Lifting device and robot

Abstract

The utility model relates to the technical field of robots, and provides a lifting device and a robot. The lifting device comprises a fixed connecting piece, a lifting connecting piece, a driving mechanism and an auxiliary supporting mechanism; the driving mechanism is suitable for driving the lifting connecting piece to lift relative to the fixed connecting piece; two ends of the auxiliary supporting mechanism are respectively connected with the fixed connecting piece and the lifting connecting piece; the first end of the auxiliary supporting mechanism is hinged to the fixed connecting piece, and / or the second end of the auxiliary supporting mechanism is hinged to the lifting connecting piece. According to the lifting device, the driving mechanism can drive the lifting connecting piece to move relative to the fixed connecting piece, along with lifting of the lifting connecting piece, the auxiliary supporting mechanism is matched with the lifting connecting piece to synchronously act, the lifting weight can be integrally balanced, and the load of the driving mechanism is reduced; therefore, the power requirement for the driving mechanism is lowered, the overall service life of the driving mechanism is prolonged, the stability of the lifting device is enhanced, and running noise of the driving mechanism is effectively reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a lifting device and a robot. Background Art

[0002] With the rapid development of the robotics industry, the requirements for household service robots are getting higher and higher, and robots are required to complete more things, such as adding a mechanical arm to the robot to complete the grasping of objects, finishing housework, etc. Usually, the robot is provided with a lifting device, which can extend the robot's working range. The lifting device is generally composed of a driving mechanism and a guiding mechanism. The driving mechanism provides power to drive the heavy object up and down, and the guiding mechanism ensures that the object moves in a straight line. However, during the lifting process of the lifting device of the prior art, because the driving mechanism needs to have sufficient power to drive the guiding mechanism and the load up and down, when the load of the lifting device is large, the driving mechanism needs to use a better-powered motor, but a better-powered motor will increase the cost of the driving mechanism, and the overall size of the driving mechanism is large, while in the household robot scenario, it is hoped that the overall size of the robot is small and light. Therefore, for household robots, reducing the power requirements of the driving mechanism is an issue that must be considered. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the related art. To this end, the utility model proposes a lifting device to solve the defect that the existing lifting device has too high a power requirement for the driving mechanism.

[0004] The utility model also provides a robot.

[0005] The lifting device according to the first embodiment of the utility model includes:

[0006] Fixing connectors;

[0007] Lifting connector;

[0008] A driving mechanism, wherein the driving mechanism is adapted to drive the lifting connection member to rise and fall relative to the fixed connection member;

[0009] An auxiliary supporting mechanism, two ends of which are respectively connected to the fixed connecting member and the lifting connecting member;

[0010] The first end of the auxiliary support mechanism is hinged to the fixed connection member, and / or the second end of the auxiliary support mechanism is hinged to the lifting connection member.

[0011] According to the lifting device of the embodiment of the utility model, the driving mechanism can drive the lifting connection part to move relative to the fixed connection part. As the lifting connection part rises and falls, the auxiliary supporting mechanism cooperates with the lifting connection part to move synchronously, which can balance the lifting weight as a whole and reduce the load of the driving mechanism itself, thereby reducing the power requirements for the driving mechanism, increasing the overall life of the driving mechanism, enhancing the stability of the lifting device, and effectively reducing the noise of the driving mechanism operation.

[0012] According to an embodiment of the utility model, at least one of the fixed connection member and the lifting connection member is hinged to the auxiliary support mechanism through a joint bearing.

[0013] According to an embodiment of the utility model, the lifting connection member or the fixed connection member is provided with a mounting hole, the outer ring of the spherical bearing is mounted in the mounting hole, and the auxiliary support mechanism is passed through the inner ring of the spherical bearing.

[0014] According to one embodiment of the utility model, it also includes a bearing pressure plate and a locking nut. Corresponding to the spherical bearing, the bearing pressure plate is connected to at least one of the fixed connection member and the lifting connection member, and the bearing pressure plate is used to limit the first end face of the spherical bearing; the locking nut is connected to the end of the auxiliary support mechanism, and the locking nut is used to limit the second end face of the spherical bearing, and the first end face and the second end face of the spherical bearing are opposite.

[0015] According to an embodiment of the utility model, the auxiliary support mechanism is a gas spring, an oil spring or a torsion spring.

[0016] According to an embodiment of the utility model, a plurality of the auxiliary supporting mechanisms are included, and the plurality of the auxiliary supporting mechanisms are evenly distributed around the axial direction of the driving mechanism.

