A collaborative robot side-mounted lifting mechanism

Abstract

The present invention relates to the field of robot lifting technology, and specifically to a side-mounted lifting mechanism for a collaborative robot, comprising a box body, a bottom plate, a top cover plate, a middle transition cover plate, an upper transition cover plate, a lifting unit and a load installation unit. The installation position of the collaborative robot is changed to be side-mounted, and the collaborative robot is lifted and lowered by a vertical lifting method, which solves the problem that traditional robotic arms are difficult to operate in a small space due to their large size. At the same time, a guide structure and two sets of slide rail sub-structures are provided, which solves the problem that the traditional robotic arm lifting structure has a slow response speed and poor stability, resulting in reduced working efficiency of the collaborative robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robot lifting, and specifically relates to a side-mounted lifting mechanism for a collaborative robot. Background Art

[0002] Positioning to a certain point position in three-dimensional or two-dimensional space for operation. By using the combination of a robotic arm and a robot, it has been rapidly developed in the application field of multi-joint robotic arms. Among them, a typical one is the lightweight multi-joint robotic arm represented by the Reelman robotic arm.

[0003] Currently, the common installation methods of robotic arms and robots on the market are both forward installation or hoisting. These two installation methods have become the standard installation methods for traditional robots. However, this also limits the development prospects of multi-joint robotic arms. In the case of a small operating space, obviously, due to its own volume, the traditional robotic arm has an overly large arm span and it is difficult to operate smoothly in a narrow space. At the same time, the narrow space will also limit the stroke coverage range of the collaborative robot, resulting in a reduction of its effective working radius, thereby reducing its operation efficiency; in addition, most of its lifting structures adopt a single-stage lifting adjustment method. This kind of lifting mechanism has a slow response speed and poor stability, making it easy to generate shaking during the lifting process, resulting in an offset between the collaborative robot and the working point, further reducing its working efficiency. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a side-mounted lifting mechanism for a collaborative robot. By changing the installation position of the collaborative robot to make it a side-mounted method, and at the same time using the vertical lifting method to lift the collaborative robot, it solves the problem that the traditional robotic arm is difficult to operate in a narrow space due to its overly large volume. At the same time, a guiding structure and two sets of slide rail pair structures are also provided to solve the problem that the lifting structure of the traditional robotic arm has a slow response speed and poor stability, resulting in a reduction of the working efficiency of the collaborative robot.

[0005] The technical solution adopted by the present invention to solve the above technical problems is: a side-mounted lifting mechanism for a collaborative robot, including a box body in a U-shaped structure, a bottom plate fixedly installed at the lower end of the box body, and a top cover plate fixedly installed at the upper end of the box body. A middle-layer lifting cover plate is installed at a position near the middle of the inner side wall of the box body, and an upper-layer lifting cover plate is movably arranged at a position near the upper end of the box body. A lifting unit is fixedly installed at the upper end of the bottom plate, and a load installation unit is arranged at the upper end of the top cover plate.

[0006] A sandwich-layer copper nut is fixedly installed in the middle of the middle-layer lifting cover plate. A hollow lead screw is screwed inside the sandwich-layer copper nut. The upper end of the hollow lead screw is fixedly connected with a head bearing, and the lower end of the hollow lead screw is fixedly installed with a linkage block.

[0007] An internal threaded sleeve is fixedly installed in the middle of the upper lifting cover plate, and fastening nuts are arranged in a triangular structure around the internal threaded sleeve. A lifting rod is fixedly installed on the inner side of the fastening nut. The upper end of the lifting rod passes through the top cover plate and is fixedly connected to the load installation unit.

[0008] Preferably, a fixer is arranged in a triangular structure around the sandwich copper nut, a slide rod is fixedly installed on the inner side of the fixer, the upper end of the slide rod is fixedly connected with an abutment spring, an upper screw rod is clearance-matched inside the inner threaded sleeve, the lower end of the upper screw rod extends to the inside of the hollow screw rod and is fixedly connected to the inner wall of the end bearing, the upper end of the upper screw rod is rotatably connected to the top cover plate, the threaded section on the upper screw rod is opened at a position close to the top cover plate, the lower end of the lifting rod passes through the abutment spring, extends to the inside of the slide rod and is in sliding contact with the slide rod.

[0009] Preferably, the top cover plate is symmetrically fixedly mounted with limiting columns, the lower ends of which penetrate through the upper lifting cover plate and serve to limit the upper lifting cover plate.

