Industrial robot with protective structure

Abstract

The invention discloses an industrial robot with a protection structure, and relates to the field of industrial robotics.The industrial robot with the protection structure comprises a rack, a mechanical arm is fixed to the top of the rack, the mechanical arm comprises a base, a rotating disc, a first supporting arm, a second supporting arm, a third supporting arm and a clamp, and the base is fixed to the top of the rack; according to the industrial robot with the protection structure, by arranging the protection net structure and the mechanical locking structure, when the mechanical arm works, the working area of the mechanical arm can be covered and isolated, workers are prevented from intruding into the robot, after the mechanical arm stops working and resets, and when the workers take materials, the mechanical arm can be mechanically locked, the situation that the mechanical arm is maloperation is avoided, and the working efficiency is improved. And the operation safety is further improved.

Description

Technical Field

[0001] The present invention relates to the field of industrial robots, and in particular to an industrial robot with a protective structure. Background Art

[0002] In high-risk automation scenarios such as CNC machining centers, traditional loading and unloading robotic arms generally lack active safety protection structures, which makes it easy for workers to mistakenly enter the working range of the robotic arm and cause injury when the robotic arm is working. In addition, there is a lack of a rigid mechanical locking mechanism after the robotic arm is reset, and the movement is only limited by electrical signals or program logic. Once a power outage, control system failure or signal interference occurs, the robotic arm may rotate or swing unexpectedly due to the residual power or inertia of the servo motor. At this time, if the worker misjudges the safety state and enters the working area, he or she is very likely to be hit or squeezed by the robotic arm body or the end clamp, causing serious personal injury accidents. Summary of the invention

[0003] In order to make up for the deficiencies of the existing technical problems, the purpose of the present invention is to provide an industrial robot with a protective structure to solve the problem that the loading and unloading robot arms in the existing technology lack protective structures and locking structures, resulting in a high risk factor during operation.

[0004] In order to solve the problems of the prior art, the technical solution of the present invention is as follows:

[0005] An industrial robot with a protective structure comprises a frame, a mechanical arm is fixed on the top of the frame, a storage platform is fixed on the top surface of the frame, a side protective net is fixed on the side of the top surface of the frame facing away from the mechanical arm, a lifting protective net is slidably installed on the side wall of the frame, the lifting protective net is driven to rise and fall by a first lifting component, a mechanical locking structure is arranged on the mechanical arm, the mechanical locking structure is used to lock the mechanical arm, and the mechanical locking structure is mechanically linked with the lifting action of the lifting protective net, when the lifting protective net descends to an open state, the mechanical locking structure is driven to lock the mechanical arm, and when the lifting protective net rises to a protective state, the mechanical locking structure releases the lock on the mechanical arm.

[0006] Preferably, the robotic arm includes at least a base, a rotating disk and a first arm, the base is fixed to the top of the frame, the rotating disk is rotatably mounted on the top of the base, the first arm is rotatably mounted on the upper end of the rotating disk, and the mechanical locking structure is used to lock the relative position of the rotating disk and the base and the relative position of the first arm and the rotating disk.

[0007] Preferably, the mechanical locking structure includes a lifting lock block, a lock box, a lifting bolt and a lock hole. The lifting lock block is fixed on the lifting protection net, and the lock box is fixed on one side of the top surface of the rotating disk close to the first arm. When the robotic arm is in the reset state, the lifting lock block is located directly above the lock box, and the lifting lock block faces the inner cavity of the lock box. When the robotic arm is in the reset state and the lifting protection net descends to the open state, the lifting lock block is snapped into the inner cavity of the lock box. A lifting bolt is slidably installed on one side of the lock box close to the first arm in a liftable manner. A lock hole is formed on the outer wall of the first arm. When the robotic arm is in the reset state, the lock hole faces the lifting bolt, and the lifting bolt is driven to lift by a second lifting component.

