Retractable lifting platform structure of material transport robot and material transport robot

Abstract

The present invention provides a retractable lifting platform structure of a material transport robot and a material transport robot. The retractable lifting platform structure includes a first flexible transmission component and a lifting platform base, a first slide, and a second slide that slide in sequence. The first flexible transmission component includes a first transmission wheel, a second transmission wheel, and a first flexible member. The first flexible member has a first mating portion and a second mating portion with opposite movement directions. The first mating portion is fixedly connected to the front of the lifting platform base in the pushing direction, and the second mating portion is fixedly connected to the rear of the second slide in the pushing direction. The material transport machine includes a retractable lifting platform structure. With the first slide as a reference, after the first flexible member rotates, the lifting platform base and the second slide extend outward from opposite directions respectively to achieve a single-drive two-stage telescopic effect, which is convenient for controlling the material transport robot and reduces production costs.

Description

Technical Field

[0001] The present invention relates to the field of material transport equipment, and in particular to a retractable lifting platform structure of a material transport robot and a material transport machine. Background Art

[0002] An existing material transport robot consists of a main body, a driving wheel group, a load-bearing wheel group, a lifting device and a retractable lifting platform structure. The driving wheel group and the load-bearing wheel group are arranged at the bottom of the main body. The lifting device includes two vertical screws arranged opposite to each other. The retractable lifting platform structure includes a lifting platform base. A screw nut for cooperating with the vertical screw is installed on the lifting platform base. The motor drives the vertical screw to rotate to realize the lifting and lowering movement of the retractable lifting platform structure.

[0003] The telescopic lift structure also includes a first slide and a second slide, which are sequentially slidably mounted on the lift base in the pushing direction. The lift base is equipped with a first belt drive assembly and a first drive motor. The first slide is equipped with a second belt drive assembly and a second drive motor. The first slide is fixed to the first drive belt of the first belt drive assembly, and the second slide is fixed to the second drive belt of the second belt drive assembly. The first drive motor drives the first drive belt and moves the first slide in the pushing direction. The second drive motor drives the second drive belt and moves the second slide in the pushing direction, thereby achieving a two-stage telescopic effect with a large travel range.

[0004] A problem with the existing material transport robot is that when controlling the telescopic transformation of the first slide and the second slide, the robot control system needs to control the first drive motor and the second drive motor separately, which causes inconvenience in the use and control of the robot. Summary of the Invention

[0005] A first object of the present invention is to provide a retractable lifting platform structure of a material transport robot that achieves a single-drive, two-stage telescopic effect.

[0006] The second object of the present invention is to provide a material transport robot that achieves a single-drive two-stage telescopic effect.

[0007] The retractable lifting platform structure of the material transport robot provided by the first purpose of the present invention includes a lifting platform base and a first slide, and the first slide slides and cooperates with the lifting platform base in the pushing direction; the retractable lifting platform structure also includes a second slide and a first flexible transmission assembly; the second slide slides and cooperates with the first slide in the pushing direction; the first flexible transmission assembly includes a first transmission wheel, a second transmission wheel and a first flexible member, the first transmission wheel and the second transmission wheel are arranged on the first slide in sequence along the pushing direction, and the first flexible member is arranged between the first transmission wheel and the second transmission wheel; the first flexible member has a first mating point and a second mating point, when the first mating point moves in the opposite direction of the pushing direction relative to the first slide, the second mating point moves relative to the first slide in the pushing direction; the first mating point is fixedly connected to the front of the lifting platform base in the pushing direction, and the second mating point is fixedly connected to the rear of the second slide in the pushing direction.

[0008] It can be seen from the above scheme that the first flexible part is a transmission belt or a transmission chain. Since the first mating part and the second mating part on the first flexible part are respectively fixed on the base of the lifting platform and the second slide, and since the movement directions of the first mating part and the second mating part are opposite, when the first slide moves relative to the base of the lifting platform along the pushing direction, it is equivalent to the base of the lifting platform and the first mating part both moving in the opposite direction relative to the first slide along the pushing direction. At this time, the second mating part and the second slide move along the pushing direction, thereby realizing a single-drive two-level telescopic effect, which is convenient for controlling the material transport robot and reducing production costs.

[0009] A further solution is that, in the pushing direction, when the first engaging portion is close to the second transmission wheel and away from the first transmission wheel, the second engaging portion is close to the first transmission wheel and away from the second transmission wheel.

