likely to be deformed, because the left middle lifting support rail a3 is in a straight state, and the middle part is connected to the left middle lifting support rail a3, so this part is at least lifted up and down to generate the power source for deformation. The deformation is the sections on both sides of the middle part, which will be deformed with the lifting of the middle part of the left deformable part a0. The sinking will form a U-shaped surrounding groove structure, which will become flat after rising. The left middle lifting support rail a3 can be made of steel rails, which can be connected to the lifting rod of the lifting structure s such as a cylinder to complete the lifting and supporting operations. The connection structure between the right middle lifting support rail b3 and the right deformation part b0 and the lifting structure of the right middle lifting support rail b3 itself can be designed with reference to the left side and preferably be designed in a mirror image with the left side structure.

[0031] Of course, the driving effect of the left middle lifting support guide rail a3 and the right middle lifting support guide rail b3 alone is not very good, because in the process of returning from sinking to rising, there is no control on both sides of the guide rail assembly, which will cause certain obstacles to the return of both sides. Therefore, the following design is made: the stacker support platform 1 is equipped with a left follow-up pulling device for pulling the front and rear ends of the left deformable guide rail x and keeping the left deformable guide rail x in a tensioned state. The left follow-up pulling device follows the lifting action of the left middle lifting support guide rail a3 to pull the left deformable guide rail x to keep the left deformable guide rail x in a tensioned state. The left follower pulling device can adopt an electric roller. If it is lined with a rigid chain, it can be realized by a sprocket and a motor. Of course, on a small stacker, it can also be pulled directly by directly connecting the ends through a cylinder or the like. The pulling drive structure q such as the electric roller, motor or cylinder can be controlled by an existing automatic control device, and can be operated in conjunction with the lifting structure s to make the deformable guide rail always in a tensioned state. For example, when the lifting structure s descends, the pulling drive structure q should relax the deformable guide rail. When the lifting structure s rises, the pulling drive structure q tightens the deformable guide rail. Accordingly, a right follower pulling device is installed on the stacker support platform 1 for pulling the front and rear ends of the right deformable guide rail y and making the right deformable guide rail y always in a tensioned state. The design of the right follower pulling device can adopt the design of the left follower pulling device.

[0032] It is further preferred that the rear end portion of the left front fixed rail a1 is hinged with the left front guide rail a11, and the front end portion of the left rear fixed rail a2 is hinged with the left rear guide rail a21. The left front guide rail a11 and the left rear guide rail a21 are respectively located at the front and rear sides of the left middle lifting support rail a3. On the one hand, it is to increase the length of the middle part so that the robot has more margin for the stop position. On the other hand, it is also to make the robot have the effect of initial guide limit in the process of sinking, and the sinking shape can be closer to the inverted isosceles trapezoidal structure, which has a better covering effect. The above-mentioned guide rails can also be made of steel rails. Similarly, the rear end portion of the right front fixed rail b1 is hinged with the right front guide rail b11, and the front end portion of the right rear fixed rail b2 is hinged with the right rear guide rail b21. The right front guide rail b11 and the right rear guide rail b21 are respectively located at the front and rear sides of the right middle lifting support rail b3. The hinged structure can be an existing hinged connection structure.

[0033] In the above preferred scheme, further improvements are made: the left front guide rail a11 is connected to a first elastic buffer support device t1 for preventing it from tipping downward from a horizontal state, the left rear guide rail a21 is connected to a second elastic buffer support device t2 for preventing it from tipping downward from a horizontal state, the right front guide rail b11 is connected to a third elastic buffer support device t3 for preventing it from tipping downward from a horizontal state, and the right rear guide rail b21 is connected to a fourth elastic buffer support device t4 for preventing it from tipping downward from a horizontal state. The purpose of these four elastic buffer support devices is to ensure that there is upward buffer support for the robot during the sinking process to prevent safety hazards and mechanical damage caused by rapid sinking. These elastic buffer support devices can use existing dampers, but their damping capacity is not enough to shake the tensile driving force of the sinking, because sinking is still required in the end.

[0034] Further optimized, the bottom of the left middle lifting support rail a3 is fixed with a left front extension lift plate a31 extending forward and being able to abut against the left front guide rail a11 upwards, and the bottom of the left lifting support rail a3 is fixed with a left rear extension lift plate a32 extending backward and being able to abut against the left rear guide rail a21 upwards;

[0035] A right front extension lift plate b31 is fixed at the bottom of the right middle lifting support rail b3, which extends forward and can abut against the right front guide rail b11 upward. A right rear extension lift plate b32 is fixed at the bottom of the right middle lifting support rail b3, which extends backward and can abut against the right rear guide rail b21 upward.

[0036] Because in the case of an extension plate, after the deformable guide rail rises and returns to a horizontal state, the lifting mechanism s provides sufficient upward supporting force and uses the extension plate to make the guide rail return to a horizontal state with sufficient supporting force for the robot to support walking. In this way, the resistance force of the damper does not need to be set too large, and it will not affect the action of the sinking protection state.

[0037] The design idea of ​​the entire structure is relatively clear, which is to utilize the deformed guide rail to deform downward during the lifting or lateral movement of the stacker, so that the cargo-carrying handling robot is covered in the enclosing structure formed by the guide rail. When the handling robot needs to carry out transportation, the guide rail deforms and returns to a straight state.