[0008] Preferably, an n-shaped frame is fixed on the outer wall of one side of the lock box close to the first arm. The n-shaped frame straddles the lock box from above the lock box. A sliding sleeve is fixed in the middle of the n-shaped frame. A through hole communicating with the sliding sleeve is formed in the middle of the n-shaped frame. The lifting bolt is slidably inserted into the sliding sleeve and the through hole.

[0009] Preferably, the second lifting component includes a synchronous driving block slidably installed on the inner wall of the lock box. An elastic member is connected between the synchronous driving block and the lock box. The elastic member causes the synchronous driving block to have a tendency to slide towards the side away from the first arm. Bevels are formed at both ends of the synchronous driving block. One bevel faces the bottom of the lifting bolt, and the other bevel faces the end of the lifting lock block. The bottom of the lifting bolt is provided in a hemispherical shape.

[0010] Preferably, when the robotic arm is in the reset state and the lifting protection net is in the open state, one end of the lifting lock block close to the robotic arm abuts against one bevel of the synchronous driving block, and the other bevel of the synchronous driving block abuts against the bottom of the lifting bolt. The upper end of the lifting bolt is inserted into the lock hole.

[0011] Preferably, rotating air pipes are rotatably installed at the upper ends of the two outer sides of the lifting protection net. A plurality of nozzles are fixedly arranged side by side on the outer wall of the rotating air pipe. The rotating air pipe is driven to rotate by a flipping component. When the lifting protection net is in the protection state, the nozzles face away from the side of the lifting protection net. Gas is conveyed to the inner side of the rotating air pipe through a gas jetting component, so that the gas is ejected from the nozzles to form an air curtain around the lifting protection net. When the lifting protection net switches to the open state, the flipping component drives the rotating air pipe to flip, so that the nozzles face the top surface of the frame. The gas jetting component conveys gas to the inner side of the rotating air pipe, and the gas is used to clean the position at the top of the frame.

[0012] Preferably, the axes of the two rotating air pipes are at the same height and are perpendicular to each other. The flipping component includes two bevel gears respectively fixed at opposite ends of the two guide air pipes. The two bevel gears mesh with each other. A motor is fixed on the outer wall of the lifting protection net. One end of one of the rotating air pipes away from the bevel gear is fixed to the output end of the motor.

[0013] Preferably, the jet assembly includes an air duct fixed on the outer wall of the lifting protection net on the side away from the motor, the air duct is arranged longitudinally, the upper end of the air duct is rotatably connected to the end of a rotating air duct on the side away from the motor through a rotating seal, an air pump is fixed on the inner side of the frame, the air outlet end of the air pump is connected to the lower end of the air duct through a hose, the hose passes through the frame from an opening opened on the side wall of the frame, and the two rotating air ducts are connected.

[0014] Preferably, the opposite ends of the two rotating air pipes are rotationally connected to the two connecting ends of the connecting pipe through a rotating seal, the two connecting ends of the connecting pipe are vertically arranged, and the axes of the two connecting ends of the connecting pipe coincide with the axes of the two rotating air pipes.

[0015] Compared with the prior art, the advantages of the present invention are as follows:

[0016] 1. The present invention realizes dynamic closure and opening of the working area through the cooperation of the lifting protection net with the slide rail and the electric push rod. The lifting protection net can isolate the working area when the robot arm is in operation, playing a good protective role. When the lifting protection net drops to the open state for workers to pick up materials, the lifting lock block automatically inserts into the lock box to lock the rotating disk. At the same time, the synchronous drive block is squeezed by the inclined surface to push the lifting pin into the lock hole of the first arm, forming a double mechanical lock to completely restrict the movement of the robot arm. This design does not require additional power and can still be forced to lock in the event of power outages or failures, effectively avoiding the danger caused by workers' accidental touch or abnormal movement of the robot arm, and significantly improving the reliability of protection.