[0010] As can be seen from the above, on the first flexible part, the first mating point and the second mating point are in the farthest relative positions. This setting can maximize the relative stroke between the lifting platform base, the first slide and the second slide, thereby improving the outward extension effect of the second slide; in addition, combined with the first mating point fixedly connected to the front part of the lifting platform base in the pushing direction, the second mating point is fixedly connected to the rear part of the second slide in the pushing direction, this setting can maximize the outward extension distance of the second slide and the first slide, thereby further improving the outward extension effect of the second slide.

[0011] A further solution is that the retractable lifting platform structure also includes a second flexible transmission assembly; the second flexible transmission assembly includes a third transmission wheel, a fourth transmission wheel and a second flexible member, the third transmission wheel and the fourth transmission wheel are arranged in sequence on the base of the lifting platform along the pushing direction, and the second flexible member is arranged between the third transmission wheel and the fourth transmission wheel; the third mating part of the second flexible member is fixedly connected to the rear part of the first slide in the pushing direction.

[0012] As can be seen from the above, the second flexible transmission assembly is used to drive the first slide to move relative to the lifting platform base. When the drive motor drives the second flexible transmission assembly to operate, the first slide moves relative to the lifting platform base and the second slide moves relative to the first slide.

[0013] A further solution is that the first flexible transmission component also includes a first rotating shaft and a first bolt, the first transmission wheel is rotatably connected to the first rotating shaft, the first rotating shaft is provided with a first elongated slot extending in the pushing direction, the first bolt passes through the first elongated slot and is locked on the first slide, and / or the first flexible transmission component also includes a second rotating shaft and a second bolt, the second transmission wheel is rotatably connected to the second rotating shaft, the second rotating shaft is provided with a second elongated slot extending in the pushing direction, the second bolt passes through the second elongated slot and is locked on the first slide.

[0014] As can be seen from the above, this setting makes the position of the first rotating shaft member and the second rotating shaft member adjustable in the pushing direction, which not only can adjust the tension of the first flexible member, but also can increase or decrease the distance between the first rotating shaft member and the second rotating shaft member according to the material transportation situation, thereby changing the outward extension stroke of the first slide and the second slide.

[0015] A further solution is that the first flexible part is the first conveyor belt, and the first conveyor belt has a first tooth group; the retractable lifting platform structure includes a first fixed part and a second fixed part, the first fixed part has a second tooth group, and the second fixed part has a third tooth group; the first fixed part is fixed on the base of the lifting platform, the first matching part is fixed between the first fixed part and the base of the lifting platform, and the first tooth group is engaged with the second tooth group; the second fixed part is fixed on the second slide, the second matching part is fixed between the second fixed part and the second slide, and the first tooth group is engaged with the third tooth group.

[0016] As can be seen from the above, taking the first fixing member as an example, since the first fixing member has a second tooth group that cooperates with the first tooth group on the first conveyor belt, when the first tooth group engages with the second tooth group, the first conveyor belt is reliably fixed on the base of the lifting platform, thereby ensuring the accuracy of the transmission ratio and the telescopic distance; in addition, the first fixing member can be removed and reinstalled to adjust the engagement position.

[0017] A further solution is that two symmetrical first ball guide rails are arranged between the first slide and the second slide, and two symmetrical second ball guide rails are arranged between the lifting platform base and the first slide; the first flexible transmission component and / or the second flexible transmission component are located between the two first ball guide rails, and / or the first flexible transmission component and / or the second flexible transmission component are located between the two second ball guide rails.

[0018] As can be seen from the above, this arrangement enables the mechanical stability of the telescopic lifting platform structure to be maintained even when the second slide carries heavy objects.

[0019] A further solution is that the retractable lifting platform structure also includes a third flexible transmission component; the third flexible transmission component includes a fifth transmission wheel, a sixth transmission wheel and a third flexible member, the fifth transmission wheel and the sixth transmission wheel are arranged on the second slide in sequence along the pushing direction, and the third flexible member is arranged between the fifth transmission wheel and the sixth transmission wheel; the third flexible member protrudes from the second slide.

[0020] As can be seen from the above, the third flexible transmission assembly is used to send objects on the second slide out or send objects into the second slide.

[0021] A further solution is that two groups of third flexible transmission components are respectively arranged at opposite ends of the second slide in the width direction, and the width direction is perpendicular to the pushing direction; in the width direction, the width of the second slide is greater than the width of the first slide, and the third flexible transmission component is located on the outside of the first slide.

[0022] As can be seen from the above, this arrangement can effectively increase the bearing area of the second slide, thereby making the retractable lifting platform structure suitable for transporting larger objects.