[0017] According to one embodiment of the utility model, the auxiliary support mechanism includes a fixed part and a movable part, the fixed part is hinged to the fixed connecting part, the movable part is installed on the fixed part and the movable part can move relative to the fixed part, and the movable part is hinged to the lifting connecting part.

[0018] According to an embodiment of the present invention, the diameter of the fixing part is greater than the diameter of the movable part.

[0019] According to one embodiment of the utility model, it also includes a guiding mechanism, which includes an outer frame and an inner frame, the inner frame is connected to the fixed connecting member, the outer frame is connected to the lifting connecting member, an installation space is formed inside the outer frame, the inner frame is arranged in the installation space, the inner frame can slide relative to the outer frame, the inner frame is hollow inside to form a accommodating space, and the driving mechanism and the auxiliary support mechanism are both located in the accommodating space.

[0020] The robot according to the embodiment of the second aspect of the utility model includes the above-mentioned lifting device.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a structural schematic diagram of a lifting device provided by an embodiment of the utility model;

[0024] Figure 2 It is a cross-sectional structural schematic diagram of the lifting device provided by the embodiment of the utility model;

[0025] Figure 3 yes Figure 2 A schematic diagram of a partially enlarged structure of a lifting device at position A provided in an embodiment;

[0026] Figure 4 It is a structural schematic diagram of the auxiliary support mechanism provided by an embodiment of the utility model;

[0027] Figure 5 It is a structural schematic diagram of the guide mechanism provided by an embodiment of the utility model;

[0028] Figure 6 It is a schematic diagram of the assembly structure of the inner frame and the driving mechanism provided in the embodiment of the utility model;

[0029] Figure 7 It is a schematic diagram of the assembly structure of the inner frame and the outer frame provided in an embodiment of the utility model.

[0030] Reference numerals:

[0031] 10. Guiding mechanism;

[0032] 20. Driving mechanism;

[0033] 30. Fix the connector;

[0034] 40. Lifting connector; 41. Mounting hole;

[0035] 60. Auxiliary support mechanism; 61. Fixed part; 62. Movable part;

[0036] 70. Spherical bearing; 80. Bearing pressure plate; 90. Locking nut;

[0037] 200, outer frame; 210, installation space;

[0038] 300. Inner frame; 310. Accommodating space. DETAILED DESCRIPTION

[0039] The following is a further detailed description of the implementation of the present utility model in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present utility model, but cannot be used to limit the scope of the present utility model.

[0040] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0041] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, wherein the fixed connection can include an integral connection; it can be a mechanical connection or an electrical 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 the embodiments of the present utility model can be understood according to specific circumstances.

[0042] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0043] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0044] According to the lifting device of the present utility model, please refer to Figure 1 , including a fixed connection member 30, a lifting connection member 40, a driving mechanism 20 and an auxiliary support mechanism 60, the driving mechanism 20 is suitable for driving the lifting connection member 40 to rise and fall relative to the fixed connection member 30; the auxiliary support mechanism 60, both ends of which are respectively connected to the fixed connection member 30 and the lifting connection member 40; the first end of the auxiliary support mechanism 60 is hinged to the fixed connection member 30, and / or the second end of the auxiliary support mechanism 60 is hinged to the lifting connection member 40.

[0045] According to the lifting device of the embodiment of the utility model, the driving mechanism 20 can drive the lifting connection member 40 to move relative to the fixed connection member 30. As the lifting connection member 40 is lifted or lowered, the auxiliary support mechanism 60 cooperates with the lifting connection member 40 to move synchronously, which can balance the lifting weight as a whole and reduce the load of the driving mechanism 20 itself, thereby reducing the power requirements for the driving mechanism 20, increasing the overall life of the driving mechanism 20, enhancing the stability of the lifting device, and effectively reducing the noise of the driving mechanism 20 during operation.

[0046] It can be understood that the fixed connection member 30 can be used to fix the lifting device to provide stable support for the lifting device, and the lifting connection member 40 can move relative to the fixed connection member 30 to achieve the lifting action.

[0047] It is understandable that the first end of the auxiliary support mechanism 60 is hinged to the fixed connection member 30, and / or the second end of the auxiliary support mechanism 60 is hinged to the lifting connection member 40. In other words, at least one end of the auxiliary support mechanism 60 is hinged to the corresponding member to be connected. When the auxiliary support mechanism 60 moves along with the lifting connection member 40, even if there is a certain installation error between the auxiliary support mechanism 60 and the fixed connection member 30 or the lifting connection member 40, the hinged auxiliary support mechanism 60 can adaptively adjust the hinge angle to ensure smooth lifting. In other words, the auxiliary support mechanism 60 can be easily installed and disassembled through the hinged connection, and the requirements for installation accuracy are also reduced, reducing the complexity and potential problems in the installation process.

