A safety protection device for a handling robot

Abstract

The present invention belongs to the technical field of handling robots, and particularly relates to a safety protection device for a handling robot, comprising: a frame; a U-shaped retaining arm, both ends of the U-shaped retaining arm are movably connected to the frame along at least the vertical direction, so that the U-shaped retaining arm can be switched between the following working positions: working position one, the U-shaped retaining arm is received around three of the side walls of the load platform; and working position two, the U-shaped retaining arm is lifted above the load platform and jointly surrounds the periphery of the goods stacking area of the load platform with the frame; it further comprises a telescopic strap, a first end of the telescopic strap is connected to the U-shaped retaining arm, and a second end of the telescopic strap is connected to the load platform; a plurality of the telescopic straps are arranged at intervals along the three side walls of the load platform. The present invention realizes multi-point restraint on goods through the liftable U-shaped retaining arm and the telescopic strap, and significantly improves the overall stability of stacked goods.

Description

Technical Field

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

[0002] In the intelligent Internet of Things scenarios in places such as hospitals, handling robots are needed to transfer goods such as medical consumables. A Chinese patent application with the publication number CN116605805A discloses a handling 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 transportation efficiency of the handling robot, goods need to be stacked on the handling robot, and the stacking height of the goods sometimes even exceeds the height of the handling robot itself. However, the working environment of these handling robots is generally relatively complex and will inevitably pass through areas prone to jolts such as elevators, ramps, and thresholds. The stacked goods are prone to overturn. In addition, the flow of people in its working environment is generally relatively dense, presenting potential safety hazards. Summary of the Invention

[0003] In view of the above - mentioned disadvantages of the prior art, the purpose of the present invention is to provide a safety protection device for a handling robot that can improve the stability of goods.

[0004] To achieve the above - mentioned purpose and other related purposes, the present invention provides a safety protection device for a handling robot, including:

[0005] A frame, fixedly installed above the load - carrying platform of the handling robot;

[0006] A U - shaped retaining arm, both ends of the U - shaped retaining arm are movably connected to the frame along at least the vertical direction, so that the U - shaped retaining arm can switch between the following working positions:

[0007] Working position one, the U - shaped retaining arm is received around three of the side walls of the load - carrying platform; and

[0008] Working position two, the U - shaped retaining arm is lifted above the load - carrying platform and jointly surrounds the four - week area of the goods stacking area of the load - carrying platform with the frame;

[0009] It further includes telescopic straps, the first end of the telescopic strap is connected to the U - shaped retaining arm, and the second end of the telescopic strap is connected to the load - carrying platform; a plurality of the telescopic straps are arranged at intervals along the three side walls of the load - carrying platform.

[0010] In an optional embodiment of the present invention, a lifting bracket is provided on the frame, the lifting bracket is movably connected to the frame along the vertical direction, a driving mechanism for driving the lifting bracket to move up and down is provided on the frame, and the U - shaped retaining arm is directly or indirectly installed on the lifting bracket.

[0011] In an alternative 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 retaining arm is rotatably connected to the swing arm.

[0012] In an alternative embodiment of the present invention, a linkage mechanism is provided between the lifting bracket, the swing arm, and the U-shaped retaining arm. The linkage mechanism is configured such that when the swing arm swings relative to the lifting bracket in a first rotational direction, the linkage mechanism drives the U-shaped retaining arm to swing relative to the swing arm in the opposite direction of the first rotational direction.

[0013] In an alternative 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. 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 retaining arm, and the second sprocket is coaxially arranged with the second rotating shaft of the swing arm. The second rotating shaft is the rotating shaft between the swing arm and the U-shaped retaining arm.

[0014] In an alternative embodiment of the present invention, the number of teeth of the second sprocket is greater than the number of teeth of the first sprocket.

[0015] In an alternative embodiment of the present invention, a driving unit for driving the swing arm to swing is provided on the lifting bracket.

[0016] In an alternative embodiment of the present invention, the driving unit includes a joint motor. The stator of the joint motor is fixedly arranged relative to the lifting bracket, and the rotor of the joint motor is fixedly arranged relative to the swing arm.

[0017] In an alternative embodiment of the present invention, a winch is further included. The winch is installed inside the side wall of the load platform, and the second end of the telescopic strap is connected to the winch.