[0023] A further solution is that a limit baffle is provided on the second slide, and the limit baffle is located at the rear end of the second slide in the pushing direction.

[0024] As can be seen from the above, the limit baffle is used to limit the objects on the second slide, preventing the objects from crossing the designated area of the second slide and affecting the drive unit and other device structures located behind the second slide.

[0025] The material transport robot provided by the second object of the present invention includes a main body and a retractable lifting platform structure liftably mounted on the main body; the retractable lifting platform structure adopts the above-mentioned retractable lifting platform structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a structural diagram of an embodiment of a material transport robot of the present invention.

[0027] Figure 2 This is a structural diagram from the first perspective of the retractable lifting platform structure in an embodiment of the material transport robot of the present invention.

[0028] Figure 3 This is a structural diagram from a second perspective of the retractable lifting platform structure in an embodiment of the material transport robot of the present invention.

[0029] Figure 4 2 is a structural diagram of the first slide and the first flexible transmission assembly in an embodiment of the material transport robot of the present invention.

[0030] Figure 5 This is a first cross-sectional view of the retractable lifting platform structure in an embodiment of the material transport robot of the present invention.

[0031] Figure 6 This is a second cross-sectional view of the retractable lifting platform structure in the material transport robot embodiment of the present invention.

[0032] Figure 7 Schematic diagram of the retractable lifting platform structure in the material transport robot embodiment of the present invention in the retracted state.

[0033] Figure 8 Schematic diagram of the material transport robot embodiment of the present invention with the retractable lifting platform structure in an extended state. DETAILED DESCRIPTION

[0034] See also Figure 1 , Figure 1 This is a structural diagram of an embodiment of the material transport robot of the present invention. A unified spatial rectangular coordinate system is established in the drawings to facilitate the description of the present invention. In this spatial rectangular coordinate system, the positive x-axis is the pushing direction of the material transport robot, the y-axis is the width direction of the material transport robot, and the z-axis is the height direction of the material transport robot.

[0035] The material transport robot provided by the present invention is an AGV (Automated Guided Vehicle) automatic tracking robot, which can achieve navigation through electromagnetic induction, laser induction, RFID induction, visual recognition, or fluorescent recognition. The electromagnetic induction method involves applying magnetic tape to the ground and installing an electromagnetic sensor on the bottom of the material transport robot. The electromagnetic sensor senses the magnetic strip landmarks on the bottom surface to achieve automatic travel. The laser induction method involves a laser scanner installed on the material transport robot identifying several positioning markers within its range of motion to determine its coordinate position, thereby guiding the AGV's movement. The RFID induction method involves automatically detecting coordinate positions using RFID tags and reading equipment, enabling the material transport robot to operate automatically. Stations can be arbitrarily defined using chip tags. Visual recognition methods include QR code recognition, in which a QR code is placed at a fixed location on the site. A camera is installed on the bottom of the material transport robot. After the camera captures and recognizes the QR code, the control system obtains the driving instructions indicated by the QR code and controls the material transport robot to proceed to the next movement. The fluorescent recognition method involves installing fluorescent strips on the site path and installing a fluorescent sensor on the bottom of the material transport robot. The fluorescent sensor senses the fluorescent strip landmarks to achieve automatic travel.

[0036] The material transport robot includes a main body 1, a drive wheel assembly 21, a load-bearing wheel assembly 22, and a retractable lift platform structure 3. The main body 1 comprises a base 11 and two side walls 12 erected at opposite ends of the base 11 in the y-axis direction. A transport space 100 extending along the x-axis is formed between the two side walls 12. The drive wheel assembly 2 and the load-bearing wheel assembly 22 are disposed at the bottom of the base 11, and the retractable lift platform structure 3 is disposed within the transport space 100. Vertical screw rods (not shown) driven by a motor are disposed in both side walls 12. A bottom frame (not shown) is connected between the two vertical screw rods, with screw nuts mounted on opposite sides. The retractable lift platform structure 3 is fixed to the bottom frame, and two screw nuts are respectively fitted onto the two vertical screw rods to achieve the lifting motion of the retractable lift platform structure 3.

[0037] See also Figure 2 , Figure 2 This is a structural diagram of the retractable lift structure of an embodiment of the material transport robot according to the present invention from a first perspective. The retractable lift structure 3 comprises a lift base 31, a first slide 32, and a second slide 33, arranged sequentially from bottom to top along the z-axis. Two symmetrical first ball guides 381 are provided between the first slide 32 and the second slide 33, enabling sliding engagement between the second slide 33 and the first slide 32 in the pushing direction. Two symmetrical second ball guides 382 are provided between the lift base 31 and the first slide 32, enabling sliding engagement between the first slide 32 and the lift base 31 in the x-axis direction.

