Lifting device and autonomous moving device

Abstract

The utility model provides a lifting device and an autonomous moving device. The lifting device comprises a plurality of lifting assemblies and a plurality of driving assemblies, the connecting assembly comprises a first connecting piece, a second connecting piece and a third connecting piece, and the two ends of the first connecting piece are connected with any two lifting assemblies in the multiple lifting assemblies through the second connecting piece and the third connecting piece correspondingly; the first limiting part is arranged at at least one end of the first connecting piece and used for limiting the second connecting piece and / or the third connecting piece to move relative to the first connecting piece; the object carrying piece is connected with the multiple lifting assemblies; and the motor assembly is connected with at least one lifting assembly, and the motor assembly can drive the object carrying piece to move through the multiple lifting assemblies. Through the arrangement of the first limiting part, the connecting strength and connecting stability between the at least two lifting assemblies are improved, it is ensured that the at least two connected lifting assemblies can move synchronously, the carrying piece is prevented from shaking in the lifting movement process, and the bearing capacity of the carrying piece is enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of autonomous mobile devices, in particular to a lifting device and an autonomous mobile device. Background Art

[0002] In recent years, autonomous mobile devices such as autonomous mobile robots (AMRs) or automated guided vehicles (AGVs) have been widely used in various scenarios, such as smart logistics and warehousing, due to their autonomy and high efficiency. The autonomous mobile devices include a lifting structure, which can lift the goods from the ground for transportation or processing.

[0003] In the related art, under heavy load conditions, the jacking function of the jacking structure is generally achieved by using a hydraulic cylinder to drive a scissor-type hydraulic platform, a motor to drive a connecting rod structure, and a direct push electric cylinder. However, the driving structure in the related art occupies a large space, and the synchronization of each position is poor, resulting in poor bearing capacity of the jacking structure. Utility Model Content

[0004] The embodiments of the utility model are intended to solve at least one of the technical problems existing in the prior art.

[0005] To this end, a first aspect of an embodiment of the utility model provides a lifting device.

[0006] A second aspect of the embodiments of the present invention provides an autonomous mobile device.

[0007] In view of this, according to the first aspect of an embodiment of the utility model, a lifting device is provided, which includes: a plurality of lifting components; a connecting component, the connecting component including a first connecting member, a second connecting member and a third connecting member, and the two ends of the first connecting member are respectively connected to any two lifting components of the plurality of lifting components through the second connecting member and the third connecting member; a first limiting portion, arranged at at least one end of the first connecting member, for limiting the movement of the second connecting member and / or the third connecting member relative to the first connecting member; a carrier, connected to the plurality of lifting components; a motor assembly, connected to at least one lifting assembly, and the motor assembly can drive the carrier to move through the plurality of lifting components.

[0008] The lifting device provided in the embodiment of the utility model includes a plurality of lifting components, a connecting component, a first limiting part, an object carrying member and a motor component. Specifically, the connecting component includes a first connecting member, a second connecting member and a third connecting member. One end of the first connecting member is connected to one of the lifting components through the second connecting member, and the other end of the first connecting member is connected to another lifting component through the third connecting member. In other words, any two lifting components are connected through the connecting component.

[0009] Optionally, when there are multiple connecting assemblies, the multiple lifting assemblies are connected in sequence through the multiple connecting assemblies.

[0010] Optionally, the first connecting member is a connecting rod. The second connecting member is a coupling. The third connecting member is a coupling. That is, the two ends of the connecting rod are respectively connected to any two lifting components through the coupling, which is conducive to reducing the overall layout space of the lifting device. And the coupling can realize reliable transmission of power.

[0011] The motor assembly is connected to at least one lifting assembly. It can be understood that when multiple lifting assemblies are connected in sequence, the motor assembly is connected to one of the lifting assemblies. When only two of the multiple lifting assemblies are connected, the motor assembly is connected to at least two lifting assemblies.

[0012] Specifically, under the drive of the motor assembly, at least a portion of each lifting assembly moves, thereby driving the object carrier to move, so as to realize the lifting function of the lifting device. It can be understood that the object carrier is used to accommodate the objects to be transported.

[0013] Since at least two of the multiple lifting assemblies are connected by a connecting assembly, that is, when at least a part of one of the lifting assemblies moves, it can drive at least a part of the lifting assembly connected thereto to move, thereby achieving synchronous lifting of at least two lifting assemblies, which is conducive to reducing the number of motor assemblies or simplifying the structure of the motor assemblies, thereby reducing the production cost of the lifting device. Moreover, compared with the related art of using a hydraulic cylinder to drive a hydraulic platform, there is no risk of oil leakage, thereby making the maintenance of the lifting device relatively simple, thereby helping to reduce the maintenance cost of the lifting device.

[0014] The first limiting portion is arranged at at least one end of the first connecting member, specifically, the first limiting portion is arranged at the first end of the first connecting member, or the first limiting portion is arranged at the second end of the first connecting member, or there are two first limiting portions, and the two first limiting portions are arranged at the two ends of the first connecting member, respectively. The specific arrangement can be made according to actual needs.

[0015] The first limiting portion can limit the movement of the second connector and / or the third connector relative to the first connector. Specifically, the first end of the first connector is connected to one of the lifting components through the second connector, and when the first limiting portion is arranged at the first end of the first connector, the first limiting portion can limit the movement of the second connector relative to the first connector. The second end of the first connector is connected to another lifting component through the third connector, and when the first limiting portion is arranged at the second end of the first connector, the first limiting portion can limit the movement of the third connector relative to the first connector.

[0016] By setting a first limit portion to limit the movement of the second connecting member and / or the third connecting member relative to the first connecting member, it is possible to prevent the second connecting member and / or the third connecting member from slipping due to the movement relative to the first connecting member, thereby improving the connection strength and connection stability between at least two lifting components, ensuring that at least two connected lifting components can move synchronously, and avoiding shaking of the object carrier during the lifting movement, thereby improving the smoothness of the lifting movement of the object carrier, enhancing the carrying capacity of the object carrier, and improving the safety of the autonomous mobile device with the lifting device during the movement.

[0017] In addition, the lifting device provided by the above technical solution of the utility model also has the following additional technical features:

[0018] In some technical solutions, optionally, the first limiting portion includes a first protrusion, which protrudes from the outer wall of the first connecting member; at least one of the second connecting member and the third connecting member is provided with a first groove, and at least a portion of the first protrusion can be inserted into the first groove.