[0017] 2. A rotating air pipe and nozzle are set on the outside of the lifting protection net. The air pump supplies air to form an air curtain surrounding the working area, which generates tactile and auditory warnings for people approaching. Combined with the bevel gear transmission driven by the motor, the direction of the nozzle can be adjusted: in the protection state, the air curtain is sprayed to block people from approaching; during the lifting process, the nozzle is turned to the top surface of the frame, and the air jet is used to clear the debris in the storage table and the lock box to prevent the debris from interfering with the locking function. This structure has both safety warning and self-cleaning capabilities, reducing labor maintenance costs and further ensuring the long-term stable operation of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 For the present invention Figure 1 A magnified image of point A;

[0020] Figure 3 It is a schematic diagram of the position of the slider of the present invention;

[0021] Figure 4 It is a schematic diagram of the position of the airway tube of the present invention;

[0022] Figure 5For the present invention Figure 4 Enlarged view of part B of the present invention;

[0023] Figure 6 Schematic diagram of the position of the air pump of the present invention;

[0024] Figure 7 For the present invention Figure 6 Enlarged view of part C of the present invention;

[0025] Figure 8 Schematic diagram of the position of the keyhole in the figure of the present invention;

[0026] Figure 9 Schematic diagram of the position of the through hole in the figure of the present invention;

[0027] Figure 10 Schematic diagram of the open state of the lifting protective frame in the figure of the present invention;

[0028] Figure 11 For the figure of the present invention Figure 10 Enlarged view of part D.

[0029] Reference numerals: 1, frame; 2, robotic arm; 201, base; 202, rotating disk; 203, first arm; 204, second arm; 205, third arm; 206, fixture; 3, side protection net; 4, placing table; 5, slide rail; 6, slider; 7, lifting protection net; 8, electric push rod; 9, lifting lock block; 10, lock box; 1001, chute; 11, n-shaped frame; 1101, through hole; 12, sliding sleeve; 13, lifting pin; 14, keyhole; 15, synchronous drive block; 1501, inclined surface; 16, convex block; 17, first spring; 18, second spring; 19, rotating air pipe; 20, nozzle; 21, bevel gear; 22, motor; 23, connecting pipe; 2301, connection end; 24, guide air pipe; 25, air pump; 26, hose. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0031] Please refer to Figures 1 to 11, this embodiment provides an industrial robot with a protective structure, including a frame 1. A robotic arm 2 is fixed to the top of the frame 1. The robotic arm 2 includes a base 201, a rotating disk 202, a first arm 203, a second arm 204, a third arm 205, and a fixture 206. The base 201 is fixed to the top of the frame 1. The rotating disk 202 is rotatably installed on the top of the base 201. The first arm 203 is rotatably installed at the upper end of the rotating disk 202. The second arm 204 is rotatably installed at one end of the first arm 203 away from the rotating disk 202. The third arm 205 is rotatably installed at one end of the second arm 204 away from the first arm 203. The fixture 206 is rotatably installed at one end of the third arm 205 away from the second arm 204. The rotating disk 202, the first arm 203, the second arm 204, the third arm 205, and the fixture 206 are all driven to rotate by a rotating structure. The above structure of the robotic arm 2 belongs to the conventional structure setting of the loading robotic arm in the prior art and has been fully disclosed in the prior art, so no detailed description will be given.

[0032] A side protection net 3 is fixed to one side of the top surface of the frame 1 away from the robotic arm 2. A placement table 4 is fixed in the middle of the top surface of the frame 1. Vertical slide rails 5 are fixed to the front side of the frame 1 and its right side close to the robotic arm 2. Two sliders 6 are slidably arranged on the outer wall of the slide rail 5. A lifting protection net 7 is fixed to the outside of the four sliders 6. The lifting protection net 7 surrounds the front side and the right side of the frame 1. An electric push rod 8 is fixed at the right front corner of the frame 1. The electric push rod 8 is vertically upward, and the extending end of the electric push rod 8 is fixed to the lifting protection net 7. By driving the electric push rod 8 to extend or contract, the lifting protection net 7 is driven to slide up and down along the slide rail 5. When the electric push rod 8 is fully contracted, the lifting protection net 7 is in the lowest position and is in an open state. When the electric push rod 8 is fully extended, the lifting protection net 7 is in the highest position and is in a protection state, surrounding the working area of the robotic arm 2, thereby preventing the limbs of personnel from entering the working area of the robotic arm 2 and forming protection.