[0048] According to an embodiment of the present invention, please refer to Figure 2 At least one of the fixed connection member 30 and the lifting connection member 40 is hinged to the auxiliary support mechanism 60 through a joint bearing 70.

[0049] It is understandable that the joint bearing 70 has a large axial and radial clearance, which can adapt to rotations of various angles and directions, thereby better adapting to various actions and postures of the auxiliary support mechanism 60 during the lifting process. The joint bearing 70 also has good impact resistance and vibration resistance, which can improve the stability and reliability of the entire lifting device.

[0050] It should be noted that the present invention is not limited to using the joint bearing 70 to hinge the auxiliary support mechanism 60 and the fixed connection member 30, or the lifting connection member 40, but can also be hinged by using a ball hinge structure.

[0051] According to an embodiment of the present invention, please refer to Figure 3 The lifting connection member 40 or the fixed connection member 30 is provided with a mounting hole 41 , the outer ring of the joint bearing 70 is mounted in the mounting hole 41 , and the auxiliary support mechanism 60 is penetrated through the inner ring of the joint bearing 70 .

[0052] It is understandable that the mounting hole 41 can provide accurate positioning and fixation for the spherical bearing 70. The outer ring of the spherical bearing 70 cooperates with the mounting hole 41 to effectively transmit force and torque, so that the auxiliary support mechanism 60 can better achieve its supporting and balancing functions.

[0053] It should be noted that the present invention does not specifically limit the shape of the mounting hole 41. The mounting hole 41 can be a through hole or a blind hole. The joint bearing 70 can be completely located in the mounting hole 41 or partially located in the mounting hole 41, as long as the mounting hole 41 can be matched with the outer ring of the joint bearing 70.

[0054] It is understandable that the auxiliary support mechanism 60 is inserted into the inner ring of the joint bearing 70, so that the auxiliary support mechanism 60 can flexibly adjust the angle as the joint bearing 70 rotates during the lifting process to achieve an adaptive support effect. This design can also reduce friction and wear, and improve the life and stability of the hinge.

[0055] Of course, in one embodiment, the outer ring of the spherical bearing 70 can be directly fixedly mounted on the lifting connection member 40 or the fixed connection member 30 .

[0056] According to an embodiment of the present invention, please refer to Figure 3 The lifting device further includes a bearing pressure plate 80 and a locking nut 90 to further enhance the positioning and fixing effect of the spherical bearing 70. Specifically, the bearing pressure plate 80 is arranged corresponding to the spherical bearing 70 and is connected to at least one of the fixing connector 30 and the lifting connector 40. The bearing pressure plate 80 is used to limit the first end face of the spherical bearing 70; the locking nut 90 is connected to the end of the auxiliary support mechanism 60, and the locking nut 90 is used to limit the second end face of the spherical bearing 70. The first end face and the second end face of the spherical bearing 70 are opposite.

[0057] It can be understood that the bearing pressure plate 80 is used to limit the first end face of the joint bearing 70, ensure that the joint bearing 70 is in the correct position, prevent it from sliding or displacing during the lifting process, and ensure that the connection between the joint bearing 70 and the auxiliary support mechanism 60 is more secure.

[0058] It can be understood that the locking nut 90 is connected to the end of the auxiliary support mechanism 60 and is used to limit the second end face of the joint bearing 70. By tightening the locking nut 90, the position of the joint bearing 70 in the auxiliary support mechanism 60 can be ensured to be stable, thereby ensuring the stability and reliability of the entire lifting device.

[0059] It should be noted that both ends of the auxiliary support mechanism 60 can be installed in a hinged manner. The following takes the hinged installation of the auxiliary support mechanism 60 and the lifting connection member 40 as an example:

[0060] The outer ring of the spherical bearing 70 is sleeved in the stepped hole of the lifting connection member 40, and then pressed by the bearing pressing plate 80, which fixes the outer ring of the spherical bearing 70 to the lifting connection member 40 through screws. The auxiliary support mechanism 60 is inserted into the inner ring of the spherical bearing 70, and the other end is fixed by a locking nut 90.

[0061] According to an embodiment of the present invention, the auxiliary support mechanism 60 is a gas spring, an oil spring or a torsion spring.

[0062] It should be noted that gas springs refer to elastic components that use gas pressure to achieve support and cushioning. Oil springs refer to elastic components that use the fluidity and elasticity of oil to achieve support and cushioning. Torsion springs refer to helical springs made of steel wire.

[0063] Of course, other elastic components in the prior art can also be used as the auxiliary support mechanism 60 of the present utility model, and all of them are within the protection scope of the present utility model.