[0038] In the y-axis direction, the width of the lift base 31 is greater than that of the second slide 33, and the width of the second slide 33 is greater than that of the first slide 32. A protective wall 39 extending along the x-axis is provided at each end of the lift base 31 in the y-axis direction. In the positive x-axis direction, the front end of the protective wall 39 has a guide portion 391. The two guide portions 391 are located on the left and right sides of the entrance to the transport space 100, respectively. These two guide portions 391 gradually narrow the width of the entrance to the transport space 100 from the outside to the inside. In the positive x-axis direction, behind the first slide 32 and the second slide 33, a protective shell 35 is installed at the rear end of the lift base 31.

[0039] Combine Figures 2 to 6 , Figure 3 This is a structural diagram of the retractable lifting platform structure from a second perspective in an embodiment of the material transport robot of the present invention. Figure 4 This is a structural diagram of the first slide and the first flexible transmission assembly in an embodiment of the material transport robot of the present invention. Figure 5 This is a first cross-sectional view of the retractable lifting platform structure in an embodiment of the material transport robot of the present invention. Figure 6This is a second cross-sectional view of the telescopic lift structure in an embodiment of the material transport robot according to the present invention. The telescopic lift structure 3 also includes a first flexible transmission assembly 41 mounted on the first slide 32 and a second flexible transmission assembly 42 mounted on the lift base 31. Both the first and second flexible transmission assemblies 41, 42 are belt drive assemblies. The first and second flexible transmission assemblies 41, 42 are positioned between two first ball guide rails 381, and the first and second flexible transmission assemblies 41, 42 are positioned between two second ball guide rails 382.

[0040] The first flexible transmission assembly 41 includes a first transmission wheel 411, a second transmission wheel 412 and a first flexible member 413. The first flexible member 413 is a first conveyor belt, and the first conveyor belt has a first tooth set (not shown in the figure); the first transmission wheel 411 and the second transmission wheel 412 are arranged in sequence on the first slide 32 along the positive direction of the x-axis, and the first flexible member 413 is arranged between the first transmission wheel 411 and the second transmission wheel 412.

[0041] The first flexible transmission assembly 41 further includes a first rotating shaft 321, a second rotating shaft 322, a first bolt, and a second bolt (not shown). The first transmission wheel 411 is rotatably connected to the first rotating shaft 321, and the second transmission wheel 412 is rotatably connected to the second rotating shaft 322. The first rotating shaft 321 is provided with a first elongated slot 323 extending in an elongated shape along the x-axis direction, and the first bolt passes through the first elongated slot 323 and is locked to the first slide 32. The second rotating shaft 322 is fixedly mounted to the first slide 32 via a second bolt. In other embodiments, the second rotating shaft is provided with a second elongated slot extending in an elongated shape along the pushing direction, and the second bolt passes through the second elongated slot and is locked to the first slide 32.

[0042] The first flexible member 413 has a first mating portion 413a and a second mating portion 413b. The first mating portion 413a and the second mating portion 413b are located at opposite positions on the first flexible member 413. The first mating portion 413a is located below the first slide 32, and the second mating portion 413b is located above the first slide 32. When the first mating portion 413a is closer to the second transmission wheel 412 and farther from the first transmission wheel 411, the second mating portion 413b is closer to the first transmission wheel 411 and farther from the second transmission wheel 412. When the first mating portion 413a moves in the negative direction of the x-axis relative to the first slide 32, the second mating portion 413b moves in the positive direction of the x-axis relative to the first slide 32.

[0043] The first mating portion 413a is fixedly connected to the front portion of the lift platform base 31 in the positive x-axis direction via the first fixing member 411. The second mating portion 413b is fixedly connected to the rear portion of the second slide 33 in the pushing direction via the second fixing member 442. The front portion of the lift platform base 31 in the x-axis direction is the portion of the lift platform base 31 that is closer to the guide portion 391 and farther from the protective housing 35. The rear portion of the second slide 33 in the pushing direction is the portion of the second slide 33 that is farther from the guide portion 391 and closer to the protective housing 35.