[0033] A lifting lock block 9 is fixed to the lifting protection net 7. A lock box 10 is fixed to one side of the top surface of the rotating disk 202 close to the first arm 203. When the robotic arm 2 is in the reset state, as shown in the figure which is the reset state of the robotic arm, the lifting lock block 9 is located directly above the lock box 10, and the lifting lock block 9 faces the inner cavity of the lock box 10. When the robotic arm 2 is in the reset state and the lifting protection net 7 descends to the open state, the open state of the lifting protection net 7 is as Figure 10 shown. The lifting lock block 9 is inserted into the inner cavity of the lock box 10, as Figure 11 shown. Thus, the rotation locking of the rotating disk 202 is realized by using the lifting lock block 9 and the lock box 10. Furthermore, when the worker takes the material near the placement table 4, even if he forgets to cut off the power of the robotic arm 2, the rotation of the rotating disk 202 can be mechanically locked, avoiding the situation where the robotic arm 2 rotates randomly due to a malfunction and causing casualties, and achieving a better protection effect.

[0034] In addition to limiting the rotation of the rotating disk 202 , the first arm 203 also needs to be mechanically locked to further limit the movement of the mechanical arm 2 and improve the protection effect.

[0035] In order to achieve the locking of the first arm 203, an n-shaped frame 11 is fixed on the outer wall of the lock box 10 on one side close to the first arm 203, and the n-shaped frame 11 crosses the lock box 10 from above the lock box 10. A sliding sleeve 12 is fixed in the middle of the n-shaped frame 11, and a through hole 1101 connected to the sliding sleeve 12 is formed in the middle of the n-shaped frame 11. A lifting latch 13 is slidably installed in the sliding sleeve 12 and the through hole 1101. A locking hole 14 is opened on the outer wall of the first arm 203, and the axis of the locking hole 14 is perpendicular to the rotation axis of the first arm 203. When the mechanical arm 2 is in the reset state, the locking hole 14 is opposite to the lifting latch 13. When the lifting protection net 7 is lowered and is in the open state, the mechanical arm 2 is reset. While locking the rotating disk 202, by driving the lifting latch 13 to rise, so that its upper end is inserted into the inner side of the locking hole 14, the locking of the first arm 203 can be completed, and it can no longer rotate around the axis, thereby further limiting the movement of the mechanical arm 2.

[0036] The lifting and lowering movement of the lifting latch 13 can be driven by the lifting lock block 9 without adding power equipment, thereby reducing the equipment manufacturing, operation and operation and maintenance costs.

[0037] For the lifting lock block 9 to drive the lifting bolt 13 to rise and lock, a synchronous drive block 15 is slidably installed on the inner wall of the lock box 10, and protrusions 16 are formed on both sides of the length direction of the synchronous drive block 15. The two protrusions 16 are respectively slidably connected with the slide grooves 1001 on the two opposite side walls of the lock box 10, and the protrusions 16 pass through the slide grooves 1001 and extend to the outside of the lock box 10. A first spring 17 is fixed between the protrusion 16 and the outer wall of the lock box 10. The first spring 17 is located on the side of the protrusion 16 away from the first arm 203, so that the protrusion 16 drives the synchronous drive The moving block 15 always has a tendency to slide to the side away from the first arm 203. Both ends of the synchronous driving block 15 are formed with inclined surfaces 1501. When the mechanical arm 2 is in the reset state and the lifting protection net 7 is in the protection posture, under the action of the first spring 17, the protrusion 16 is pulled to resist the inner wall of the end of the slide groove 1001 away from the first arm 203, and the inclined surface 1501 at the end away from the first arm 203 is opposite to the end of the lifting lock block 9, and the inclined surface 1501 at the other end is opposite to the bottom of the lifting pin 13, and the bottom of the lifting pin 13 is hemispherical.