[0010] Preferably, the upper end of the abutment spring and the upper lifting cover plate are in contact but not in adhesion.

[0011] Preferably, the pitch of the outer thread section of the hollow screw is greater than the pitch of the upper thread section of the upper screw.

[0012] Preferably, the lifting unit comprises a driving assembly, the driving assembly is fixedly mounted on the upper end of the base plate, and a linkage pipe is fixedly connected to the upper end of the driving assembly.

[0013] Preferably, the driving assembly includes a driving motor, which is fixedly installed on the upper surface of the base plate near the end, the output shaft of the driving motor passes through the bottom of the base plate and is fixedly installed with a driving gear, the side of the driving gear is meshed with a driven gear, the driven gear is installed on the lower end of the driven shaft head by a key connection, and the upper end of the driven shaft head is fixedly installed on the lower end of the linkage tube.

[0014] Preferably, the inner side wall of the linkage tube is evenly provided with limiting sliding grooves along its circumference, and the linkage block is fixedly installed in the limiting sliding grooves.

[0015] Preferably, the upper end of the linkage tube does not contact the sandwich layer copper nut.

[0016] Preferably, the load mounting unit includes a robot mounting seat, which is mounted on the outer side of the upper end of the box and has a shield plate fixedly mounted on its side wall. The lower end of the robot mounting seat extends to the position on the side of the box where a slide rail sub-assembly is fixedly mounted, and the lower end of the slide rail sub-assembly is fixedly mounted on the side wall of the box.

[0017] Preferably, the slide rail sub-assembly includes a lower linear slide rail, which is symmetrically installed on the lower end of the side wall of the box body, and a lower electric slider is symmetrically installed on the lower linear slide rail. A thermal break type connecting plate is slidably installed between the two lower linear slide rails, and an upper linear slide rail is fixedly installed on the inner side of the thermal break type connecting plate. The upper end of the upper linear slide rail is fixedly connected to the robot mounting seat, and the upper electric slider is symmetrically installed on the upper linear slide rail.

[0018] Beneficial effects of the present invention:

[0019] (1) The present invention changes the traditional forward installation and hoisting method into a side installation method, making the installation of the robot arm more flexible, reducing the space volume occupied by the robot arm, and at the same time increasing its effective working radius, thereby improving the working efficiency of the collaborative robot.

[0020] (2) The lifting structure described in the present invention adopts a multi-section lifting method, which can not only effectively expand the coverage range of the collaborative robot's mechanical arm and increase the operating radius, but also can be used in narrow working environments. With a smaller arm span and a smaller number of joints, operations that can be achieved with a larger arm span and a larger number of joints can be achieved, thereby expanding the application scenarios of light mechanical arms.

[0021] (3) The present invention adopts a method of connecting two sets of linear slide rails under the robot mounting seat, so that the lateral torque generated by the collaborative robot can be transmitted to the box body and the bottom plate, thereby improving the lateral torque resistance of the collaborative robot installation position, while also ensuring its stability during operation, which is conducive to improving its work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0023] Figure 1 is a first three-dimensional structural schematic diagram of the present invention;

[0024] Figure 2 is a second three-dimensional structural schematic diagram of the present invention;

[0025] Figure 3 It is a schematic diagram of a cutaway three-dimensional structure of the present invention;

[0026] Figure 4 It is a schematic diagram of the three-dimensional structure after removing the box body and the load installation unit in the present invention;

[0027] Figure 5 It is a schematic diagram of the three-dimensional structure of the hollow screw rod, the end bearing, the slide rod, the abutment spring, the linkage block, the upper lifting cover plate and the lifting rod in the present invention;

[0028] Figure 6 The present invention Figure 3 A schematic diagram of the enlarged structure at point A;

[0029] Figure 7 The present invention Figure 3 A schematic diagram of the enlarged structure at B;

[0030] Figure 8 The present invention Figure 3 A schematic diagram of the enlarged structure at C;

[0031] Fig. 9 The present invention Figure 3 A schematic diagram of the structure at D of FIG.

[0032] Fig.10 The present invention Figure 3 A schematic diagram of the structure at E of FIG.

[0033] Fig.11 It is a schematic diagram of the three-dimensional structure between the linkage block and the linkage pipe in the present invention.