[0019] In this technical solution, it is defined that the first limiting portion includes a first protrusion, specifically, the second connecting member is provided with a first groove, or the third connecting member is provided with a first groove, or both the second connecting member and the third connecting member are provided with a first groove.

[0020] At least part of the first protrusion can be inserted into the first groove, thereby improving the connection strength and reliability between the second connecting member and the first connecting member, avoiding relative rotation between the second connecting member and the first connecting member, and / or improving the connection strength and reliability between the third connecting member and the first connecting member, avoiding relative rotation between the third connecting member and the first connecting member, thereby ensuring that at least two connected lifting components can move synchronously, avoiding shaking of the carrier during the lifting movement, thereby improving the smoothness of the lifting movement of the carrier and enhancing the carrying capacity of the carrier.

[0021] In some technical solutions, optionally, the lifting device further includes a second limiting portion, which is provided on at least one lifting component and is used to limit the movement of the second connecting member and / or the third connecting member relative to the lifting component.

[0022] In this technical solution, it is defined that the lifting device further includes a second limiter, specifically, the second limiter is arranged on at least one lifting assembly, specifically, in two connected lifting assemblies, the second limiter is arranged on one of the lifting assemblies. Alternatively, the number of the second limiters is two, and the two second limiters are arranged on two lifting assemblies respectively.

[0023] The second limiter can limit the movement of the second connector and / or the third connector relative to the lifting assembly. Specifically, the first end of the first connector is connected to one of the lifting assemblies through the second connector, and when the second limiter is set on the lifting assembly, the second limiter can limit the movement of the second connector relative to the lifting assembly. The second end of the first connector is connected to another lifting assembly through the third connector, and when the second limiter is set on the lifting assembly, the second limiter can limit the movement of the third connector relative to the lifting assembly.

[0024] By setting a second limiting portion on at least one lifting component, the connection reliability and stability between at least two lifting components can be further improved, ensuring that the at least two connected lifting components can move synchronously, avoiding shaking of the object carrier during the lifting movement, thereby improving the smoothness of the lifting movement of the object carrier and enhancing the carrying capacity of the object carrier.

[0025] In some technical solutions, optionally, the second limiting portion includes a second protrusion, which protrudes from the outer wall of the lifting assembly; at least one of the second connecting member and the third connecting member is also provided with a second groove, and at least a portion of the second protrusion can be inserted into the second groove.

[0026] In this technical solution, it is defined that the second limiting portion includes a second protrusion, specifically, the second connecting member is further provided with a second groove. Or the third connecting member is further provided with a second groove. Or both the second connecting member and the third connecting member are further provided with a second groove.

[0027] At least part of the second protrusion can be inserted into the second groove, thereby improving the connection strength and reliability between the second connecting member and the lifting assembly, avoiding relative rotation between the second connecting member and the lifting assembly, and / or improving the connection strength and reliability between the third connecting member and the lifting assembly, avoiding relative rotation between the third connecting member and the lifting assembly, ensuring that at least two connected lifting assemblies can move synchronously, avoiding shaking of the carrier during the lifting movement, thereby improving the smoothness of the lifting movement of the carrier and enhancing the carrying capacity of the carrier.

[0028] In some technical solutions, optionally, the second connecting member is detachably connected to the first connecting member; and / or the third connecting member is detachably connected to the first connecting member.

[0029] In this technical solution, the second connecting member is detachably connected to the first connecting member, or the third connecting member is detachably connected to the first connecting member. Therefore, the length of the first connecting member can be adjusted according to actual needs to change the positions of multiple lifting components, thereby changing the size of the space occupied by the lifting device, adjusting the overall layout of the lifting device, and further improving the flexibility of the lifting device.

[0030] Alternatively, both ends of the first connecting member are detachably connected to the second connecting member and the third connecting member, respectively, so that first connecting members of different lengths can be replaced according to actual needs to change the positions of multiple lifting components, thereby changing the size of the space occupied by the lifting device, adjusting the overall layout of the lifting device, and further improving the flexibility of the lifting device.

[0031] In some technical solutions, optionally, there are multiple connecting components, and multiple lifting components are connected in sequence through multiple connecting components.

[0032] In this technical solution, the number of connecting components is limited to multiple. Specifically, multiple lifting components are connected in sequence through multiple connecting components, that is, the movement of at least a part of one lifting component can drive the movement of the remaining lifting components. That is, one motor component can realize the synchronous movement of multiple lifting components, further simplifying the structure of the lifting device, reducing the space occupied by the lifting device, simplifying the control of the lifting device, and having a simple structure, which is conducive to reducing the production cost of the lifting device.

[0033] In addition, multiple lifting components rise or fall at the same time, so that the load can be evenly stressed at all locations, which extends the service life of the load and improves the safety of the autonomous mobile device with the lifting device.

[0034] In some technical solutions, optionally, a plurality of lifting components and a plurality of connecting components enclose an installation space, and at least a portion of the object carrier is opposite to the installation space; wherein the distance between any two adjacent lifting components among the plurality of lifting components is equal.

[0035] In this technical solution, it is defined that at least a portion of the object carrier is opposite to the installation space, that is, the object carrier is located above the installation space.

[0036] The distance between any two adjacent lifting components is equal, that is, any two lifting components are symmetrically arranged, so that when multiple lifting components rise or fall at the same time, the load can be evenly stressed at all locations, thereby extending the service life of the load and improving the safety of the autonomous mobile device with the lifting device.

[0037] Optionally, there are two lifting assemblies, and the two lifting assemblies are located in diagonal directions of the installation space, that is, the two lifting assemblies are centrally symmetrical. Two guide structures can be arranged in another diagonal direction of the installation space.

[0038] Optionally, the number of lifting assemblies is four, wherein two lifting assemblies are located in one diagonal direction of the installation space, and the other two lifting assemblies are located in another diagonal direction of the installation space, which can improve the stability of the rising or falling of the load.

[0039] In some technical solutions, optionally, the carrier includes a carrier plate, a maintenance window and a protective cover, wherein the carrier plate is provided with an avoidance space, the avoidance space is connected to the installation space, the maintenance window is movably connected to the carrier plate, the maintenance window can open or close the avoidance space, and the protective cover is arranged on the outer periphery of the carrier plate.