[0038] In this way, during the process of the lifting protection net 7 descending to the open state, the end of the lifting lock block 9 will contact the inclined surface 1501 at one end of the synchronous drive block 15, pushing the synchronous drive block 15 to slide to the side close to the first arm 203, and the inclined surface 1501 at the other end of the synchronous drive block 15 will push the bottom of the lifting pin 13, forcing the lifting pin 13 to rise until the lifting protection net 7 moves to the lowermost position. At this time, the lifting lock block 9 is completely inserted into the lock box 10, and the lifting pin 13 rises and inserts into the lock hole 14, so that the first arm 203 is also locked, further restricting the movement of the robot arm 2 and improving the protection performance.

[0039] When the lifting protection net 7 is in the open state, the worker can take and place materials from the storage table 4 at the front side of the frame 1. After the taking and placing is completed, the lifting protection net 7 switches to the protection posture, and cooperates with the side protection net 3 to surround the frame 1 to prevent the worker from entering the working range of the mechanical arm 2 when the mechanical arm 2 is working, to perform effective protection and ensure personal safety. In the process of switching to the protection posture, the lifting lock block 9 rises and loses the obstruction of the lifting lock block 9. The first spring 17 pulls the synchronous drive block 15 to reset and slide. Without the obstruction of the synchronous drive block 15, the lifting latch 13 slides down under the action of gravity and moves away from the lock hole 14, thereby unlocking the mechanical arm 2. Subsequently, the mechanical arm 2 can operate normally to take and place materials. In order to ensure that the lifting latch 13 can slide down stably, a second spring 18 can be sleeved on the outside of the lifting latch 13. One end of the second spring 18 is connected to the outer wall of the lifting latch 13, and the other end is connected to the outer wall of the sliding sleeve 12. After the synchronous drive block 15 is removed, the lifting latch 13 can be pulled down to ensure that the lifting latch 13 leaves the lock hole 14.

[0040] When the lifting protection net 7 is in the protection state, during the operation of the robot arm 2, in order to further improve the protection effect, a warning structure can be set outside the lifting protection net 7 to remind the staff approaching to enter the danger zone. The warning structure is:

[0041] Rotating air pipes 19 are rotatably installed on the upper ends of the two outer side surfaces of the lifting protection net 7, and multiple nozzles 20 are fixed side by side on the outer wall of the rotating air pipe 19. The axes of the two rotating air pipes 19 are at the same height and perpendicular to each other. Bevel gears 21 are fixed to the opposite ends of the two rotating air pipes 19, and the two bevel gears 21 are meshed with each other. A motor 22 is fixed on the outer wall of the lifting protection net 7, and one end of the rotating air pipes 19 away from the bevel gear 21 is fixed to the output end of the motor 22. By driving the motor 22 to rotate, one of the rotating air pipes 19 is driven to rotate, and through the two bevel gears 21, the two rotating air pipes 19 can rotate at the same time, thereby achieving the effect of adjusting the direction of the nozzle 20.

[0042] The opposite ends of the two rotating air pipes 19 are rotatably connected to the two connecting ends 2301 of the connecting pipe 23 through rotating seals. The two connecting ends 2301 of the connecting pipe 23 are vertically arranged, and the axes of the two connecting ends 2301 of the connecting pipe 23 coincide with the axes of the two rotating air pipes 19 respectively. In this way, the effect of connecting the two rotating air pipes 19 is achieved, so that the inner cavities of the two rotating air pipes 19 are connected, and the two rotating air pipes 19 can also rotate separately.

[0043] An air duct 24 is fixed on the outer wall of the lifting protection net 7 on the side away from the motor 22. The air duct 24 is arranged longitudinally. The upper end of the air duct 24 is rotatably connected to the end of a rotating air pipe 19 on the side away from the motor 22 through a rotating seal. An air pump 25 is fixed on the inner side of the frame 1. The air outlet end of the air pump 25 is connected to the lower end of the air duct 24 through a hose 26. The hose 26 passes through the frame 1 from an opening on the side wall of the frame 1. The two rotating air pipes 19 are connected. When the nozzle 20 needs to spray, the air pump 25 is driven to inject gas into the hose 26. The gas enters one rotating air pipe 19 and enters the other rotating air pipe 19 through the connecting pipe 23, so that the nozzle 20 on the rotating air pipe 19 sprays out.