[0034] In the figure:

[0035] 1. Box body; 2. Bottom plate; 3. Top cover plate; 31. Limiting column;

[0036] 4. Middle lifting cover plate; 41. Sandwich layer copper nut; 42. Hollow screw rod; 43. End bearing; 44. Fixer; 45. Sliding rod; 46. Abutment spring; 47. Linkage block;

[0037] 5. Upper lifting cover plate; 51. Internal threaded sleeve; 52. Upper screw rod; 53. Fastening nut; 54. Lifting rod;

[0038] 6. Lifting unit; 61. Driving assembly; 611. Driving motor; 612. Driving gear; 613. Driven gear; 614. Driven shaft head;

[0039] 62, linkage pipe; 621, limit slide;

[0040] 7. Load mounting unit; 71. Robot mounting seat; 72. Shield plate; 73. Slide rail subassembly; 731. Upper linear slide rail; 732. Upper electric slide block; 733. Broken bridge type connecting plate; 734. Lower linear slide rail; 735. Lower electric slide block. DETAILED DESCRIPTION

[0041] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0042] Embodiment 1:

[0043] See also Figures 1 to 4, A collaborative robot side-mounted lifting mechanism, including a box body 1 with a U-shaped structure, a bottom plate 2 fixedly installed at the lower end of the box body 1, and a top cover plate 3 fixedly installed at the upper end of the box body 1. A middle lifting cover plate 4 is installed at a position near the middle of the inner side wall of the box body 1, and an upper lifting cover plate 5 is movably arranged at a position near the upper end inside the box body 1.

[0044] Refer to Figure 3 and Figure 4 , Symmetrically fixed limit columns 31 are installed on the top cover plate 3. The lower ends of the limit columns 31 penetrate through the upper lifting cover plate 5 and play a limiting role on the upper lifting cover plate 5.

[0045] Refer to Figures 3 to 7 , A sandwich layer copper nut 41 is fixedly installed in the middle of the middle lifting cover plate 4. A hollow lead screw 42 is screwed inside the sandwich layer copper nut 41. The upper end of the hollow lead screw 42 is fixedly connected with a head bearing 43. Fixing devices 44 are arranged in a triangular structure around the sandwich layer copper nut 41. A sliding cylinder rod 45 is fixedly installed inside the fixing device 44. The upper end of the sliding cylinder rod 45 is fixedly connected with a contact spring 46. A linkage block 47 is fixedly installed at the lower end of the hollow lead screw 42.

[0046] Refer to Figures 3 to 5 and Figures 7 to 9 , An internally threaded sliding sleeve 51 is fixedly installed in the middle of the upper lifting cover plate 5. An upper lead screw 52 is installed with clearance fit inside the internally threaded sliding sleeve 51. The lower end of the upper lead screw 52 extends into the hollow lead screw 42 and is fixedly connected to the inner wall of the head bearing 43. The upper end of the upper lead screw 52 is rotatably connected to the top cover plate 3. The threaded section on the upper lead screw 52 is arranged near the top cover plate 3. Fastening nuts 53 are arranged in a triangular structure around the internally threaded sliding sleeve 51. A lifting rod 54 is fixedly installed inside the fastening nut 53. The upper end of the lifting rod 54 penetrates through the top cover plate 3 and is fixedly connected to the load installation unit 7. The lower end of the lifting rod 54 penetrates through the contact spring 46, extends into the sliding cylinder rod 45 and is in sliding contact with the sliding cylinder rod 45. The upper end of the contact spring 46 is in a state of non-sticking contact with the upper lifting cover plate 5. The pitch of the threaded section on the outer side of the hollow lead screw 42 is greater than the pitch of the threaded section on the upper lead screw 52.

[0047] During specific operation, the box body 1 can play a certain protective role for the lifting unit 6 inside it and support at the same time. The function of the bottom plate 2 is to provide an installation position for the driving component 61, so as to play a fixed support role.

[0048] Embodiment Two:

[0049] Basically the same as the technical solution of Embodiment One, refer to Figures 1 to 3The difference is that: the upper end of the base plate 2 is fixedly installed with a lifting unit 6, and the lifting unit 6 includes a driving component 61. The upper end of the base plate 2 is fixedly installed with the driving component 61, and the upper end of the driving component 61 is fixedly connected with a linkage pipe 62.