[0040] In this technical solution, it is defined that the object carrier includes a carrier plate, a maintenance window and a protective cover. Specifically, the carrier plate is provided with an avoidance space, and the avoidance space is connected to the installation space. It is understandable that after the lifting device is assembled with the movable chassis of the autonomous mobile device, the electric control box is generally placed in the installation space. By providing the avoidance space on the carrier plate and making the maintenance window open the avoidance space, it is convenient for users to repair the electric control box through the avoidance space, reducing the difficulty of maintenance and thus reducing the maintenance cost.

[0041] The protective cover is arranged on the outer peripheral side of the carrier board. It can be understood that the carrier board generally contains circuits, lines and other structures. By setting up the protective cover, impurities in the external environment can be prevented from entering the carrier board, circuit failure can be prevented, and the stable operation of the autonomous moving device with the lifting device can be ensured.

[0042] Optionally, a positioning pin hole is also provided on the loading plate.

[0043] In some technical schemes, optionally, each lifting assembly includes a base body, a rotating member and a screw rod, wherein the base body has a cavity, the rotating member is rotatably disposed in the cavity, the two ends of the first connecting member are respectively connected to any two rotating members through the second connecting member and the third connecting member, the motor assembly is connected to at least one rotating member, the rotating member is provided with an internal thread, the screw rod is provided in the rotating member and connected to the carrier, the screw rod is provided with an external thread, the external thread cooperates with the internal thread, and the rotation of the rotating member can drive the screw rod to move relative to the cavity.

[0044] In this technical solution, it is defined that each lifting assembly includes a base body, a rotating member and a screw. Specifically, the base body has a cavity, the rotating member is arranged in the cavity, and the rotating member can rotate relative to the cavity. The two ends of the first connecting member are respectively connected to any two rotating members through the second connecting member and the third connecting member. That is to say, under the drive of the motor assembly, the rotation of the rotating member in one lifting assembly can drive the rotating member in the lifting assembly connected to it to rotate.

[0045] During the rotation process, due to the threaded cooperation between the screw rod and the rotating part, the screw rod can move up and down relative to the seat body, thereby driving the load-bearing part to move up and down, realizing the jacking function. The structure is simple, and the transmission method adopts threaded engagement transmission, which has low noise.

[0046] Optionally, the rotating member includes a gear reversing assembly, a rotating body and a nut, wherein the first gear of the gear reversing assembly is connected to the second connecting member or the third connecting member through a connecting shaft, the second gear of the gear reversing assembly is connected to the rotating body, the rotating body is connected to the nut, and the nut is provided with an internal thread. The first gear is meshed with the second gear. Under the drive of the motor assembly, the first gear and the second gear rotate, so that the rotating body drives the nut to rotate, and then the screw rod can move up and down. The specific structure can be set according to actual needs.

[0047] In some technical solutions, optionally, each lifting assembly further includes a limit block, which is arranged at one end of the screw rod away from the object carrier; wherein the cross-sectional area of ​​the cavity is larger than the cross-sectional area of ​​the limit block.

[0048] In this technical solution, it is defined that each lifting assembly also includes a limit block. Specifically, the limit block is arranged at the end of the screw rod away from the object carrier.

[0049] The cross-sectional area of ​​the cavity is larger than the cross-sectional area of ​​the limit block, that is, when the rotating part rotates to move the screw rod upward, the limit block can be moved into the cavity. Compared with the related technology that places the limit block on the outside of the cavity, the moving stroke of the screw rod can be effectively increased while the space remains unchanged, thereby increasing the lifting stroke of the lifting device, so that the autonomous moving device with the lifting device can move freely between shelves of various heights.

[0050] Optionally, the limit block and the lead screw are an integrated structure.

[0051] Optionally, the lifting stroke can be increased by increasing the length of the screw rod, which is scalable.

[0052] In some technical solutions, optionally, the motor assembly includes a servo motor and a reducer, wherein the servo motor is connected to at least one lifting assembly via the reducer.

[0053] In this technical solution, it is defined that the motor assembly includes a servo motor and a reducer. Specifically, the servo motor is connected to at least one lifting assembly via the reducer, so that the rotation speed of the servo motor can be reduced and the power and torque of the servo motor can be increased.

[0054] In addition, due to the use of servo motors, the moving distance of multiple lifting components can be flexibly controlled, and thus the lifting height of the object can be flexibly controlled, that is, within the effective travel of multiple lifting components, multiple lifting components can stop at any position, which improves the flexibility of the lifting device. Moreover, the lifting position accuracy is high, specifically, the accuracy can be controlled within ±1mm.

[0055] In some technical solutions, optionally, the lifting device further includes a buffer pad, which is arranged on a side of the object carrier facing away from the multiple lifting components.

[0056] In this technical solution, it is defined that the lifting device also includes a buffer pad. Specifically, the buffer pad is arranged on the side of the object carrier away from the multiple lifting components, that is, the buffer pad is arranged on the object carrier's loading surface. Therefore, in the process of the multiple lifting components driving the object carrier to lift and lower the object to be transported, the impact between the object carrier and the object to be transported can be reduced, the wear of the object carrier can be reduced, and the service life of the object carrier can be extended.

[0057] Optionally, the buffer pad comprises a rubber pad.

[0058] In some technical schemes, optionally, the lifting device also includes an image acquisition component, a first detection component and a second detection component, wherein the image acquisition component is arranged on the object carrier to acquire images of the objects to be transported, the first detection component is arranged on the object carrier to detect whether the objects to be transported are accommodated on the object carrier, and the second detection component is arranged on at least one lifting component to detect the moving stroke of the lifting component.

[0059] In this technical solution, it is defined that the lifting device also includes an image acquisition component, a first detection component and a second detection component. Specifically, the image acquisition component is arranged on the object carrier, and the image acquisition component is used to capture images of the objects to be transported, so as to achieve accurate positioning of the objects to be transported. For example, each object to be transported is provided with a QR code unique to the object. The image acquisition component captures the QR code and sends it to the controller of the autonomous mobile device. The controller determines whether the object is an object to be transported or processed. If so, the controller controls the motor assembly to drive the multiple lifting assemblies to drive the object carrier to move, so as to lift the object to be transported. If not, it moves to the next object to be transported.

[0060] Alternatively, the controller determines the relative position between the lifting device and the object to be transported based on the photographed QR code, and optionally determines whether the lifting device is located directly below the object to be transported. If so, the object to be transported is lifted up; if not, the moving position of the autonomous moving device is continuously adjusted until the lifting device is located directly below the object to be transported.

[0061] Optionally, the image acquisition component includes a camera.

