Safety protection device of transfer robot

Abstract

The invention belongs to the technical field of transfer robots, and particularly relates to a safety protection device of a transfer robot. The two ends of the U-shaped blocking arm are movably connected with the machine frame at least in the vertical direction, so that the U-shaped blocking arm can be switched between the following stations: the first station, the U-shaped blocking arm is contained on the peripheries of three side walls of the object carrying platform, and the second station is contained on the periphery of the third side wall of the object carrying platform; the second station is used for lifting the U-shaped blocking arm to the position above the carrying platform, and the U-shaped blocking arm and the rack jointly surround the periphery of the goods stacking area of the carrying platform. The carrying platform further comprises a telescopic binding band, the first end of the telescopic binding band is connected with the U-shaped blocking arm, and the second end of the telescopic binding band is connected with the carrying platform. The multiple telescopic binding bands are arranged along the three side walls of the object carrying platform at intervals. Multi-point constraint on goods is achieved through the liftable U-shaped blocking arm and the telescopic binding band, and the overall stability of stacked goods is remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of transport robots, and in particular relates to a safety protection device for a transport robot. Background Art

[0002] In smart IoT scenarios in hospitals and other places, transport robots are needed to transfer goods such as medical consumables. The Chinese invention patent application with publication number CN116605805A discloses a transport robot, which includes a self-moving vehicle and a manipulator for transferring goods between the ground and the self-moving vehicle. In order to improve the carrying efficiency of the transport robot, it is necessary to stack the goods on the transport robot, and the stacking height of the goods sometimes even exceeds the height of the transport robot itself. However, the working environment of these transport robots is generally more complicated, and they will inevitably pass through elevators, ramps, thresholds and other areas that are prone to bumps. The stacked goods are prone to overturning. In addition, the flow of people in their working environment is generally dense, posing a safety hazard. Summary of the invention

[0003] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a safety protection device for a handling robot which can improve the stability of cargo.

[0004] In order to achieve the above-mentioned object and other related objects, the present invention provides a safety protection device for a handling robot, comprising: The frame is fixedly installed above the loading platform of the handling robot; A U-shaped barrier arm, both ends of which are movably connected to the frame along at least a vertical direction, so that the U-shaped barrier arm can be switched between the following workstations: Station 1, the U-shaped barrier arm is stored at the periphery of three side walls of the loading platform; and At the second station, the U-shaped barrier arm is lifted above the loading platform and, together with the frame, surrounds the cargo stacking area of ​​the loading platform; It also includes a telescopic strap, a first end of which is connected to the U-shaped barrier arm, and a second end of which is connected to the loading platform; a plurality of the telescopic straps are spaced apart along the three side walls of the loading platform.

[0005] In an optional embodiment of the present invention, the frame is provided with a lifting bracket, the lifting bracket is movably connected to the frame in a vertical direction, the frame is provided with a driving mechanism for driving the lifting bracket to move up and down, and the U-shaped barrier arm is directly or indirectly installed on the lifting bracket.

[0006] In an optional embodiment of the present invention, a swing arm is provided on the lifting bracket, the swing arm is rotatably connected to the lifting bracket, and the U-shaped stop arm is rotatably connected to the swing arm.

[0007] In an optional embodiment of the present invention, a linkage mechanism is provided between the lifting bracket, the swing arm and the U-shaped stop arm, and the linkage mechanism is configured to drive the U-shaped stop arm to swing in the opposite direction relative to the swing arm along the first rotation direction when the swing arm swings along a first rotation direction relative to the lifting bracket.

[0008] In an optional embodiment of the present invention, the linkage mechanism includes a first sprocket, a second sprocket and a chain; the first sprocket is fixedly connected to the lifting bracket, and the axis of the first sprocket is coaxially arranged with the first rotating shaft of the swing arm, and the first rotating shaft is the rotating shaft between the swing arm and the lifting bracket; the second sprocket is fixedly connected to the U-shaped stop arm, and the second sprocket is coaxially arranged with the second rotating shaft of the swing arm, and the second rotating shaft is the rotating shaft between the swing arm and the U-shaped stop arm.

[0009] In an optional embodiment of the present invention, the number of teeth of the second sprocket is greater than the number of teeth of the first sprocket.

[0010] In an optional embodiment of the present invention, the lifting bracket is provided with a driving unit for driving the swing arm to swing.

[0011] In an optional embodiment of the present invention, the driving unit includes a joint motor, a stator of the joint motor is fixedly arranged relative to the lifting bracket, and a rotor of the joint motor is fixedly arranged relative to the swing arm.