[0050] See also Figures 2 to 4 as well as Fig.10 and Fig.11 The driving assembly 61 shown includes a driving motor 611, and the driving motor 611 is fixedly installed at a position near the end of the upper end surface of the base plate 2. The output shaft of the driving motor 611 passes through the bottom of the base plate 2 and is fixedly installed with a driving gear 612. The side of the driving gear 612 is meshed with a driven gear 613. The driven gear 613 is installed at the lower end of the driven shaft head 614 by a key connection. The upper end of the driven shaft head 614 is fixedly installed at the lower end of the linkage tube 62. The inner side wall of the linkage tube 62 is evenly provided with a limiting slide groove 621 along its circumference. The linkage block 47 is fixedly installed in the limiting slide groove 621. The upper end of the linkage tube 62 does not contact the sandwich layer copper nut 41.

[0051] During specific operation, when lifting is required, the driving motor 611 is energized first, and the driving motor 611 drives the active gear 612 to rotate. Under the meshing of the driven gear 613, the driven shaft head 614 will also rotate synchronously, thereby driving the linkage tube 62 to rotate, and the linkage block 47 and the hollow screw rod 42 are driven to rotate through the linkage tube 62. Due to the limiting effect of the lifting rod 54, the sandwich copper nut 41 will drive the middle lifting cover plate 4 to move upward along the hollow screw rod 42, thereby driving the slide rod 45 and the abutment spring 46 to move upward. Under the lifting effect of the slide rod 45 and the abutment spring 46, the upper lifting cover plate 5 will drive the fastening nut 53 and the lifting rod 54 to move upward, thereby driving the load installation unit 7 to move upward, so that the robot on the load installation unit 7 can quickly approach the vicinity of the operating point, thereby realizing the function of coarse adjustment;

[0052] It should be noted that a buffer X is fixedly installed on the hollow screw rod 42 at the smooth section near the sandwich copper nut 41. Figures 3 to 5 The buffer X is a truncated cone structure with a larger upper portion and a smaller lower portion and is made of rubber material. An annular groove is provided inside the buffer X, and the annular groove is filled with grease. When the sandwich copper nut 41 is separated from the hollow screw rod 42, the buffer X can buffer the sandwich copper nut 41 at a relatively fast speed. At the same time, after being impacted by the sandwich copper nut 41, its bottom will deform, so that the grease is squeezed out and flows downward to the inner wall of the sandwich copper nut 41. Then, during the movement of the sandwich copper nut 41, the outer threaded section of the hollow screw rod 42 is lubricated, which is beneficial to the stable up and down movement of the sandwich copper nut 41.

[0053] During the rotation of the hollow screw rod 42, due to the existence of the end bearing 43, the upper screw rod 52 will also rotate synchronously. In the first half of the jacking, the upper lifting cover plate 5 and the internal threaded sleeve 51 are not in contact with the upper screw rod 52, so its jacking process is carried out along the smooth section on the upper screw rod 52. When the internal threaded sleeve 51 moves upward to contact the threaded section on the upper screw rod 52, the sandwich copper nut 41 will separate from the threaded section on the hollow screw rod 42. At this time, the middle lifting cover plate 4 no longer provides lifting force. Under the action of the limit column 31, the upper lifting cover plate 5 and the internal threaded sleeve 51 will continue to move upward along the threaded section on the upper screw rod 52. Since the pitch of the threaded section is small at this time, the upper lifting cover plate 5 moves upward slowly. The upper lifting cover plate 5 drives the load installation unit 7 to move slowly upward as a whole, thereby driving the robot on the load installation unit 7 to move slowly to the operating point, thereby realizing the fine-tuning function.

[0054] Embodiment three:

[0055] The technical solution is basically the same as that of the second embodiment, see Figures 1 to 3 The difference is that: a load installation unit 7 is arranged on the upper end of the top cover plate 3, and the load installation unit 7 includes a robot mounting seat 71, which is mounted on the outer side of the upper end of the box body 1 and a shield plate 72 is fixedly installed on its side wall, and a slide rail sub-assembly 73 is fixedly arranged at the position extending from the lower end of the robot mounting seat 71 to the side of the box body 1, and the lower end of the slide rail sub-assembly 73 is fixedly installed on the side wall of the box body 1.

[0056] See also Figure 1 and Figure 3 The slide rail subassembly 73 includes a lower linear slide rail 734, and the lower linear slide rail 734 is symmetrically installed at the lower end of the side wall of the box body 1. The lower electric slider 735 is symmetrically installed on the lower linear slide rail 734. A broken bridge type connecting plate 733 is slidably installed between the two lower linear slide rails 734. An upper linear slide rail 731 is fixedly installed on the inner side of the broken bridge type connecting plate 733. The upper end of the upper linear slide rail 731 is fixedly connected to the robot mounting seat 71, and an upper electric slider 732 is symmetrically installed on the upper linear slide rail 731.