[0044] The working principle of the warning structure is: when the lifting protection net 7 is in a protective state, the nozzle 20 is facing the side away from the lifting protection net 7, and gas is transported to the inside of the rotating air pipe 19 through the air pump 25, so that the gas is ejected from the nozzle 20 to form a wind curtain on the periphery of the lifting protection net 7. When the staff approaches the working area of the robot arm 2 from both sides of the lifting protection net 7, the wind curtain ejected by the nozzle 20 can serve as a reminder at both tactile and auditory levels, thereby reducing the probability of people approaching and improving the protection effect.

[0045] The warning structure can also be used for table cleaning. Specifically, when the lifting protection net 7 starts to move from the highest position to the lowest position, the motor 22 drives the rotating air pipe 19 to flip, so that the nozzle 20 is facing the top side of the frame 1, and gas is delivered to the inside of the rotating air pipe 19. In the process of the lifting protection frame descending, the gas cleans the top position of the frame 1, so that the machining debris on the top surface of the storage table 4 and the top surface of the frame 1 can be cleaned. In particular, the debris inside the lock box 10 can also be effectively cleaned to avoid the accumulation of debris in the lock box 10, which may cause the locking work of the robot arm 2 to fail to proceed normally.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An industrial robot with a protective structure, comprising a frame (1), a robotic arm (2) is fixed on the top of the frame (1), and a placement table (4) is fixed on the top surface of the frame (1), characterized in that, A side protection net (3) is fixed on the top surface of the frame (1) on a side facing away from the mechanical arm (2); a lifting protection net (7) is slidably mounted on the side wall of the frame (1) so as to be liftable; the lifting protection net (7) is driven to lift by a first lifting assembly; a mechanical locking structure is provided on the mechanical arm (2); the mechanical locking structure is used to lock the mechanical arm (2); and the mechanical locking structure is mechanically linked to the lifting action of the lifting protection net (7); when the lifting protection net (7) is lowered to an open state, the mechanical locking structure is driven to lock the mechanical arm (2); when the lifting protection net (7) is raised to a protection state, the mechanical locking structure releases the lock on the mechanical arm (2).

2. The industrial robot with a protection structure according to claim 1, characterized in that, The mechanical arm (2) comprises at least a base (201), a rotating disk (202) and a first support arm (203); the base (201) is fixed to the top of the frame (1); the rotating disk (202) is rotatably mounted on the top of the base (201); the first support arm (203) is rotatably mounted on the upper end of the rotating disk (202); and the mechanical locking structure is used to lock the relative position of the rotating disk (202) and the base (201) and the relative position of the first support arm (203) and the rotating disk (202).

3. The industrial robot with a protective structure according to claim 2, characterized in that, The mechanical locking structure comprises a lifting lock block (9), a lock box (10), a lifting latch (13) and a lock hole (14); the lifting lock block (9) is fixed on the lifting protection net (7); the lock box (10) is fixed on a side of the top surface of the rotating disk (202) close to the first arm (203); when the mechanical arm (2) is in a reset state, the lifting lock block (9) is located directly above the lock box (10); the lifting lock block (9) is directly opposite to the inner cavity of the lock box (10); and the mechanical arm (2) When the lifting protection net (7) is in the reset state and descends to the open state, the lifting lock block (9) is inserted into the inner cavity of the lock box (10), and a lifting latch (13) is slidably mounted on a side of the lock box (10) close to the first arm (203) so as to be liftable. A locking hole (14) is provided on the outer wall of the first arm (203). When the mechanical arm (2) is in the reset state, the locking hole (14) faces the lifting latch (13), and the lifting latch (13) is driven to rise and fall by the second lifting assembly.