[0038] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A safety protection mechanism for a three-dimensional warehouse handling robot, characterized in that: The stacker support platform (1) comprises a left side plate (11), a right side plate (12) and a bottom side plate (13) connected between the bottoms of the left side plate (11) and the right side plate (12); a left guide rail assembly for the left wheel part of a three-dimensional warehouse handling robot (j) to move forward and backward is installed on the right side of the left side plate (11); a right guide rail assembly for the right wheel part of a three-dimensional warehouse handling robot (j) to move forward and backward is installed on the left side of the right side plate (12); the left guide rail assembly has a left deformable portion (a0) that can be sunken to form a left wheel part of the three-dimensional warehouse handling robot (j) to be inserted downward to lower the center of gravity of the three-dimensional warehouse handling robot (j) and can be raised to allow the three-dimensional warehouse handling robot (j) to move; the right guide rail assembly has a right deformable portion (b0) that can be sunken to form a right wheel part of the three-dimensional warehouse handling robot (j) to be inserted downward to lower the center of gravity of the three-dimensional warehouse handling robot (j) and can be raised to allow the three-dimensional warehouse handling robot (j) to move; The left guide rail assembly comprises a left front fixed guide rail (a1) and a left rear fixed guide rail (a2) installed on the right side plate of the left side plate (11) and spaced apart from each other in the front and rear directions, and a left deformable guide rail (x) movable relative to the left front fixed guide rail (a1) and the left rear fixed guide rail (a2), wherein a section of the left deformable guide rail (x) mounted on the left front fixed guide rail (a1) and the left rear fixed guide rail (a2) is the left deformable portion (a0), and a left spacing space (a12) is formed between the left front fixed guide rail (a1) and the left rear fixed guide rail (a2) in the front and rear direction for the left deformable portion (a0) to sink and rise. The right guide rail assembly comprises a right front fixed guide rail (b1) and a right rear fixed guide rail (b2) which are installed on the left side plate of the right side plate (12) and are spaced apart from each other in the front and rear directions, and a right deformable guide rail (y) which is movable relative to the right front fixed guide rail (b1) and the right rear fixed guide rail (b2); a section of the right deformable guide rail (y) which is mounted on the right front fixed guide rail (b1) and the right rear fixed guide rail (b2) is a right deformable portion (b0); a right spacing space (b12) is formed between the right front fixed guide rail (b1) and the right rear fixed guide rail (b2) in the front and rear direction and is used for the right deformable portion (b0) to sink and rise; The stacker support platform (1) is provided with a left follower pulling device for pulling the front and rear end portions of the left deformable guide rail (x) so that the left deformable guide rail (x) is always in a tensioned state; the stacker support platform (1) is provided with a right follower pulling device for pulling the front and rear end portions of the right deformable guide rail (y) so that the right deformable guide rail (y) is always in a tensioned state; The rear end portion of the left front fixed guide rail (a1) is hinged to the left front guide rail (a11), the front end portion of the left rear fixed guide rail (a2) is hinged to the left rear guide rail (a21), the left front guide rail (a11) and the left rear guide rail (a21) are respectively located at the front and rear sides of the left middle lifting support rail (a3), the rear end portion of the right front fixed guide rail (b1) is hinged to the right front guide rail (b11), the front end portion of the right rear fixed guide rail (b2) is hinged to the right rear guide rail (b21), the right front guide rail (b11) and the right rear guide rail (b21) are respectively located at the front and rear sides of the right middle lifting support rail (b3).

2. A safety protection mechanism for a three-dimensional warehouse handling robot according to claim 1, characterized in that: The left deformable guide rail (x) and the right deformable guide rail (y) are both rubber guide rails.

3. A safety protection mechanism for a stereoscopic warehouse handling robot according to claim 2, characterized in that: The back side pad of the left deformable guide rail (x) is provided with a left rigid chain (m), and the back side pad of the right deformable guide rail (y) is provided with a right rigid chain (n).

4. A safety protection mechanism for a stereoscopic warehouse handling robot according to claim 2, characterized in that: The stacker loading platform (1) is provided with a left middle lifting support rail (a3) ​​which is located between the left front fixed rail (a1) and the left rear fixed rail (a2) and can carry and pull the left deformable part (a0) to sink and rise; the stacker loading platform (1) is provided with a right middle lifting support rail (b3) which is located between the right front fixed rail (b1) and the right rear fixed rail (b2) and can carry and pull the right deformable part (b0) to sink and rise.

5. The safety protection mechanism of a stereoscopic warehouse handling robot according to claim 1 is characterized in that: The left front guide rail (a11) is connected to a first elastic buffer support device (t1) for preventing it from falling downward from a horizontal state, the left rear guide rail (a21) is connected to a second elastic buffer support device (t2) for preventing it from falling downward from a horizontal state, the right front guide rail (b11) is connected to a third elastic buffer support device (t3) for preventing it from falling downward from a horizontal state, and the right rear guide rail (b21) is connected to a fourth elastic buffer support device (t4) for preventing it from falling downward from a horizontal state.

6. A safety protection mechanism for a stereoscopic warehouse handling robot according to claim 5, characterized in that: A left front extension lift plate (a31) is fixed at the bottom of the left middle lifting support rail (a3), which extends forward and can abut against the left front guide rail (a11) upward; and a left rear extension lift plate (a32) is fixed at the bottom of the left middle lifting support rail (a3), which extends backward and can abut against the left rear guide rail (a21) upward.

7. The safety protection mechanism of a stereoscopic warehouse handling robot according to claim 5, characterized in that: A right front extension lift plate (b31) is fixed at the bottom of the right middle lifting support rail (b3), which extends forward and can abut against the right front guide rail (b11) upward; and a right rear extension lift plate (b32) is fixed at the bottom of the right middle lifting support rail (b3), which extends backward and can abut against the right rear guide rail (b21) upward.

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