[0044] The first fixing member 441 has a second set of teeth, and the second fixing member 442 has a third set of teeth. The first fixing member 441 is fixed to the lifting platform base 31. The first mating portion 413a is fixed between the first fixing member 441 and the lifting platform base 31, and the first set of teeth meshes with the second set of teeth. The second fixing member 442 is fixed to the second slide 33. The second mating portion 413b is fixed between the second fixing member 442 and the second slide 33, and the first set of teeth meshes with the third set of teeth.

[0045] The second flexible transmission assembly 42 includes a third transmission wheel 421, a fourth transmission wheel 422, and a second flexible member 423. The second flexible member 423 serves as a second transmission belt and has a fourth tooth set. The third and fourth transmission wheels 421 and 422 are sequentially arranged on the lifting platform base 31 along the pushing direction, with the second flexible member 423 positioned between the third and fourth transmission wheels 421 and 422. The third mating portion 423a of the second flexible member 423 is fixedly connected to the rear portion of the first slide 32 in the positive direction of the x-axis via a third fixing member 443. The third fixing member 443 has a fifth tooth set and is bolted to the bottom surface of the first slide 32. The third mating portion 423a is located between the bottom surface of the second slide 32 and the third fixing member 443, with the fourth tooth set meshing with the fifth tooth set.

[0046] See also Figure 2 The retractable lift structure 3 also includes two sets of third flexible transmission assemblies 43, which are arranged at opposite ends of the second slide 33 along the y-axis. The third flexible transmission assembly 43 includes a fifth transmission wheel 431, a sixth transmission wheel 432, and a third flexible member 433. The third flexible member 433 is a conveyor belt. The fifth and sixth transmission wheels 431, 432 are arranged on the second slide 33 in sequence along the x-axis. The third flexible member 433 is located between the fifth and sixth transmission wheels 431, 432. The upper surface of the third flexible member 433 protrudes from the second slide 33.

[0047] See also Figure 3 Since the width of the second slide 33 is greater than the width of the first slide 32 in the y-axis direction, the third flexible transmission component 43 is arranged on the end of the protrusion of the second slide 33 and the first slide 32.

[0048] Combine Figure 2 and Figure 5 The retractable lift platform structure 3 also includes a first drive motor 371 and a second drive motor 372. The first drive motor 371 is used to drive the first flexible transmission assembly 41 to achieve the two-stage extension and retraction of the first slide 32 and the second slide 33. The second drive motor 372 is used to drive the third flexible transmission assembly 43 to deliver objects carried on the third flexible member 433 or to deliver objects to the third flexible member 433. The first drive motor 371 is fixed to the bottom surface of the lift platform base 31, and the second drive motor 372 is fixed to the second slide 33 and is located behind the second slide 33 in the positive direction of the x-axis. When the retractable lift platform structure 3 is in the retracted state, the second drive motor 372 is located within the protective shell 35.

[0049] Combine Figures 5 to 8 , Figure 7 This is a schematic diagram of the retractable lifting platform structure in the material transport robot embodiment of the present invention in a retracted state. Figure 8 The figure is a schematic diagram of the extended state of the retractable lift structure in the embodiment of the material transport robot of the present invention. The initial state of the retractable lift structure is the retracted state. When the first drive motor 371 drives the third flexible transmission component 43, the third flexible member 433 drives the first slide 32 to move in the positive direction of the x-axis relative to the lift base 31. When the first slide 32 is used as a reference, that is, the lift base 31 moves in the negative direction of the x-axis relative to the first slide 32, correspondingly, the first mating portion 413a fixed relative to the lift base 31 also moves in the negative direction of the x-axis relative to the first slide 32.

[0050] When the first mating point 413a also moves along the negative direction of the x-axis relative to the first slide 32, the second mating point 413b moves along the positive direction of the x-axis relative to the first slide 32. The second mating point 413b is relatively fixed to the second slide 33. Therefore, the second slide 33 now moves relative to the first slide 32 along the positive direction of the x-axis.

[0051] Therefore, the telescopic lifting platform structure provided by the present invention only needs to drive the first drive motor 371 to realize the positive movement of the first slide 32 relative to the lifting platform base 31 along the x-axis, and at the same time realize the positive movement of the second slide 33 relative to the first slide 31 along the x-axis, until the first slide 32 and the second slide 33 reach the extended limit position, and the telescopic lifting platform structure reaches the extended state ( Figure 8 (displayed), which facilitates the control of the material transport robot and reduces production costs.