[0012] In an optional embodiment of the present invention, a retractor is further included, wherein the retractor is installed on the inner side of the side wall of the loading platform, and the second end of the retractable strap is connected to the retractor.

[0013] In an optional embodiment of the present invention, it further includes a guide ring, which is rotatably arranged on the side wall of the loading platform, and the guide ring is provided with a flat hole for the telescopic binding belt to pass through.

[0014] The technical effect of the present invention is that the present invention forms a rigid fence around the cargo stacking area through the cooperation of the liftable U-shaped barrier arm and the frame, effectively preventing the upper cargo from tipping over in a bumpy environment; at the same time, a flexible longitudinal enclosure is formed between the U-shaped barrier arm and the loading platform by using a retractable strap to achieve multi-point constraints on the middle-layer cargo, significantly improving the overall stability of the stacked cargo. The device forms a three-dimensional protection system during operation through the station switching design, and is completely retracted during the operation of the manipulator, which not only avoids interference with mechanical movement but also eliminates the risk of strap entanglement during travel, taking into account both transportation safety and operational convenience, and is particularly suitable for complex environments such as hospitals that require high-frequency handling of stacked cargo and dense traffic. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a three-dimensional diagram of a handling robot and a safety protection device thereof provided by an embodiment of the present invention; Figure 2 is a side view of a transport robot and a safety protection device thereof in one state provided by an embodiment of the present invention; Figure 3 is a side view of a handling robot and a safety protection device thereof provided by an embodiment of the present invention in another state; Figure 4 yes Figure 3 I partial enlarged view; Figure 5 is a three-dimensional diagram of a safety protection device provided by an embodiment of the present invention; Figure 6 is a three-dimensional diagram of a lifting bracket and its accessories provided by an embodiment of the present invention; Figure 7 yes Figure 6 II partial enlarged view; Figure 8 is a partial side view of a lifting bracket and its accessories provided by an embodiment of the present invention; Fig. 9 yes Figure 8 AA section view; Fig.10 yes Fig. 9 BB cross-sectional view; Explanation of the reference numerals in the accompanying drawings: 100, cargo; 10, self-propelled vehicle; 11, loading platform; 12, clamping arm; 13, driving system; 20, frame; 21, driving mechanism; 30, U-shaped stop arm; 31, telescopic strap; 32, second sprocket; 40, swing arm; 41, first rotating shaft; 42, second rotating shaft; 43, chain; 50, guide ring; 51, flat hole; 60, lifting bracket; 61, joint motor; 62, first sprocket. DETAILED DESCRIPTION

[0016] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0017] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0018] See also Figure 1-Figure 3 As shown, the safety protection device provided by the present invention is applied to a handling robot, and is particularly suitable for an intelligent IoT robot in hospitals and other places. The handling robot may, for example, include a self-propelled vehicle 10, on which is provided a loading platform 11 for placing goods, and a handling manipulator for transferring goods between the ground and the loading platform 11; the handling manipulator may, for example, include two parallel clamping arms 12, and a drive system 13 for driving the two clamping arms 12 to perform opening and closing, lifting and lowering, translation and other actions, and the drive system 13 may include a motor screw mechanism, a motor pulley mechanism and the like. It should be understood that the application scenarios of the handling robot and the specific structural form of the handling manipulator are not limited to those described in this paragraph, and any handling robot that needs to stack goods on the handling robot should be applicable to the present invention.

[0019] When the handling robot simultaneously transfers multiple boxes of goods 100 stacked on each other, the goods 100 at the bottom can be clamped by the handling manipulator to keep it stable during transportation, but the goods 100 on the upper layer lack effective protection. When the handling robot passes through bumpy sections such as ramps, elevator doors, and thresholds, the goods 100 on the upper layer will shake. These shakings continue to accumulate and easily cause the goods 100 on the upper layer to overturn. To this end, the present invention sets a safety protection device on the handling robot. The safety protection device has a storage state and a protection state. When the handling manipulator transfers the goods 100 between the ground and the loading platform 11, the safety protection device can be stored on the side of the loading platform 11 to avoid interference with the movement of the handling manipulator. After the goods 100 are all loaded on the loading platform 11, the safety protection device is lifted upward and can travel a circle of fences around the goods 100 to prevent the goods 100 from moving outside the support area of ​​the loading platform 11, thereby improving the stability of the goods 100 during transportation and ensuring the safety of the goods 100 and pedestrians in the environment.