[0057] During specific work, before the lifting operation, the collaborative robot side-mounted lifting mechanism is manually placed in the designated area, and then the collaborative robot is installed on the right side wall of the robot mounting seat 71. During the lifting process, the collaborative robot completes the designated work at the designated height. During the upward lifting of the robot mounting seat 71 and the collaborative robot, the robot mounting seat 71 will drive the upper linear slide rail 731 and the broken bridge type connecting plate 733 to move upward. Under the action of the two pairs of linear slide rails, the problem of sufficient travel usage requirements can be met. At the same time, the two pairs of linear guide rails can feed back the deformation caused by the load of the robot mounting seat 71 to the base plate 2 through the closed loop here, so that there is space for release. In this way, it is ensured that the collaborative robot has a good rigid base to maintain during the operation, thereby improving its operation stability.

[0058] The working principle of the present invention when in use:

[0059] 1. Before the lifting operation, the side-mounted lifting mechanism of the collaborative robot is manually placed in the designated area, and then the collaborative robot is installed on the right wall of the robot mounting seat 71. When lifting, the driving motor 611 is powered on, and the driving motor 611 drives the driving gear 612 to rotate. Under the meshing of the driven gear 613, the driven shaft head 614 will also rotate synchronously, thereby driving the linkage tube 62 to rotate;

[0060] Second: the linkage tube 62 will drive the linkage block 47 and the hollow screw 42 to rotate synchronously during the rotation process. Due to the limiting effect of the lifting rod 54, the sandwich copper nut 41 will drive the middle lifting cover plate 4 to move upward along the hollow screw 42, thereby driving the slide rod 45 and the abutment spring 46 to move upward. Under the lifting effect of the slide rod 45 and the abutment spring 46, the upper lifting cover plate 5 will drive the fastening nut 53 and the lifting rod 54 to move upward, thereby driving the load installation unit 7 to move upward, so that the robot on the load installation unit 7 can quickly approach the vicinity of the operating point, thereby realizing the function of coarse adjustment;

[0061] 3: During the rotation of the hollow screw 42, due to the existence of the end bearing 43, the upper screw 52 will also rotate synchronously. In the first half of the jacking, the upper lifting cover plate 5 and the internal threaded sleeve 51 do not contact the upper screw 52, ​​so the jacking process is carried out along the smooth section on the upper screw 52. When the internal threaded sleeve 51 moves upward to contact the threaded section on the upper screw 52, ​​the sandwich copper nut 41 will be separated from the threaded section on the hollow screw 42. At this time, the middle lifting cover plate 4 no longer provides lifting force. Under the action of the limit column 31, the upper lifting cover plate 5 and the internal threaded sleeve 51 will continue to move upward along the threaded section on the upper screw 52. Since the pitch of the threaded section is small at this time, the upper lifting cover plate 5 moves upward slowly. The load installation unit 7 is driven to move slowly upward as a whole through the upper lifting cover plate 5, thereby driving the robot on the load installation unit 7 to move slowly to the operating point, thereby realizing the function of fine-tuning.

[0062] 4: During the upward lifting process of the robot mounting seat 71 and the collaborative robot, the robot mounting seat 71 will drive the upper linear slide rail 731 and the thermally-broken bridge connecting plate 733 to move upward. Under the action of the two pairs of linear slide rails, the problem of sufficient travel usage requirements can be met. At the same time, the two pairs of linear guide rails can feed back the deformation caused by the load of the robot mounting seat 71 to the base plate 2 through the closed loop here, so that there is space for release. In this way, the collaborative robot can be guaranteed to have a good rigid base maintenance during operation, thereby improving its operation stability.