[0062] The first detection member is arranged on the object carrier, and the first detection member can detect whether the object carrier contains objects to be transported, and send the information to the controller of the autonomous mobile device. The controller adjusts the moving speed of the autonomous mobile device according to the received information of whether the objects to be transported are contained.

[0063] Optionally, the first detection member includes a shelf detection sensor.

[0064] The second detection member is arranged on at least one lifting assembly and is used to detect the moving stroke of the lifting assembly, so that the lifting height of the object carrier can be adjusted according to the actual height of the object to be transported, thereby avoiding the collision between the object carrier and the object to be transported.

[0065] Optionally, the second detection member includes a position detection sensor.

[0066] According to the second aspect of the utility model, an autonomous mobile device is provided, including a lifting device as provided by any of the above technical solutions, and thus has all the beneficial technical effects of the lifting device, which will not be repeated here.

[0067] Furthermore, the autonomous mobile device also includes a movable chassis, and the lifting device is arranged on the movable chassis.

[0068] The autonomous mobile device provided by the embodiment of the utility model includes a movable chassis and a lifting device. Specifically, the lifting device is arranged on the movable chassis, so that the movable chassis can drive the lifting device to move.

[0069] Optionally, the autonomous mobile device is an AMR vehicle. It is understandable that under the load condition of 3T, that is, under the heavy load condition, the AMR vehicle mainly has the following features:

[0070] Perception technology: AMR cars need to have high-precision environmental perception capabilities, including lidar, cameras, ultrasonic sensors and other sensor technologies to achieve autonomous navigation, obstacle avoidance and other functions.

[0071] Control technology: The AMR robot needs to have high-precision motion control capabilities, including position control, speed control, acceleration control and other technologies to achieve accurate positioning and movement.

[0072] Lifting structure technology: The lifting structure (lifting device) of the AMR trolley needs to have the characteristics of high strength, light weight, and good stability to ensure that the trolley can move freely between shelves at different heights.

[0073] Power system technology: AMR vehicles need to have an efficient and reliable power system, including batteries, charging technology, etc., to ensure the vehicle's ability to work for a long time.

[0074] Communication technology: AMR cars need to have high-speed and stable communication technology, including wireless communication and cloud communication, to achieve data interaction and control between the car and external systems.

[0075] Intelligent algorithm technology: AMR cars need to have intelligent algorithm technology, including path planning, obstacle avoidance algorithms, autonomous navigation algorithms, etc., to achieve autonomous movement and task execution.

[0076] Safety technology: AMR vehicles need to have safety technologies, including emergency stop, fault detection, automatic reset and other technologies to ensure the safety of the vehicle and the surrounding environment.

[0077] Additional aspects and advantages of the present invention will be given in the following description, and some will become apparent from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0079] Figure 1 A schematic structural diagram of a lifting device according to an embodiment of the utility model is shown;

[0080] Figure 2 One of the partial structural schematic diagrams of the lifting device according to one embodiment of the utility model is shown;

[0081] Figure 3 A second partial structural schematic diagram of a lifting device according to an embodiment of the utility model is shown;

[0082] Figure 4 A third partial structural schematic diagram of a lifting device according to an embodiment of the utility model is shown;

[0083] Figure 5 Shows Figure 4 An enlarged view of the lifting device at position A of the illustrated embodiment;

[0084] Figure 6 A fourth partial structural schematic diagram of a lifting device according to an embodiment of the utility model is shown.

[0085] in, Figures 1 to 6 The corresponding relationship between the reference numerals and the component names is as follows:

[0086] 100 lifting device, 110 lifting assembly, 111 seat body, 112 cavity, 113 rotating member, 114 screw rod, 115 limit block, 120 connecting assembly, 121 first connecting member, 122 second connecting member, 123 third connecting member, 130 first limit part, 131 first protrusion, 140 loading member, 141 loading plate, 142 avoidance space, 143 maintenance window, 144 protective cover, 150 motor assembly, 151 servo motor, 152 reducer, 160 first groove, 170 second limit part, 171 second protrusion, 180 second groove, 190 installation space, 210 buffer pad, 220 image acquisition member, 230 first detection member, 240 second detection member. DETAILED DESCRIPTION

[0087] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0088] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0089] Refer to the following Figures 1 to 6 The lifting device 100 and the autonomous moving device provided according to some embodiments of the present utility model are described.

[0090] In one embodiment according to the present application, Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, a lifting device 100 is proposed, and the lifting device 100 includes: a plurality of lifting components 110; a connecting component 120, the connecting component 120 includes a first connecting member 121, a second connecting member 122 and a third connecting member 123, and the two ends of the first connecting member 121 are respectively connected to any two lifting components 110 in the plurality of lifting components 110 through the second connecting member 122 and the third connecting member 123; a first limiting portion 130, which is arranged at at least one end of the first connecting member 121, and is used to limit the movement of the second connecting member 122 and / or the third connecting member 123 relative to the first connecting member 121; a carrier 140, which is connected to the plurality of lifting components 110; and a motor component 150, which is connected to at least one lifting component 110, and the motor component 150 can drive the carrier 140 to move through the plurality of lifting components 110.

[0091] The lifting device 100 provided in the embodiment of the utility model includes a plurality of lifting assemblies 110, a connecting assembly 120, a first position-limiting portion 130, an object-carrying member 140 and a motor assembly 150. Specifically, the connecting assembly 120 includes a first connecting member 121, a second connecting member 122 and a third connecting member 123. One end of the first connecting member 121 is connected to one of the lifting assemblies 110 through the second connecting member 122, and the other end of the first connecting member 121 is connected to another lifting assembly 110 through the third connecting member 123. In other words, any two lifting assemblies 110 are connected through the connecting assembly 120.

[0092] Optionally, when there are multiple connecting assemblies 120 , the multiple lifting assemblies 110 are connected in sequence via the multiple connecting assemblies 120 .

[0093] Optionally, the first connecting member 121 is a connecting rod. The second connecting member 122 is a coupling. The third connecting member 123 is a coupling. That is, the two ends of the connecting rod are connected to any two lifting assemblies 110 through couplings, which is conducive to reducing the overall layout space of the lifting device 100. And reliable transmission of power can be achieved through the coupling.

[0094] The motor assembly 150 is connected to at least one lifting assembly 110. It is understood that when multiple lifting assemblies 110 are connected in sequence, the motor assembly 150 is connected to one of the lifting assemblies 110. When only two of the multiple lifting assemblies 110 are connected, the motor assembly 150 is connected to at least two lifting assemblies 110.