[0020] See also Figure 1-Figure 10 As shown, the technical solution of the present invention is described in detail below in conjunction with specific embodiments: See also Figure 1-Figure 3 , Figure 5 As shown, the safety protection device of the handling robot provided by the embodiment of the present invention includes a frame 20, a U-shaped barrier arm 30 and a retractable strap 31; the frame 20 is fixedly installed above the loading platform 11 of the handling robot. Specifically, the frame 20 can be integrated on the electrical equipment box at the front end of the self-propelled vehicle 10, for example. The frame 20 itself has a certain height. The rear side of the frame 20 can, for example, reserve a space for avoiding a handling manipulator. When the handling manipulator is stored in the space, the handling manipulator and the frame 20 can form a barrier wall at the front end of the cargo 100 to prevent the cargo 100 from sliding forward; the two ends of the U-shaped barrier arm 30 are respectively movably connected to the frame 20 along at least the vertical direction, so that the U-shaped barrier arm 30 can be switched between the following workstations: Workstation one, the U-shaped barrier arm 30 is stored on the periphery of three of the side walls of the loading platform 11. It should be understood that these three side walls should be the other three side walls except the side where the frame 20 is located; and workstation one. In the second station, the U-shaped barrier arm 30 is lifted above the loading platform 11, and together with the frame 20, it embraces the four sides of the cargo 100 stacking area of ​​the loading platform 11; the first end of the telescopic strap 31 is connected to the U-shaped barrier arm 30, and the second end of the telescopic strap 31 is connected to the loading platform 11. Specifically, the second end of the telescopic strap 31 can be connected to the inner side of the side wall of the loading platform 11, for example; a plurality of the telescopic straps 31 are arranged at intervals along the three side walls of the loading platform 11. When the U-shaped barrier arm 30 is located in the second station, each strap can form a longitudinal enclosure between the U-shaped barrier arm 30 and the loading platform 11 to protect the cargo 100 in the middle layer. When the U-shaped barrier arm 30 is located in the first station, the telescopic strap 31 can be stored inside the loading platform 11 to prevent the telescopic strap 31 from getting entangled with the wheels during the movement of the handling robot, and at the same time avoid the telescopic strap 31 from tripping pedestrians in the environment, thereby improving safety.

[0021] The present invention forms a rigid fence around the stacking area of ​​the goods 100 by cooperating with the frame 20 through the liftable U-shaped barrier arm 30, effectively preventing the upper cargo 100 from tipping over in a bumpy environment; at the same time, a flexible longitudinal enclosure is formed between the U-shaped barrier arm 30 and the loading platform 11 by using the retractable strap 31, realizing multi-point constraints on the middle-layer cargo 100, significantly improving the overall stability of the stacked cargo 100. The device forms a three-dimensional protection system during operation through the station switching design, and is completely retracted during the operation of the manipulator, which not only avoids interference with mechanical movement but also eliminates the risk of strap entanglement during travel, taking into account both transportation safety and operational convenience, and is particularly suitable for complex environments such as hospitals where stacked cargo 100 need to be frequently transported and where there is a large flow of people.

[0022] See also Figure 5 As shown, in an optional embodiment of the present invention, a lifting bracket 60 is provided on the frame 20, and the lifting bracket 60 is movably connected to the frame 20 in the vertical direction. A driving mechanism 21 is provided on the frame 20 for driving the lifting bracket 60 to move up and down, and the U-shaped barrier arm 30 is directly or indirectly installed on the lifting bracket 60. The present invention realizes the automatic lifting and adjustment of the U-shaped barrier arm 30 by adding a lifting bracket 60 controlled by the driving mechanism 21, and can flexibly adjust the protection height according to the stacking height of the goods 100 to ensure the adaptability to goods 100 of different sizes; at the same time, the linkage design of the lifting bracket 60 and the frame 20 simplifies the movement mechanism of the U-shaped barrier arm 30, making the protection state switching more accurate and reliable, which not only maintains the compactness of the overall structure, but also enhances the responsiveness of the device to different transportation scenarios, and further improves the intelligent level of safety protection. In a specific embodiment, the driving mechanism 21 can be, for example, a motor screw mechanism, and the screw mechanism itself has a reverse self-locking function, which can keep the lifting bracket 60 in the stop position after the motor stops. It should be understood that the specific form of the driving mechanism 21 is not unique. For example, in some other embodiments, the driving mechanism 21 may also be a gear rack mechanism, a synchronous belt pulley mechanism, a sprocket mechanism, etc.