[0064] In this embodiment, please refer to Figure 1 The lifting device is provided with two auxiliary support mechanisms 60, and both of the two auxiliary support mechanisms 60 are gas springs. In other embodiments, the auxiliary support mechanisms 60 can be selected according to actual needs, and all the auxiliary support mechanisms 60 can be of one type or of different types.

[0065] According to an embodiment of the present invention, please refer to Figure 1 The lifting device includes a plurality of auxiliary support mechanisms 60, and the plurality of auxiliary support mechanisms 60 are evenly distributed around the axial direction of the driving mechanism 20. It can be understood that the plurality of auxiliary support mechanisms 60 can disperse the load of the lifting device and reduce the burden of a single auxiliary support mechanism 60. The even distribution of the plurality of auxiliary support mechanisms 60 can also improve the balance of the lifting device, reduce the shaking or deviation that may occur during the lifting process, so that the lifting device remains stable during the lifting process, and the service life of the lifting device is increased.

[0066] According to an embodiment of the present invention, please refer to Figure 1 and Figure 4 The auxiliary support mechanism 60 includes a fixed part 61 and a movable part 62. The fixed part 61 is hinged to the fixed connecting part 30. The movable part 62 is installed on the fixed part 61 and the movable part 62 can move relative to the fixed part 61. The movable part 62 is hinged to the lifting connecting part 40.

[0067] In this embodiment, the auxiliary support mechanism 60 is a gas spring, the fixed part 61 can be regarded as a component forming an air chamber, and the movable part 62 can be regarded as a piston. The movable part 62 can move relative to the fixed part 61. When the fixed part 61 squeezes or stretches the air chamber, the gas provides a damping force in the opposite direction to the fixed part 61. The gas spring can adjust the gas of different pressures to balance according to different external loads, without changing the volume of the gas spring itself, and is easy to use.

[0068] According to an embodiment of the present invention, the diameter of the fixed member 61 is larger than the diameter of the movable member 62. It is understandable that the larger diameter of the fixed member 61 can better disperse and absorb the force and torque from the lifting connection member 40, and reduce the stress concentration on the movable member 62 and the hinged part. In this way, the service life of the auxiliary support mechanism 60 can be extended, the frequency of maintenance and replacement can be reduced, and the reliability and stability of the entire lifting device can be improved.

[0069] It should be noted that when the auxiliary support mechanism 60 is a gas spring, due to the characteristics of the gas spring itself, the force of the gas spring extending and the force of compressing are not exactly the same. Generally speaking, there is a difference of about 20%-30% between the two. In order to minimize this difference, the gas spring of the present application adopts a fixed part 61 with a large diameter and a movable part 62 with a smaller diameter to cooperate with each other, which can effectively reduce the pressure of the gas spring extending and contracting.

[0070] Taking a load of 30kg as an example, the extension pressure of a single gas spring is about 27kg, the compression force is about 33kg, and the lifting and retracting force of the drive mechanism 20 is about 3kg. Compared with relying solely on the drive mechanism 20 to lift the load, theoretically 90% of the load of the drive mechanism 20 is saved, which greatly reduces the power requirement of the drive mechanism 20 itself.

[0071] According to an embodiment of the present invention, please refer to Figure 1 , Figures 5 to 7 The lifting device also includes a guide mechanism 10, which includes an outer frame 200 and an inner frame 300. The inner frame 300 is connected to the fixed connection member 30, and the outer frame 200 is connected to the lifting connection member 40. An installation space 210 is formed inside the outer frame 200, and the inner frame 300 is arranged in the installation space 210. The inner frame 300 can slide relative to the outer frame 200. The inner frame 300 is hollow inside to form a receiving space 310. The driving mechanism 20 and the auxiliary support mechanism 60 are both located in the receiving space 310.

[0072] It is understandable that the guide mechanism 10 can provide a guiding function, which can ensure that the lifting path of the lifting connector 40 is accurate. The drive mechanism 20 is arranged in the accommodation space 310 inside the guide mechanism 10. In other words, the drive mechanism 20 is arranged at the center of the guide mechanism 10. Placing the drive mechanism 20 at the center position can make full use of the space of the guide mechanism 10, reduce the size of the overall device, and make it more compact and lightweight. In addition, placing the drive mechanism 20 at the center of the guide mechanism 10 can stabilize the center of gravity of the lifting device during the lifting process, reducing the risk of deviation and shaking.

[0073] It can be understood that the design of the inner frame 300 and the outer frame 200 provides dual stability. The outer frame 200 provides the main structural support for the guide mechanism 10, while the inner frame 300 provides additional strength and stability for the interior of the guide mechanism 10, and can be used to protect the components located in the hollow interior of the inner frame 300.

