The invention relates to a positioner device or large-bearing moving device provided with a vertical shaft needing to move vertically and applied to a robot welding system or manual welding, in particular to a small-resistance anti-stall lifting device with the vertical shaft needing to move vertically. The small-resistance anti-stall lifting device comprises a vertical column assembly, a ball screw transmission system, a balance system, an emergency brake system and the like, wherein the vertical column assembly comprises a base, a vertical column, a support, a moving frame and a cantilever beam. A servo motor transmits power through a coupler which is connected with a ball screw, and therefore, the moving frame drives the cantilever beam to move vertically. The moving frame is connected with the cantilever beam, balancing is achieved through chain transmission and counter weight, and resistance is negligible when the vertical shaft moves vertically. A gear rack is arranged at rear of the small-resistance anti-stall lifting device and matched with a laser sensor to measure the speed, when the speed exceeds a set value of a brake, the judgement that the small-resistance anti-stall lifting device stalls can be performed, an outage signal is transmitted to the brake arranged at the bottom end of the screw and matched with the screw through a gear, the brake performs braking hold, emergency brake is achieved, and safety accidents caused by stall due to damage to the ball screw transmission system are avoided.