[0095] Specifically, driven by the motor assembly 150, at least a portion of each lifting assembly 110 moves, thereby driving the object carrier 140 to move, so as to realize the lifting function of the lifting device 100. It can be understood that the object carrier 140 is used to accommodate objects to be transported.

[0096] Since at least two of the multiple lifting assemblies 110 are connected via the connecting assembly 120, that is, when at least a portion of one of the lifting assemblies 110 moves, it can drive at least a portion of the lifting assembly 110 connected thereto to move, thereby achieving synchronous lifting of at least two lifting assemblies 110, which is conducive to reducing the number of motor assemblies 150 or simplifying the structure of the motor assemblies 150, thereby reducing the production cost of the lifting device 100. Moreover, compared with the related art of using a hydraulic cylinder to drive a hydraulic platform, there is no risk of oil leakage, thereby making the maintenance of the lifting device 100 relatively simple, thereby helping to reduce the maintenance cost of the lifting device 100.

[0097] The first limiting portion 130 is disposed at at least one end of the first connecting member 121, specifically, the first limiting portion 130 is disposed at the first end of the first connecting member 121, or the first limiting portion 130 is disposed at the second end of the first connecting member 121, or there are two first limiting portions 130, and the two first limiting portions 130 are respectively disposed at the two ends of the first connecting member 121. The specific configuration can be based on actual needs.

[0098] The first limiting portion 130 can limit the movement of the second connecting member 122 and / or the third connecting member 123 relative to the first connecting member 121. Specifically, the first end of the first connecting member 121 is connected to one of the lifting assemblies 110 through the second connecting member 122. When the first limiting portion 130 is disposed at the first end of the first connecting member 121, the first limiting portion 130 can limit the movement of the second connecting member 122 relative to the first connecting member 121. The second end of the first connecting member 121 is connected to another lifting assembly 110 through the third connecting member 123. When the first limiting portion 130 is disposed at the second end of the first connecting member 121, the first limiting portion 130 can limit the movement of the third connecting member 123 relative to the first connecting member 121.

[0099] By setting the first limit portion 130 to limit the movement of the second connecting member 122 and / or the third connecting member 123 relative to the first connecting member 121, it is possible to prevent the second connecting member 122 and / or the third connecting member 123 from slipping due to the movement relative to the first connecting member 121, thereby improving the connection strength and connection stability between at least two lifting components 110, ensuring that the at least two connected lifting components 110 can move synchronously, and avoiding the shaking of the object carrier 140 during the lifting movement, thereby improving the smoothness of the lifting movement of the object carrier 140, enhancing the carrying capacity of the object carrier 140, and improving the safety of the autonomous mobile device having the lifting device 100 during the movement.

[0100] like Figure 4 , Figure 5 and Figure 6As shown, in some embodiments, optionally, the first limiting portion 130 includes a first protrusion 131, and the first protrusion 131 protrudes from the outer wall of the first connecting member 121; at least one of the second connecting member 122 and the third connecting member 123 is provided with a first groove 160, and at least a portion of the first protrusion 131 can be inserted into the first groove 160.

[0101] In this embodiment, it is defined that the first limiting portion 130 includes the first protrusion 131 , specifically, the second connecting member 122 is provided with a first groove 160 , or the third connecting member 123 is provided with a first groove 160 , or both the second connecting member 122 and the third connecting member 123 are provided with a first groove 160 .

[0102] At least part of the first protrusion 131 can be inserted into the first groove 160, so as to improve the connection strength and reliability between the second connecting member 122 and the first connecting member 121, avoid relative rotation between the second connecting member 122 and the first connecting member 121, and / or improve the connection strength and reliability between the third connecting member 123 and the first connecting member 121, avoid relative rotation between the third connecting member 123 and the first connecting member 121, thereby ensuring that at least two connected lifting components 110 can move synchronously, avoiding shaking of the object carrier 140 during the lifting movement, thereby improving the stability of the lifting movement of the object carrier 140 and enhancing the carrying capacity of the object carrier 140.

[0103] like Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, in some embodiments, optionally, the lifting device 100 also includes a second limiting portion 170, which is provided on at least one lifting component 110 and is used to limit the movement of the second connecting member 122 and / or the third connecting member 123 relative to the lifting component 110.

[0104] In this embodiment, it is defined that the lifting device 100 further includes a second position limiting portion 170. Specifically, the second position limiting portion 170 is disposed on at least one lifting assembly 110. Specifically, in two connected lifting assemblies 110, the second position limiting portion 170 is disposed on one of the lifting assemblies 110. Alternatively, there are two second position limiting portions 170, and the two second position limiting portions 170 are disposed on two lifting assemblies 110, respectively.

[0105] The second limiting portion 170 can limit the movement of the second connector 122 and / or the third connector 123 relative to the lifting assembly 110. Specifically, the first end of the first connector 121 is connected to one of the lifting assemblies 110 through the second connector 122. When the second limiting portion 170 is disposed on the lifting assembly 110, the second limiting portion 170 can limit the movement of the second connector 122 relative to the lifting assembly 110. The second end of the first connector 121 is connected to the other lifting assembly 110 through the third connector 123. When the second limiting portion 170 is disposed on the lifting assembly 110, the second limiting portion 170 can limit the movement of the third connector 123 relative to the lifting assembly 110.

[0106] By providing a second limiting portion 170 on at least one lifting assembly 110, the connection reliability and stability between at least two lifting assemblies 110 can be further improved, ensuring that at least two connected lifting assemblies 110 can move synchronously, thereby preventing the object carrier 140 from shaking during the lifting movement, thereby improving the smoothness of the lifting movement of the object carrier 140 and enhancing the carrying capacity of the object carrier 140.

[0107] like Figure 4 , Figure 5 and Figure 6 As shown, in some embodiments, optionally, the second limiting portion 170 includes a second protrusion 171, and the second protrusion 171 protrudes from the outer wall of the lifting assembly 110; at least one of the second connecting member 122 and the third connecting member 123 is also provided with a second groove 180, and at least a portion of the second protrusion 171 can be inserted into the second groove 180.

[0108] In this embodiment, the second limiting portion 170 is defined to include a second protrusion 171. Specifically, the second connecting member 122 is further provided with a second groove 180. Or the third connecting member 123 is further provided with a second groove 180. Or both the second connecting member 122 and the third connecting member 123 are further provided with a second groove 180.