[0023] See also Figure 5 , Figure 6As shown, in an optional embodiment of the present invention, a swing arm 40 is provided on the lifting bracket 60, and the swing arm 40 is rotatably connected to the lifting bracket 60, and the U-shaped barrier arm 30 is rotatably connected to the swing arm 40. The present invention adopts a dual rotatable connection design of the swing arm 40, the lifting bracket 60, and the U-shaped barrier arm 30. When the lifting bracket 60 is vertically lifted, the swing arm 40 is rotated to make the U-shaped barrier arm 30 spread outward to avoid the goods 100, which not only avoids the risk of interference between the U-shaped barrier arm 30 and the high-rise goods 100, but also enables the U-shaped barrier arm 30 to eventually reach a higher protection position than simple vertical lifting through a composite motion trajectory, which is particularly suitable for the protection requirements of super-high stacked goods 100, while maintaining the compactness of the device when folded. In addition, compared with the solution of setting the swing arm 40 alone, the present invention saves more horizontal space when achieving the same lifting height.

[0024] See also Fig. 9 , Fig.10 As shown, in an optional embodiment of the present invention, a linkage mechanism is provided between the lifting bracket 60, the swing arm 40 and the U-shaped barrier arm 30, and the linkage mechanism is configured so that when the swing arm 40 swings along a first rotation direction relative to the lifting bracket 60, the linkage mechanism drives the U-shaped barrier arm 30 to swing in the opposite direction relative to the swing arm 40 along the first rotation direction. The present invention realizes the reverse synchronous movement of the swing arm 40 and the U-shaped barrier arm 30 through the linkage mechanism, so that the U-shaped barrier arm 30 can automatically maintain a nearly horizontal posture during the lifting process, which not only avoids the risk of collision with the goods 100, but also ensures the structural stability of the protective fence when it is deployed; at the same time, the mechanical linkage design does not require additional driving elements, and a composite motion trajectory can be achieved through a single rotation action, which not only simplifies the control logic, but also improves the coordination and reliability of the device action, and is particularly suitable for completing the coordinated operation of high-precision avoidance and high-position protection in a narrow space. It should be understood that in some alternative embodiments, the relative rotation between the U-shaped barrier arm 30 and the swing arm 40 can also be driven by a separate driving element, such as a joint motor.

[0025] See also Fig. 9 , Fig.10As shown, in an optional embodiment of the present invention, the linkage mechanism includes a first sprocket 62, a second sprocket 32 ​​and a chain 43; the first sprocket 62 is fixedly connected to the lifting bracket 60, and the axis of the first sprocket 62 is coaxially arranged with the first rotating shaft 41 of the swing arm 40, and the first rotating shaft 41 is the rotating shaft between the swing arm 40 and the lifting bracket 60; the second sprocket 32 ​​is fixedly connected to the U-shaped blocking arm 30, and the second sprocket 32 ​​is coaxially arranged with the second rotating shaft 42 of the swing arm 40, and the second rotating shaft 42 is the rotating shaft between the swing arm 40 and the U-shaped blocking arm 30. The linkage mechanism composed of the sprocket chain 43 of the present invention realizes the precise reverse synchronous motion control between the swing arm 40 and the U-shaped blocking arm 30, ensuring that the U-shaped blocking arm 30 always maintains a protective posture close to the horizontal during the deployment process; the pure mechanical linkage scheme has the characteristics of reliable transmission and simple maintenance, and the coaxially arranged sprocket design maximizes the saving of installation space, makes the overall structure more compact, and avoids the delay or failure risk that may exist in electronic control.

[0026] In an optional embodiment of the present invention, the number of teeth of the second sprocket 32 ​​is greater than the number of teeth of the first sprocket 62. The present invention adopts a transmission ratio design in which the number of teeth of the second sprocket 32 ​​is greater than that of the first sprocket 62. During the lifting process of the lifting bracket 60, the linkage mechanism drives the U-shaped barrier arm 30 to generate an additional upward tilt angle, such as Figure 3 As shown, the combined movement of lifting and tilting enables the U-shaped barrier arm 30 to cover a higher protection range than simple vertical lifting, and is particularly suitable for the protection needs of super-high stacked cargo 100; at the same time, the angle amplification achieved through mechanical transmission not only ensures the reliability of the action, but also eliminates the need to add additional drive devices, thereby achieving a greater effective protection height in a limited space.