[0018] In an alternative embodiment of the present invention, a guiding ring is further included. The guiding ring is rotatably arranged on the side wall of the load platform, and the guiding ring is provided with a flat hole through which the telescopic strap passes.

[0019] The technical effects of the present invention are as follows: By means of the liftable U-shaped retaining arm cooperating with the frame to form a rigid fence surrounding the goods stacking area, the upper-layer goods are effectively prevented from toppling around in a bumpy environment. At the same time, the telescopic tie straps are used to form a flexible longitudinal enclosure between the U-shaped retaining arm and the load-carrying platform, realizing multi-point restraint on the middle-layer goods and significantly enhancing the overall stability of the stacked goods. Through the design of station switching, the device forms a three-dimensional protection system during operation and is completely retracted during the operation of the manipulator, which not only avoids interfering with the mechanical movement but also eliminates the risk of tie strap entanglement during travel, taking into account both transportation safety and operation convenience, and is especially suitable for complex environments such as hospitals where high-frequency handling and stacking of goods are required and the flow of people is dense. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a perspective view of the handling robot and its safety protection device provided by the embodiment of the present invention;

[0021] Figure 2 is a side view of one state of the handling robot and its safety protection device provided by the embodiment of the present invention;

[0022] Figure 3 is a side view of another state of the handling robot and its safety protection device provided by the embodiment of the present invention;

[0023] Figure 4 is Figure 3 a partial enlarged view of I;

[0024] Figure 5 is a perspective view of the safety protection device provided by the embodiment of the present invention;

[0025] Figure 6 is a perspective view of the lifting bracket and its accessories provided by the embodiment of the present invention;

[0026] Figure 7 is Figure 6 a partial enlarged view of II;

[0027] Figure 8 is a partial side view of the lifting bracket and its accessories provided by the embodiment of the present invention;

[0028] Figure 9 is Figure 8 a sectional view taken along line A-A;

[0029] Figure 10 is Figure 9 a sectional view taken along line B-B;

[0030] 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

[0031] 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.

[0032] 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.

[0033] See also Figures 1 - 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.

[0034] When the handling robot transfers multiple stacked boxes of goods 100 simultaneously, the bottommost goods 100 can be clamped by the handling manipulator to keep it stable during transportation. However, the upper-layer goods 100 lack effective protection. When the handling robot passes through bumpy sections such as ramps, elevator doors, and thresholds, the upper-layer goods 100 will shake. These shakes accumulate continuously and can easily cause the upper-layer goods 100 to overturn. Therefore, the present invention provides 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 interfering with the movement of the handling manipulator. After all the goods 100 are loaded onto the loading platform 11, the safety protection device lifts upward and can form a fence around the periphery of 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.

[0035] Please refer to Figures 1 - 10 As shown in the following, the technical solution of the present invention will be described in detail with reference to specific embodiments:

[0036] Please refer to Figures 1 - 3 、 Figure 5As shown in the figure, the safety protection device of the handling robot provided by the embodiment of the present invention includes a frame 20, a U-shaped retaining arm 30, and a telescopic strap 31; the frame 20 is fixedly installed above the load platform 11 of the handling robot. Specifically, the frame 20 can be integrated, for example, on the electrical equipment box at the front end of the self-propelled vehicle 10. The frame 20 has a certain height. For example, a space can be reserved at the rear side of the frame 20 for avoiding the handling manipulator. When the handling manipulator is stored in this space, the handling manipulator and the frame 20 can form a retaining wall at the front end of the goods 100 to prevent the goods 100 from slipping forward; both ends of the U-shaped retaining arm 30 are movably connected to the frame 20 along at least the vertical direction, so that the U-shaped retaining arm 30 can be switched between the following working positions: Working position one, the U-shaped retaining arm 30 is received outside three side walls of the load 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 working position two, the U-shaped retaining arm 30 is lifted above the load platform 11 and jointly surrounds the periphery of the goods stacking area of the load platform 11 with the frame 20; the first end of the telescopic strap 31 is connected to the U-shaped retaining arm 30, and the second end of the telescopic strap 31 is connected to the load platform 11. Specifically, the second end of the telescopic strap 31 can be connected, for example, to the inner side of the side wall of the load platform 11; a plurality of the telescopic straps 31 are arranged at intervals along the three side walls of the load platform 11. When the U-shaped retaining arm 30 is in working position two, each strap can form a longitudinal enclosure between the U-shaped retaining arm 30 and the load platform 11 to protect the goods 100 in the middle layer. When the U-shaped retaining arm 30 is in working position one, the telescopic strap 31 can be stored inside the load platform 11 to prevent the telescopic strap 31 from being wound around 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, improving safety.