[0052] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A retractable lifting platform structure of a material transport robot, comprising a lifting platform base and a first slide, wherein the first slide slides in cooperation with the lifting platform base in a pushing direction; Its characteristics are: The telescopic lifting platform structure further includes a second slide and a first flexible transmission assembly; The second slide table is slidably engaged with the first slide table in the pushing direction; The first flexible transmission assembly includes a first transmission wheel, a second transmission wheel and a first flexible member, the first transmission wheel and the second transmission wheel are sequentially arranged on the first slide along the pushing direction, and the first flexible member is arranged between the first transmission wheel and the second transmission wheel; The first flexible member has a first mating portion and a second mating portion, and when the first mating portion moves in a direction opposite to the pushing direction relative to the first slide, the second mating portion moves in the pushing direction relative to the first slide; The first mating portion is fixedly connected to the front portion of the lifting platform base in the pushing direction, and the second mating portion is fixedly connected to the rear portion of the second slide in the pushing direction; The first flexible member is a first conveyor belt, and the first conveyor belt has a first tooth set; The telescopic lifting platform structure includes a first fixing member and a second fixing member, the first fixing member has a second tooth set, and the second fixing member has a third tooth set; The first fixing member is fixed to the base of the lifting platform, the first mating portion is fixed between the first fixing member and the base of the lifting platform, and the first tooth group is engaged with the second tooth group; The second fixing member is fixed on the second slide, the second mating portion is fixed between the second fixing member and the second slide, and the first tooth group is engaged with the third tooth group; The first flexible transmission assembly further includes a first rotating shaft and a first bolt. The first transmission wheel is rotatably connected to the first rotating shaft. The first rotating shaft is provided with a first elongated slot extending in the pushing direction. The first bolt passes through the first elongated slot and is locked on the first slide. and, the first flexible transmission assembly further includes a second rotating shaft and a second bolt, the second transmission wheel is rotatably connected to the second rotating shaft, the second rotating shaft is provided with a second elongated slot extending in the pushing direction, the second bolt passes through the second elongated slot and is locked on the second slide; The positions of the first rotating shaft and the second rotating shaft in the pushing direction are adjustable to adjust the tension of the first flexible member, and the distance between the first rotating shaft and the second rotating shaft can be increased or decreased, thereby changing the outward extension stroke of the first slide and the second slide.

2. The retractable lifting platform structure according to claim 1, characterized in that: In the pushing direction, when the first mating position is close to the second transmission wheel and away from the first transmission wheel, the second mating position is close to the first transmission wheel and away from the second transmission wheel.

3. The retractable lifting platform structure according to claim 1, characterized in that: The telescopic lifting platform structure further includes a second flexible transmission assembly; The second flexible transmission assembly includes a third transmission wheel, a fourth transmission wheel and a second flexible member, the third transmission wheel and the fourth transmission wheel are sequentially arranged on the lifting platform base along the pushing direction, and the second flexible member is arranged between the third transmission wheel and the fourth transmission wheel; The third matching portion of the second flexible member is fixedly connected to the rear portion of the first slide in the pushing direction.

4. The telescopic lifting platform structure according to claim 3, characterized in that: Two symmetrical first ball guide rails are provided between the first slide and the second slide, and two symmetrical second ball guide rails are provided between the lifting platform base and the first slide; The first flexible transmission assembly and / or the second flexible transmission assembly is located between the two first ball guide rails. and / or, The first flexible transmission component and / or the second flexible transmission component is located between the two second ball guide rails.

5. The retractable lifting platform structure according to any one of claims 1 to 3, characterized in that: The retractable lifting platform structure further includes a third flexible transmission assembly; the third flexible transmission assembly includes a fifth transmission wheel, a sixth transmission wheel, and a third flexible member, the fifth transmission wheel and the sixth transmission wheel are sequentially arranged on the second slide along the pushing direction, and the third flexible member is arranged between the fifth transmission wheel and the sixth transmission wheel; The third flexible member protrudes from the second sliding platform.

6. The telescopic lifting platform structure according to claim 5, characterized in that: The two sets of the third flexible transmission components are respectively arranged at opposite ends of the second slide in a width direction, and the width direction is perpendicular to the pushing direction; In the width direction, the width of the second slide is greater than that of the first slide, and the third flexible transmission assembly is located outside the first slide.

7. The telescopic lifting platform structure according to any one of claims 1 to 3, characterized in that: A limit baffle is provided on the second slide, and the limit baffle is located at the rear end of the second slide in the pushing direction.

8. A material transport robot comprising a main body and a retractable lifting platform structure movably mounted on the main body; Its characteristics are: The telescopic lifting platform structure adopts the telescopic lifting platform structure according to any one of claims 1 to 7 above.

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