The abnormal posture detection of industrial robots is an important means to ensure the safe operation of industrial robots. Aiming at the problems of low detection accuracy and insufficient timeliness of existing methods, a method for abnormal posture detection of six-axis industrial robots based on Kinect camera was proposed. The method uses the Kinect camera to collect the color image and depth image of the industrial robot, obtains the information of the joint axis of the industrial robot in the color image through the YOLOF target detection algorithm, converts the depth image into the corresponding three-dimensional coordinates, refers to the structural characteristics of the industrial robot, and constructs the robot joint vector. The angle feature is extracted, the attitude feature representation of the industrial robot is performed, and the attitude matching is performed based on the Euclidean distance and the cosine similarity to detect the abnormal attitude of the industrial robot. The method in this paper combines the three-dimensional information of the joint axis of the industrial robot to match the pose more accurately. A six-axis industrial robot working video dataset is constructed and abnormal posture detection is carried out. The experimental results show that the accuracy of the abnormal posture detection method of industrial robots in this paper is 96.6%, and the detection time of a single frame image is 43 ms, which meets the practical application requirements of robot safety monitoring.