[0037] The present invention forms a rigid fence surrounding the goods stacking area by the cooperation of the liftable U-shaped retaining arm 30 and the frame 20, effectively preventing the upper-layer goods 100 from tipping over in a bumpy environment; at the same time, using the telescopic strap 31 to form a flexible longitudinal enclosure between the U-shaped retaining arm 30 and the load platform 11 to realize multi-point restraint on the middle-layer goods 100, significantly improving the overall stability of the stacked goods 100. Through the working position switching design, the device forms a three-dimensional protection system during operation and is completely received during the operation of the manipulator, avoiding interference with mechanical movement and eliminating the risk of strap entanglement during travel, taking into account both transportation safety and operation convenience, and is particularly suitable for complex environments such as hospitals where high-frequency handling and stacking of goods 100 are required and the flow of people is intensive.

[0038] Please refer to Figure 5As shown, in an alternative embodiment of the present invention, a lifting bracket 60 is provided on the frame 20. The lifting bracket 60 is movably connected to the frame 20 in the vertical direction. A driving mechanism 21 for driving the lifting bracket 60 to move up and down is provided on the frame 20. The U-shaped retaining arm 30 is directly or indirectly mounted on the lifting bracket 60. By adding the lifting bracket 60 controlled by the driving mechanism 21, the present invention realizes the automatic lifting adjustment of the U-shaped retaining arm 30, can flexibly adjust the protection height according to the stacking height of the goods 100, and ensures 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 retaining arm 30, makes the switching of the protection state more accurate and reliable, not only maintains the compactness of the overall structure, but also enhances the response ability 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. The screw mechanism itself has a reverse self-locking function, which can keep the lifting bracket 60 in the stopped 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 can also be a gear rack mechanism, a synchronous pulley mechanism, a sprocket mechanism, etc.

[0039] Please refer to Figure 5 、 Figure 6 As shown, in an alternative embodiment of the present invention, a swing arm 40 is provided on the lifting bracket 60. The swing arm 40 is rotatably connected to the lifting bracket 60. The U-shaped retaining arm 30 is rotatably connected to the swing arm 40. Through the double rotational connection design of the swing arm 40 with the lifting bracket 60 and the U-shaped retaining arm 30, when the lifting bracket 60 is vertically lifted, the U-shaped retaining arm 30 is rotated outward by the swing arm 40 to avoid the goods 100. This not only avoids the interference risk between the U-shaped retaining arm 30 and the high-level goods 100, but also enables the U-shaped retaining arm 30 to finally reach a higher protection position than simple vertical lifting through the composite movement trajectory, which is particularly suitable for the protection requirements of super-high stacked goods 100, while maintaining the compactness of the device when retracted. In addition, compared with the scheme of separately setting the swing arm 40, the present invention saves more horizontal space under the condition of achieving the same lifting height.

[0040] Please refer to Figure 9 、 Figure 10As 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.

[0041] See also Figure 9 , Figure 10 As 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.

[0042] 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 3As 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.

[0043] See also Figures 5 - 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.

[0044] 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.

[0045] 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.