[0027] See also Figure 5-Figure 7 As shown, in an optional embodiment of the present invention, a driving unit for driving the swing arm 40 to swing is provided on the lifting bracket 60; the driving unit includes a joint motor 61, the stator of the joint motor 61 is relatively fixedly arranged with the lifting bracket 60, and the rotor of the joint motor 61 is relatively fixedly arranged with the swing arm 40. The joint motor 61 has high precision, high response speed and excellent control performance, and can achieve precise positioning of complex motion trajectories; compact structure, high integration, space saving and easy installation; supports modular design, flexible adaptation to different application scenarios; has high torque density and dynamic performance, suitable for frequent start and stop and high-speed operation; at the same time, its low noise, low vibration and high reliability characteristics can meet the needs of industrial automation, robots, medical equipment and other fields for efficient and stable drive.

[0028] In an optional embodiment of the present invention, a retractor is further included, and the retractor is installed on the inner side of the side wall of the loading platform 11, and the second end of the telescopic strap 31 is connected to the retractor. The present invention realizes the automatic retraction and extension function of the telescopic strap 31 through the setting of the retractor, and the length of the strap can be adjusted synchronously during the lifting and lowering process of the U-shaped barrier arm 30, which not only ensures that the strap is always in a tensioned state to effectively restrain the goods 100, but also avoids the tediousness of manual adjustment; at the same time, the retractor is built into the side wall of the loading platform 11, which saves space and prevents external collisions, so that the strap system is completely hidden when stored, eliminating the risk of entanglement with the external environment, and improving the overall safety and aesthetics of the equipment.

[0029] See also Figure 4 As shown, in an optional embodiment of the present invention, a guide ring 50 is further included, and the guide ring 50 is rotatably arranged on the side wall of the loading platform 11, and the guide ring 50 is provided with a flat hole 51 for the retractable strap 31 to pass through. The present invention provides a stable sliding channel for the retractable strap 31 by providing a guide ring 50 with a flat hole 51, effectively reducing the friction loss and twisting and knotting risk of the strap during the retraction and release process; the flat hole 51 design can not only limit the lateral swing of the strap to avoid interference with the goods 100, but also ensure the smooth passage of the strap, so that the strap always maintains the best working angle and tension distribution, significantly improving the restraint effect and service life of the goods 100, while reducing the operating noise and maintenance frequency.

[0030] To summarize, the present invention forms a rigid fence around the cargo 100 stacking area through the cooperation of the liftable U-shaped barrier arm 30 and the frame 20, which effectively prevents the upper cargo 100 from tipping over in a bumpy environment; at the same time, a flexible longitudinal enclosure is formed between the U-shaped barrier arm 30 and the loading platform 11 by using the retractable strap 31, thereby achieving multi-point constraints on the middle-layer cargo 100 and significantly improving the overall stability of the stacked cargo 100. The device forms a three-dimensional protection system during operation through a workstation switching design, and is completely retracted during robot operation, which not only avoids interference with mechanical movement but also eliminates the risk of strap entanglement during travel, taking into account both transportation safety and operational convenience, and is particularly suitable for complex environments such as hospitals that require high-frequency handling of stacked goods 100 and dense flow of people; the present invention adopts a dual rotation connection design between the swing arm 40 and the lifting bracket 60 and the U-shaped barrier arm 30. When the lifting bracket 60 is vertically lifted, the swing arm 40 is rotated to make the U-shaped barrier arm 30 expand outward to avoid the goods 100, thereby avoiding the risk of interference between the U-shaped barrier arm 30 and the high-rise goods 100, and through the composite motion trajectory, the U-shaped barrier arm 30 can eventually reach a higher protection position than simple vertical lifting, which is particularly suitable for the protection needs of super-high stacked goods 100, while maintaining the compactness of the device when folded; the present invention realizes the reverse synchronous movement of the swing arm 40 and the U-shaped barrier arm 30 through a linkage mechanism, so that the U-shaped barrier arm 30 can be It automatically maintains a nearly horizontal posture, which not only avoids the risk of collision with the cargo 100, but also ensures the structural stability of the protective fence when it is deployed; at the same time, the mechanical linkage design does not require additional driving elements, and a compound motion trajectory can be achieved through a single rotation action, which not only simplifies the control logic, but also improves the coordination and reliability of the device action, and is particularly suitable for completing the coordinated operation of high-precision avoidance and high-position protection in a narrow space; the present invention adopts a transmission ratio design in which the number of teeth of the second sprocket 32 ​​is greater than that of the first sprocket 62. During the lifting process of the lifting bracket 60, the linkage mechanism will drive the U-shaped barrier arm 30 to produce an additional upward tilting angle. This composite movement of lifting and tilting enables the U-shaped barrier arm 30 to cover a higher protection range than simple vertical lifting, and is particularly suitable for the protection needs of super-high stacked cargo 100; at the same time, the angle amplification achieved through mechanical transmission not only ensures the reliability of the action, but also does not require the addition of additional driving devices, thereby achieving a greater effective protection height in a limited space.