[0109] At least a portion of the second protrusion 171 can be inserted into the second groove 180, thereby improving the connection strength and reliability between the second connecting member 122 and the lifting assembly 110, avoiding relative rotation between the second connecting member 122 and the lifting assembly 110, and / or improving the connection strength and reliability between the third connecting member 123 and the lifting assembly 110, avoiding relative rotation between the third connecting member 123 and the lifting assembly 110, ensuring that at least two connected lifting assemblies 110 can move synchronously, avoiding shaking of the object carrier 140 during the lifting movement, thereby improving the smoothness of the lifting movement of the object carrier 140 and enhancing the carrying capacity of the object carrier 140.

[0110] In some embodiments, optionally, the second connecting member 122 is detachably connected to the first connecting member 121 ; and / or the third connecting member 123 is detachably connected to the first connecting member 121 .

[0111] In this embodiment, the second connection member 122 is detachably connected to the first connection member 121, or the third connection member 123 is detachably connected to the first connection member 121. Therefore, the length of the first connection member 121 can be adjusted according to actual needs to change the positions of the plurality of lifting assemblies 110, thereby changing the size of the space occupied by the lifting device 100, adjusting the overall layout of the lifting device 100, and further improving the flexibility of the lifting device 100.

[0112] Alternatively, both ends of the first connecting member 121 are detachably connected to the second connecting member 122 and the third connecting member 123. Thus, the first connecting members 121 of different lengths can be replaced according to actual needs to change the positions of the plurality of lifting assemblies 110, thereby changing the size of the space occupied by the lifting device 100, adjusting the overall layout of the lifting device 100, and further improving the flexibility of the lifting device 100.

[0113] like Figure 1 and Figure 2 As shown, in some embodiments, optionally, there are multiple connecting assemblies 120, and multiple lifting assemblies 110 are connected in sequence through the multiple connecting assemblies 120.

[0114] In this embodiment, the number of connecting components 120 is limited to multiple. Specifically, multiple lifting components 110 are sequentially connected through multiple connecting components 120, that is, the movement of at least a part of one lifting component 110 can drive the movement of the remaining lifting components 110. That is, one motor component 150 can realize the synchronous movement of multiple lifting components 110, further simplifying the structure of the lifting device 100, reducing the occupied space of the lifting device 100, simplifying the control of the lifting device 100, and having a simple structure, which is conducive to reducing the production cost of the lifting device 100.

[0115] In addition, the multiple lifting components 110 rise or fall at the same time, so that the load-bearing part 140 can be evenly stressed at all locations, thereby extending the service life of the load-bearing part 140 and improving the safety of the autonomous mobile device having the lifting device 100 .

[0116] like Figure 1 and Figure 2 As shown, in some embodiments, optionally, a plurality of lifting assemblies 110 and a plurality of connecting assemblies 120 enclose an installation space 190, and at least a portion of the object carrier 140 is opposite to the installation space 190; wherein, the distance between any two adjacent lifting assemblies 110 among the plurality of lifting assemblies 110 is equal.

[0117] In this embodiment, it is defined that at least a portion of the object carrier 140 is opposite to the installation space 190 , that is, the object carrier 140 is located above the installation space 190 .

[0118] The distance between any two adjacent lifting assemblies 110 is equal, that is, any two lifting assemblies 110 are symmetrically arranged, so that when multiple lifting assemblies 110 rise or fall at the same time, the load member 140 can be evenly stressed at all locations, thereby extending the service life of the load member 140 and improving the safety of use of the autonomous mobile device with the lifting device 100.

[0119] Optionally, there are two lifting assemblies 110, and the two lifting assemblies 110 are located in a diagonal direction of the installation space 190, that is, the two lifting assemblies 110 are centrally symmetrical. Two guide structures can be provided in another diagonal direction of the installation space 190.

[0120] Optionally, there are four lifting assemblies 110 , wherein two lifting assemblies 110 are located at one diagonal direction of the installation space 190 , and the other two lifting assemblies 110 are located at another diagonal direction of the installation space 190 , which can improve the stability of the ascent or descent of the carrier 140 .

[0121] like Figure 1 As shown, in some embodiments, optionally, the carrier 140 includes a carrier plate 141, a maintenance window 143 and a protective cover 144, wherein the carrier plate 141 is provided with an escape space 142, the escape space 142 is communicated with the installation space 190, the maintenance window 143 is movably connected to the carrier plate 141, the maintenance window 143 can open or close the escape space 142, and the protective cover 144 is covered on the periphery of the carrier plate 141.

[0122] In this embodiment, the object carrier 140 is defined to include a carrier plate 141, a maintenance window 143 and a protective cover 144. Specifically, the carrier plate 141 is provided with an escape space 142, and the escape space 142 is communicated with the installation space 190. It can be understood that after the lifting device 100 is assembled with the movable chassis of the autonomous mobile device, the electric control box is generally placed in the installation space 190. By providing the escape space 142 on the carrier plate 141 and allowing the maintenance window 143 to open the escape space 142, it is convenient for users to repair the electric control box through the escape space 142, reducing the difficulty of repair and further reducing the repair cost.

[0123] The protective cover 144 is arranged on the outer peripheral side of the carrier plate 141. It can be understood that the carrier plate 141 generally contains circuits, lines and other structures. By setting the protective cover 144, impurities in the external environment can be prevented from entering the carrier plate 141, circuit failure can be prevented, and the stable operation of the autonomous mobile device with the lifting device 100 can be ensured.

[0124] Optionally, a positioning pin hole is further provided on the carrier plate 141 .

[0125] like Figure 4 and Figure 5 As shown, in some embodiments, optionally, each lifting assembly 110 includes a base body 111, a rotating member 113 and a screw rod 114, wherein the base body 111 has a cavity 112, the rotating member 113 is rotatably disposed in the cavity 112, the two ends of the first connecting member 121 are respectively connected to any two rotating members 113 through the second connecting member 122 and the third connecting member 123, the motor assembly 150 is connected to at least one rotating member 113, the rotating member 113 is provided with an internal thread, the screw rod 114 is disposed in the rotating member 113 and is connected to the object carrier 140, the screw rod 114 is provided with an external thread, the external thread cooperates with the internal thread, and the rotation of the rotating member 113 can drive the screw rod 114 to move relative to the cavity 112.

[0126] In this embodiment, it is defined that each lifting assembly 110 includes a base body 111, a rotating member 113 and a screw rod 114. Specifically, the base body 111 has a cavity 112, the rotating member 113 is arranged in the cavity 112, and the rotating member 113 can rotate relative to the cavity 112. The two ends of the first connecting member 121 are respectively connected to any two rotating members 113 through the second connecting member 122 and the third connecting member 123. That is to say, under the drive of the motor assembly 150, the rotation of the rotating member 113 in one lifting assembly 110 can drive the rotating member 113 in the lifting assembly 110 connected thereto to rotate.