[0046] In summary, the present invention forms a rigid fence surrounding the stacking area of the goods 100 through the cooperation of the liftable U-shaped retaining arm 30 and the frame 20, effectively preventing the upper-layer goods 100 from tipping over in all directions in a bumpy environment. At the same time, the telescopic strap 31 is used to form a flexible longitudinal enclosure between the U-shaped retaining arm 30 and the load platform 11, realizing multi-point restraint on the middle-layer goods 100 and significantly improving the overall stability of the stacked goods 100. Through the design of station switching, the device forms a three-dimensional protection system during operation and is completely retracted during the operation of the manipulator, avoiding interference with mechanical movement and eliminating the risk of strap entanglement during travel, taking into account both transportation safety and operation convenience, and is particularly suitable for complex environments such as hospitals where high-frequency handling and stacking of goods 100 are required and the flow of people is dense. Through the dual rotational connection design of the swing arm 40 with the lifting bracket 60 and the U-shaped retaining arm 30, while the lifting bracket 60 is vertically lifted, the U-shaped retaining arm 30 is rotated outward by the swing arm 40 to avoid the goods 100, which not only avoids the interference risk between the U-shaped retaining arm 30 and the high-level goods 100, but also enables the U-shaped retaining arm 30 to finally reach a higher protection position than simple vertical lifting through the composite motion trajectory, which is particularly suitable for the protection requirements of ultra-high stacked goods 100, while maintaining the compactness of the device when retracted. The present invention realizes the reverse synchronous movement of the swing arm 40 and the U-shaped retaining arm 30 through the linkage mechanism, so that the U-shaped retaining arm 30 can automatically maintain an almost horizontal posture during the lifting process, avoiding the risk of collision with the goods 100 and ensuring the structural stability when the protection fence is deployed. At the same time, this mechanical linkage design does not require additional driving elements and can achieve a composite motion trajectory through a single rotational action, which not only simplifies the control logic but also improves the coordination and reliability of the device movement, and is particularly suitable for collaborative operations of high-precision avoidance and high-position protection in narrow spaces. By adopting the design of the transmission ratio where 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 retaining arm 30 to generate an additional upward tilting angle. This composite motion of lifting and tilting enables the U-shaped retaining arm 30 to cover a higher protection range than simple vertical lifting, which is particularly suitable for the protection requirements of ultra-high stacked goods 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 additional driving devices, realizing a greater effective protection height in a limited space.

[0047] The above embodiments are only illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

[0048] In the description herein, numerous specific details are provided, such as examples of components and / or methods, to provide a thorough 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, parts, materials, articles, etc. In other instances, 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, Comprising: A frame (20), fixedly installed above the load platform (11) of the handling robot; A U-shaped retaining arm (30), both ends of the U-shaped retaining arm (30) are movably connected to the frame (20) at least along the vertical direction, so that the U-shaped retaining arm (30) can switch between the following work positions: Work position one, the U-shaped retaining arm (30) is received around three side walls of the load platform (11); and Work position two, the U-shaped retaining arm (30) is lifted above the load platform (11), and together with the frame (20) surrounds the periphery of the goods (100) stacking area of the load platform (11); It further includes a telescopic strap (31), the first end of the telescopic strap (31) is connected to the U-shaped retaining arm (30), and the second end of the telescopic strap (31) is connected to the load platform (11); a plurality of the telescopic straps (31) are arranged at intervals along the three side walls of the load platform (11); A lifting bracket (60) is provided on the frame (20), the lifting bracket (60) is movably connected to the frame (20) along the vertical direction, a driving mechanism (21) for driving the lifting bracket (60) to move up and down is provided on the frame (20), and the U-shaped retaining arm (30) is directly or indirectly installed on the lifting bracket (60); 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 retaining arm (30) is rotatably connected to the swing arm (40); A linkage mechanism is provided between the lifting bracket (60), the swing arm (40) and the U-shaped retaining arm (30), and the linkage mechanism is configured to drive the U-shaped retaining arm (30) to swing in the reverse direction of the first rotation direction relative to the swing arm (40) when the swing arm (40) swings relative to the lifting bracket (60) in the first rotation direction; 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 retaining 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 retaining arm (30).

2. The safety protection device of the handling robot according to claim 1, characterized in that The number of teeth of the second sprocket (32) is greater than the number of teeth of the first sprocket (62).

3. The safety protection device of the handling robot according to claim 1, characterized in that, A driving unit for driving the swing arm (40) to swing is provided on the lifting bracket (60).

4. The safety protection device of the handling robot according to claim 3, characterized in that, 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).

5. The safety protection device of the handling robot according to claim 1, characterized in that, It further includes a retractor which is installed inside the side wall of the load platform (11), and the second end of the telescopic strap (31) is connected to the retractor.

6. The safety protection device of the handling robot according to claim 5, characterized in that, It further includes a guide ring (50) which is rotatably arranged on the side wall of the load platform (11), and the guide ring (50) is provided with an oblong hole (51) for the telescopic strap (31) to pass through.

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