4. The industrial robot with a protective structure according to claim 3, wherein, An n-shaped frame (11) is fixed on an outer wall of one side of the lock box (10) close to the first support arm (203); the n-shaped frame (11) spans the lock box (10) from above; a sliding sleeve (12) is fixed in the middle of the n-shaped frame (11); a through hole (1101) connected to the sliding sleeve (12) is formed in the middle of the n-shaped frame (11); and a lifting pin (13) is slidably inserted in the sliding sleeve (12) and the through hole (1101).

5. The industrial robot with a protection structure according to claim 4, wherein, The second lifting component includes a synchronous driving block (15) slidably mounted on the inner wall of the lock box (10). An elastic member is connected between the synchronous driving block (15) and the lock box (10), and the elastic member makes the synchronous driving block (15) tend to slide to the side away from the first arm (203). Bevels (1501) are formed at both ends of the synchronous driving block (15). One bevel (1501) at one end faces the bottom of the lifting bolt (13), and the bevel (1501) at the other end faces the end of the lifting lock block (9). The bottom of the lifting bolt (13) is arranged in a hemispherical shape.

6. The industrial robot with a protection structure according to claim 5, characterized in that, When the robotic arm (2) is in the reset state and the lifting protective net (7) is in the open state, one end of the lifting lock block (9) close to the robotic arm (2) abuts against one bevel (1501) of the synchronous driving block (15), and the other bevel (1501) of the synchronous driving block (15) abuts against the bottom of the lifting bolt (13). The upper end of the lifting bolt (13) is inserted into the lock hole (14).

7. The industrial robot with a protection structure according to claim 1, characterized in that, Rotating air pipes (19) are rotatably mounted at the upper ends of the two outer sides of the lifting protective net (7). A plurality of nozzles (20) are fixedly arranged side by side on the outer wall of the rotating air pipe (19). The rotating air pipe (19) is driven to rotate by a flipping assembly. When the lifting protective net (7) is in the protective state, the nozzles (20) face away from the side of the lifting protective net (7). Gas is conveyed into the inner side of the rotating air pipe (19) through a jetting assembly, so that the gas sprays out from the nozzles (20) to form an air curtain around the lifting protective net (7). When the lifting protective net (7) switches to the open state, the flipping assembly drives the rotating air pipe (19) to flip, so that the nozzles (20) face the top surface side of the frame (1), and the jetting assembly conveys gas into the inner side of the rotating air pipe (19), and the gas sweeps the top position of the frame (1).

8. The industrial robot with a protection structure according to claim 7, characterized in that, The axes of the two rotating air pipes (19) are at the same height and perpendicular to each other. The flipping assembly includes two bevel gears (21) respectively fixed at the opposite ends of two air guide pipes (24). The two bevel gears (21) mesh with each other. A motor (22) is fixed on the outer wall of the lifting protective net (7). One end of one rotating air pipe (19) away from the bevel gear (21) is fixed to the output end of the motor (22).

9. The industrial robot with a protection structure according to claim 8, characterized in that, The jetting assembly includes an air guide pipe (24) fixed on the outer wall of the lifting protective net (7) on the side away from the motor (22). The air guide pipe (24) is arranged longitudinally. The upper end of the air guide pipe (24) is rotatably connected to the end of one rotating air pipe (19) on the side away from the motor (22) through a rotating seal. An air pump (25) is fixed inside the frame (1). The air outlet end of the air pump (25) is connected to the lower end of the air guide pipe (24) through a hose (26), and the two rotating air pipes (19) are communicated with each other.

10. The industrial robot with a protection structure according to claim 9, wherein, At the opposite ends of the two rotating air pipes (19), the two connection ends (2301) of a connecting pipe (23) are respectively rotatably connected through rotating seals. The two connection ends (2301) of the connecting pipe (23) are vertically arranged, and the axes of the two connection ends (2301) of the connecting pipe (23) coincide with the axes of the two rotating air pipes (19) respectively.

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