[0127] During the rotation, due to the threaded cooperation between the screw rod 114 and the rotating member 113, the screw rod 114 can move up and down relative to the seat body 111, thereby driving the object carrier 140 to move up and down, thereby realizing the lifting function. The structure is simple, and the transmission method adopts threaded engagement transmission, which has low noise.

[0128] Optionally, the rotating member 113 includes a gear reversing assembly, a rotating body and a nut, wherein the first gear of the gear reversing assembly is connected to the second connecting member 122 or the third connecting member 123 via a connecting shaft, the second gear of the gear reversing assembly is connected to the rotating body, the rotating body is connected to the nut, and the nut is provided with an internal thread. The first gear is meshed with the second gear. Driven by the motor assembly 150, the first gear and the second gear rotate, so that the rotating body drives the nut to rotate, thereby enabling the screw rod 114 to move up and down. The specific structure can be set according to actual needs.

[0129] like Figure 4 and Figure 5 As shown, in some embodiments, optionally, each lifting assembly 110 also includes a limit block 115, which is arranged at one end of the screw rod 114 away from the object carrier 140; wherein the cross-sectional area of ​​the cavity 112 is larger than the cross-sectional area of ​​the limit block 115.

[0130] In this embodiment, it is defined that each lifting assembly 110 further includes a limit block 115 . Specifically, the limit block 115 is disposed at one end of the screw rod 114 away from the object carrier 140 .

[0131] The cross-sectional area of ​​the cavity 112 is greater than the cross-sectional area of ​​the limit block 115, that is, when the rotating member 113 rotates to move the screw rod 114 upward, the limit block 115 can be moved into the cavity 112. Compared with the related art in which the limit block 115 is located outside the cavity 112, the moving stroke of the screw rod 114 can be effectively increased while the space remains unchanged, thereby increasing the lifting stroke of the lifting device 100, so that the autonomous mobile device with the lifting device 100 can move freely between shelves of various heights.

[0132] Optionally, the limit block 115 and the screw rod 114 are an integrated structure.

[0133] Optionally, the lifting stroke can be increased by increasing the length of the screw rod 114, which has scalability.

[0134] like Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments, optionally, the motor assembly 150 includes a servo motor 151 and a reducer 152 , wherein the servo motor 151 is connected to at least one lifting assembly 110 via the reducer 152 .

[0135] In this embodiment, the motor assembly 150 is defined to include a servo motor 151 and a reducer 152. Specifically, the servo motor 151 is connected to at least one lifting assembly 110 via the reducer 152, thereby reducing the rotation speed of the servo motor 151 and increasing the power and torque of the servo motor 151.

[0136] In addition, due to the use of the servo motor 151, the moving distance of the plurality of lifting components 110 can be flexibly controlled, and thus the lifting height of the object 140 can be flexibly controlled, that is, within the effective travel of the plurality of lifting components 110, the plurality of lifting components 110 can stop at any position, thereby improving the flexibility of the lifting device 100. Moreover, the lifting position accuracy is high, specifically, the accuracy can be controlled within ±1 mm.

[0137] like Figure 1 As shown, in some embodiments, optionally, the lifting device 100 further includes a buffer pad 210 , and the buffer pad 210 is disposed on a side of the object carrier 140 away from the plurality of lifting components 110 .

[0138] In this embodiment, it is defined that the lifting device 100 further includes a buffer pad 210. Specifically, the buffer pad 210 is disposed on the side of the object carrier 140 away from the plurality of lifting components 110, that is, the buffer pad 210 is disposed on the object carrying surface of the object carrier 140. Thus, in the process of the plurality of lifting components 110 driving the object carrier 140 to lift and lower the object to be transported, the impact between the object carrier 140 and the object to be transported can be reduced, the wear of the object carrier 140 can be reduced, and the service life of the object carrier 140 can be extended.

[0139] Optionally, the buffer pad 210 includes a rubber pad.

[0140] like Figure 1 As shown, in some embodiments, optionally, the lifting device 100 also includes an image acquisition component 220, a first detection component 230 and a second detection component 240, wherein the image acquisition component 220 is arranged on the object carrier 140, and is used to acquire images of the objects to be transported, the first detection component 230 is arranged on the object carrier 140, and is used to detect whether the objects to be transported are accommodated on the object carrier 140, and the second detection component 240 is arranged on at least one lifting component 110, and is used to detect the moving stroke of the lifting component 110.

[0141] In this embodiment, it is defined that the lifting device 100 also includes an image acquisition component 220, a first detection component 230 and a second detection component 240. Specifically, the image acquisition component 220 is arranged on the object carrier 140, and the image acquisition component 220 is used to capture images of the items to be transported, so as to achieve accurate positioning of the items to be transported. For example, each item to be transported is provided with a QR code unique to the item, and the image acquisition component 220 captures the QR code and sends it to the controller of the autonomous mobile device. The controller determines whether the item is an item that needs to be transported or processed. If so, the motor assembly 150 is controlled to drive the multiple lifting assemblies 110 to drive the object carrier 140 to move, so as to lift the items to be transported. If not, it moves to the next item to be transported.

[0142] Alternatively, the controller determines the relative position between the lifting device 100 and the object to be transported based on the photographed QR code. Optionally, the controller determines whether the lifting device 100 is located directly below the object to be transported. If so, the object to be transported is lifted up. If not, the moving position of the autonomous moving device is continuously adjusted until the lifting device 100 is located directly below the object to be transported.

[0143] Optionally, the image acquisition component 220 includes a camera.

[0144] The first detection member 230 is disposed on the object carrier 140, and the first detection member 230 can detect whether the object carrier 140 accommodates items to be transported, and send it to the controller of the autonomous mobile device. The controller adjusts the moving speed of the autonomous mobile device according to the received information of whether there are items to be transported.

[0145] Optionally, the first detection member 230 includes a shelf detection sensor.

[0146] The second detection member 240 is disposed on at least one lifting assembly 110 and is used to detect the movement stroke of the lifting assembly 110. Thus, the lifting height of the object carrier 140 can be adjusted according to the actual height of the object to be transported, thereby avoiding the collision between the object carrier 140 and the object to be transported.

[0147] Optionally, the second detection member 240 includes a position detection sensor.