[0031] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

[0032] In the description herein, many specific details, such as examples of components and / or methods, are provided to provide a complete understanding of embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more of the specific details or with other devices, systems, components, methods, components, materials, parts, etc. In other cases, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

Claims

1. A safety protection device for a handling robot, characterized in that: include: A frame (20) is fixedly mounted above the loading platform (11) of the handling robot; A U-shaped barrier arm (30), wherein both ends of the U-shaped barrier arm (30) are movably connected to the frame (20) along at least a vertical direction, so that the U-shaped barrier arm (30) can be switched between the following workstations: Workstation 1, the U-shaped blocking arm (30) is stored at the periphery of three side walls of the loading platform (11); and At workstation 2, the U-shaped barrier arm (30) is lifted above the loading platform (11) and, together with the frame (20), surrounds the cargo (100) stacking area of ​​the loading platform (11); It also comprises a telescopic binding belt (31), wherein a first end of the telescopic binding belt (31) is connected to the U-shaped barrier arm (30), and a second end of the telescopic binding belt (31) is connected to the loading platform (11); a plurality of the telescopic binding belts (31) are arranged at intervals along the three side walls of the loading platform (11).

2. The safety protection device for a handling robot according to claim 1, characterized in that: A lifting bracket (60) is provided on the frame (20), the lifting bracket (60) is movably connected to the frame (20) in a vertical direction, a driving mechanism (21) is provided on the frame (20) for driving the lifting bracket (60) to move up and down, and the U-shaped blocking arm (30) is directly or indirectly mounted on the lifting bracket (60).

3. The safety protection device for a handling robot according to claim 2, characterized in that: A swing arm (40) is provided on the lifting bracket (60), the swing arm (40) is rotatably connected to the lifting bracket (60), and the U-shaped blocking arm (30) is rotatably connected to the swing arm (40).

4. The safety protection device for a handling robot according to claim 3, characterized in that: A linkage mechanism is provided between the lifting bracket (60), the swing arm (40) and the U-shaped stop arm (30), and the linkage mechanism is configured such that when the swing arm (40) swings along a first rotational direction relative to the lifting bracket (60), the linkage mechanism drives the U-shaped stop arm (30) to swing in the opposite direction relative to the swing arm (40) along the first rotational direction.

5. The safety protection device for a handling robot according to claim 4, characterized in that: The linkage mechanism comprises a first sprocket (62), a second sprocket (32) and a chain (43); the first sprocket (62) is fixedly connected to the lifting bracket (60), and the axis of the first sprocket (62) is coaxially arranged with a first rotating shaft (41) of the swing arm (40), and the first rotating shaft (41) is a rotating shaft between the swing arm (40) and the lifting bracket (60); the second sprocket (32) is fixedly connected to the U-shaped stop arm (30), and the second sprocket (32) is coaxially arranged with a second rotating shaft (42) of the swing arm (40), and the second rotating shaft (42) is a rotating shaft between the swing arm (40) and the U-shaped stop arm (30).

6. The safety protection device for a handling robot according to claim 5, characterized in that: The number of teeth of the second sprocket (32) is greater than the number of teeth of the first sprocket (62).

7. The safety protection device for a handling robot according to claim 3, characterized in that: The lifting bracket (60) is provided with a driving unit for driving the swing arm (40) to swing.

8. The safety protection device for a handling robot according to claim 7, characterized in that: The driving unit comprises a joint motor (61), a stator of the joint motor (61) being fixedly arranged relative to the lifting bracket (60), and a rotor of the joint motor (61) being fixedly arranged relative to the swing arm (40).

9. The safety protection device for a handling robot according to claim 1, characterized in that: It also includes a retractor, which is installed on the inner side of the side wall of the loading platform (11), and the second end of the retractable binding belt (31) is connected to the retractor.

10. The safety protection device for a handling robot according to claim 9, characterized in that: It also comprises a guide ring (50), the guide ring (50) being rotatably arranged on the side wall of the loading platform (11), and the guide ring (50) being provided with a flat hole (51) for the telescopic binding belt (31) to pass through.

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