[0074] It can be understood that the inner frame 300 is hollow inside, wherein the driving mechanism 20 or the control mechanism of the guiding mechanism 10 can be installed in the inner hollow area of ​​the inner frame 300, so that the driving mechanism 20 or the control mechanism can be compactly integrated in the inner frame 300, while reducing the demand for external space. The overall volume of the guiding mechanism 10 can be reduced accordingly, and the inner frame 300 provides a stable environment for the driving mechanism 20 or the control mechanism arranged in the hollow position, which can prevent external factors (such as environment, human factors, etc.) from causing damage to it, thereby improving safety and reliability.

[0075] The robot according to the embodiment of the utility model includes the above-mentioned lifting device. It can be understood that the lifting device enables the robot to achieve lifting movement, expanding the robot's working range and adaptability. The lifting device can be used for the robot's joints, arms, legs and other moving parts to provide precise guidance and positioning functions. The lifting device can be used in conjunction with the robot's end effector to achieve various complex and delicate operating tasks.

[0076] It should be noted that, since the robot includes the above-mentioned lifting device, it has all the technical effects of the above-mentioned lifting device, which will not be repeated here.

[0077] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should be included in the scope of the claims of the present invention.

Claims

1. A lifting device, characterized in that: include: A fixed connection member (30); A lifting connection member (40); A driving mechanism (20), wherein the driving mechanism (20) is adapted to drive the lifting connection member (40) to rise and fall relative to the fixed connection member (30); An auxiliary supporting mechanism (60), two ends of which are respectively connected to the fixed connecting member (30) and the lifting connecting member (40); The first end of the auxiliary support mechanism (60) is hinged to the fixed connection member (30), and / or the second end of the auxiliary support mechanism (60) is hinged to the lifting connection member (40).

2. The lifting device according to claim 1, characterized in that: At least one of the fixed connection member (30) and the lifting connection member (40) is hinged to the auxiliary support mechanism (60) via a joint bearing (70).

3. The lifting device according to claim 2, characterized in that: The lifting connection member (40) or the fixed connection member (30) is provided with a mounting hole (41), the outer ring of the joint bearing (70) is mounted on the mounting hole (41), and the auxiliary support mechanism (60) is passed through the inner ring of the joint bearing (70).

4. The lifting device according to claim 3, characterized in that: It also includes a bearing pressure plate (80) and a locking nut (90), corresponding to the spherical bearing (70), the bearing pressure plate (80) is connected to at least one of the fixed connection member (30) and the lifting connection member (40), and the bearing pressure plate (80) is used to limit the first end face of the spherical bearing (70); the locking nut (90) is connected to the end of the auxiliary support mechanism (60), and the locking nut (90) is used to limit the second end face of the spherical bearing (70), and the first end face and the second end face of the spherical bearing (70) are opposite.

5. The lifting device according to any one of claims 1 to 4, characterized in that: The auxiliary support mechanism (60) is a gas spring, an oil spring or a torsion spring.

6. The lifting device according to any one of claims 1 to 4, characterized in that: It comprises a plurality of the auxiliary support mechanisms (60), and the plurality of the auxiliary support mechanisms (60) are evenly distributed around the axial direction of the driving mechanism (20).

7. The lifting device according to any one of claims 1 to 4, characterized in that: The auxiliary support mechanism (60) comprises a fixed part (61) and a movable part (62), wherein the fixed part (61) is hinged to the fixed connecting part (30), the movable part (62) is installed on the fixed part (61) and the movable part (62) can move relative to the fixed part (61), and the movable part (62) is hinged to the lifting connecting part (40).

8. The lifting device according to claim 7, characterized in that: The diameter of the fixed part (61) is greater than the diameter of the movable part (62).

9. The lifting device according to any one of claims 1 to 4, characterized in that: The invention also comprises a guiding mechanism (10), wherein the guiding mechanism (10) comprises an outer frame (200) and an inner frame (300), wherein the inner frame (300) is connected to the fixed connecting member (30), and the outer frame (200) is connected to the lifting connecting member (40), wherein an installation space (210) is formed inside the outer frame (200), and the inner frame (300) is arranged in the installation space (210), and the inner frame (300) can slide relative to the outer frame (200), and the inner frame (300) is hollow inside to form a receiving space (310), and the driving mechanism (20) and the auxiliary supporting mechanism (60) are both located in the receiving space (310).

10. A robot, characterized in that: A lifting device comprising the lifting device according to any one of claims 1 to 9.

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