[0148] According to the second aspect of the utility model, an autonomous mobile device is provided, comprising a lifting device 100 as provided in any of the above embodiments, and thus having all the beneficial technical effects of the lifting device 100, which will not be described in detail herein.

[0149] Furthermore, the autonomous mobile device also includes a movable chassis, and the lifting device 100 is arranged on the movable chassis.

[0150] The autonomous mobile device provided by the embodiment of the utility model includes a movable chassis and a lifting device 100. Specifically, the lifting device 100 is arranged on the movable chassis, so that the movable chassis can drive the lifting device 100 to move.

[0151] Optionally, the autonomous mobile device is an AMR vehicle. It is understandable that under the load condition of 3T, that is, under the heavy load condition, the AMR vehicle mainly has the following features:

[0152] Perception technology: AMR cars need to have high-precision environmental perception capabilities, including lidar, cameras, ultrasonic sensors and other sensor technologies to achieve autonomous navigation, obstacle avoidance and other functions.

[0153] Control technology: The AMR robot needs to have high-precision motion control capabilities, including position control, speed control, acceleration control and other technologies to achieve accurate positioning and movement.

[0154] Lifting structure technology: The lifting structure (lifting device 100) of the AMR trolley needs to have the characteristics of high strength, light weight, and good stability to ensure that the trolley can move freely between shelves at different heights.

[0155] Power system technology: AMR vehicles need to have an efficient and reliable power system, including batteries, charging technology, etc., to ensure the vehicle's ability to work for a long time.

[0156] Communication technology: AMR cars need to have high-speed and stable communication technology, including wireless communication and cloud communication, to achieve data interaction and control between the car and external systems.

[0157] Intelligent algorithm technology: AMR cars need to have intelligent algorithm technology, including path planning, obstacle avoidance algorithms, autonomous navigation algorithms, etc., to achieve autonomous movement and task execution.

[0158] Safety technology: AMR vehicles need to have safety technologies, including emergency stop, fault detection, automatic reset and other technologies to ensure the safety of the vehicle and the surrounding environment.

[0159] The screw lift (autonomous mobile device) is a vertical transport equipment, mainly used for lifting goods in factories, warehouses, parking lots, etc. The working principle is to lift the goods from the bottom to the top or from the top to the bottom through the screw shaft (screw 114).

[0160] In the description of this specification, the terms "connection", "installation", "fixation" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0161] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0162] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A lifting device, characterized in that: include: Multiple lifting assemblies; A connecting component, the connecting component comprising a first connecting member, a second connecting member and a third connecting member, wherein two ends of the first connecting member are connected to any two of the lifting assemblies in the plurality of lifting assemblies through the second connecting member and the third connecting member respectively; a first limiting portion, provided at at least one end of the first connecting member, for limiting the movement of the second connecting member and / or the third connecting member relative to the first connecting member; An object carrier connected to the plurality of lifting assemblies; The motor assembly is connected to at least one of the lifting assemblies, and the motor assembly can drive the object carrier to move through multiple lifting assemblies.

2. The lifting device according to claim 1, characterized in that: The first limiting portion includes a first protrusion, and the first protrusion protrudes from the outer wall of the first connecting member; At least one of the second connecting member and the third connecting member is provided with a first groove, and at least a portion of the first protrusion can be inserted into the first groove.

3. The lifting device according to claim 1, characterized in that: Also includes: The second limiting portion is provided on at least one of the lifting components and is used to limit the movement of the second connecting member and / or the third connecting member relative to the lifting component.

4. The lifting device according to claim 3, characterized in that: The second limiting portion includes a second protrusion, and the second protrusion protrudes from the outer wall of the lifting assembly; At least one of the second connecting member and the third connecting member is further provided with a second groove, and at least a portion of the second protrusion can be inserted into the second groove.

5. The lifting device according to any one of claims 1 to 4, characterized in that: The second connecting member is detachably connected to the first connecting member; and / or The third connecting member is detachably connected to the first connecting member.

6. The lifting device according to any one of claims 1 to 4, characterized in that: There are multiple connecting components, and the multiple lifting components are connected in sequence through the multiple connecting components.

7. The lifting device according to claim 6, characterized in that: A plurality of the lifting assemblies and a plurality of the connecting assemblies enclose an installation space, and at least a portion of the object carrier is opposite to the installation space; Wherein, the distance between any two adjacent lifting assemblies among the plurality of lifting assemblies is equal.

8. The lifting device according to claim 7, characterized in that: The object carrier comprises: A loading plate, wherein the loading plate is provided with an escape space, and the escape space is communicated with the installation space; A maintenance window, movably connected to the loading plate, the maintenance window being capable of opening or closing the avoidance space; A protective cover is arranged on the outer periphery of the carrier plate.

9. The lifting device according to any one of claims 1 to 4, characterized in that: Each of the lifting assemblies comprises: A seat body, wherein the seat body has a cavity; A rotating member is rotatably disposed in the cavity, two ends of the first connecting member are respectively connected to any two of the rotating members through the second connecting member and the third connecting member, the motor assembly is connected to at least one of the rotating members, and the rotating member is provided with an internal thread; A screw rod is arranged in the rotating member and connected to the object-carrying member. The screw rod is provided with an external thread, and the external thread cooperates with the internal thread. The rotation of the rotating member can drive the screw rod to move relative to the cavity.

10. The lifting device according to claim 9, characterized in that: Each of the lifting assemblies further comprises: A limit block is provided at one end of the screw rod away from the object carrier; Wherein, the cross-sectional area of ​​the cavity is larger than the cross-sectional area of ​​the limiting block.

11. The lifting device according to any one of claims 1 to 4, characterized in that: The motor assembly comprises: Servo motor; A reducer, wherein the servo motor is connected to at least one of the lifting components via the reducer.

12. The lifting device according to any one of claims 1 to 4, characterized in that: Also includes: A buffer pad is arranged on a side of the object carrier away from the plurality of lifting components.

13. The lifting device according to any one of claims 1 to 4, characterized in that: Also includes: An image acquisition component, disposed on the object carrier, for acquiring images of the object to be transported; A first detection member, provided on the object carrier, for detecting whether the object carrier contains an object to be transported; The second detection member is disposed on at least one of the lifting components and is used to detect the movement stroke of the lifting component.

14. An autonomous mobile device, characterized in that: include: The lifting device according to any one of claims 1 to 13; A movable chassis, wherein the lifting device is arranged on the movable chassis.

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