[0063] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A side-mounted lifting mechanism for a collaborative robot, comprising a box body (1) in a U-shaped structure, a bottom plate (2) fixedly installed at the lower end of the box body (1), and a top cover plate (3) fixedly installed at the upper end of the box body (1), characterized in that, A middle lifting cover plate (4) is installed near the middle of the inner side wall of the box body (1), an upper lifting cover plate (5) is movably installed near the upper end of the inner side wall of the box body (1), a lifting unit (6) is fixedly installed at the upper end of the bottom plate (2), and a load installation unit (7) is installed at the upper end of the top cover plate (3); A sandwich copper nut (41) is fixedly installed in the middle of the middle lifting cover plate (4), a hollow screw rod (42) is screwed inside the sandwich copper nut (41), an end bearing (43) is fixedly connected to the upper end of the hollow screw rod (42), and a linkage block (47) is fixedly installed at the lower end of the hollow screw rod (42); An internal threaded sleeve (51) is fixedly installed in the middle of the upper lifting cover plate (5), and fastening nuts (53) are arranged in a triangular structure around the internal threaded sleeve (51). A lifting rod (54) is fixedly installed on the inner side of the fastening nut (53), and the upper end of the lifting rod (54) passes through the top cover plate (3) and is fixedly connected to the load installation unit (7). An upper screw rod (52) is fitted in the inner side of the internal threaded sleeve (51), and the pitch of the outer thread section of the hollow screw rod (42) is greater than the pitch of the upper thread section of the upper screw rod (52); A fixing device (44) is arranged in a triangular structure around the sandwich copper nut (41), a slide rod (45) is fixedly installed inside the fixing device (44), and an abutment spring (46) is fixedly connected to the upper end of the slide rod (45); A driving assembly (61) is fixedly mounted on the upper end of the bottom plate (2), the driving assembly (61) comprising a driving motor (611), the driving motor (611) is fixedly mounted on the upper end surface of the bottom plate (2) near the end, the output shaft of the driving motor (611) passes through the bottom of the bottom plate (2) and is fixedly mounted with a driving gear (612), the side of the driving gear (612) is meshed with a driven gear (613), the driven gear (613) is mounted on the lower end of a driven shaft head (614) by means of a key connection, and the upper end of the driven shaft head (614) is fixedly mounted on the lower end of the linkage tube (62); The inner side wall of the linkage tube (62) is evenly provided with limit sliding grooves (621) along its circumference, and the linkage block (47) is fixedly installed in the limit sliding groove (621); the upper end of the linkage tube (62) does not contact the sandwich copper nut (41).

2. A collaborative robot side-mounted lifting mechanism according to claim 1, characterized in that: The lower end of the upper screw rod (52) extends into the interior of the hollow screw rod (42) and is fixedly connected to the inner wall of the end bearing (43). The upper end of the upper screw rod (52) is rotatably connected to the top cover plate (3). The threaded section on the upper screw rod (52) is provided at a position close to the top cover plate (3). The lower end of the lifting rod (54) penetrates the abutment spring (46), extends into the interior of the slide rod (45), and is in sliding contact with the slide rod (45).

3. A collaborative robot side-mounted lifting mechanism according to claim 2, characterized in that: The top cover plate (3) is symmetrically fixedly mounted with limit columns (31), the lower ends of the limit columns (31) penetrate the upper lift cover plate (5) and play a limiting role on the upper lift cover plate (5).

4. A collaborative robot side-mounted lifting mechanism according to claim 3, characterized in that: The upper end of the abutment spring (46) and the upper lifting cover plate (5) are in contact and non-adhesive state.

5. The collaborative robot side-mounted lifting mechanism according to claim 4, characterized in that: The lifting unit (6) comprises a driving assembly (61), and a linkage pipe (62) is fixedly connected to the upper end of the driving assembly (61).

6. The collaborative robot side-mounted lifting mechanism according to claim 5, characterized in that: The load mounting unit (7) comprises a robot mounting seat (71), the robot mounting seat (71) being mounted on the outer side of the upper end of the box body (1) and having a shield plate (72) fixedly mounted on its side wall; a slide rail sub-assembly (73) is fixedly arranged at a position where the lower end of the robot mounting seat (71) extends to the side of the box body (1); and the lower end of the slide rail sub-assembly (73) is fixedly mounted on the side wall of the box body (1).

7. The collaborative robot side-mounted lifting mechanism according to claim 6, characterized in that: The slide rail subassembly (73) comprises a lower linear slide rail (734), the lower end of the side wall of the box body (1) is symmetrically mounted with the lower linear slide rail (734), the lower electric slider (735) is symmetrically mounted on the lower linear slide rail (734), a broken bridge type connecting plate (733) is slidably mounted between the two lower linear slide rails (734), an upper linear slide rail (731) is fixedly mounted on the inner side of the broken bridge type connecting plate (733), the upper end of the upper linear slide rail (731) is fixedly connected to the robot mounting seat (71), and an upper electric slider (732) is symmetrically mounted on the upper linear slide rail (731).

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