Lifting device, transfer robot and warehousing system

Abstract

The embodiment of the utility model discloses a lifting device, a transfer robot and a warehousing system.The lifting device comprises a first support, a second support and a transmission assembly, the second support is movably connected with the first support in the height direction of the first support, and the second support is used for being connected with a lifting table; the lifting table can move in the height direction of the first support. The transmission assembly comprises a first guide piece, a moving piece and a traction piece, the moving piece is movably connected with the first support in the height direction of the first support so as to drive the lifting table to move in the height direction of the first support, and when the lifting table moves to the preset height, the traction piece is pulled out of the first guide piece. The lifting table abuts against the second support, and the lifting table and the second support synchronously move in the height direction of the first support. According to the lifting device, the structure of the lifting device can be simplified, and the cost of the lifting device is reduced.

Description

Technical Field

[0001] This application relates to the field of intelligent warehousing technology, specifically to a lifting device, a handling robot, and a warehousing system. Background Technology

[0002] Material handling robots are typically equipped with lifting devices to pick up and place goods at different heights on shelves. In related technologies, the lifting device includes a first support, a second support that can move along the height direction of the first support, a lifting platform that can move along the height direction of the first support, and a transmission assembly that drives the lifting platform to move along the height direction of the first support. Specifically, under the driving action of the transmission assembly, the lifting platform first moves relative to the second support along the height direction of the first support. When the lifting platform moves to the top of the second support, it drives the second support to move together relative to the first support along the height direction of the first support.

[0003] Currently, the transmission assembly includes multiple fixed pulleys and a traction rope. The traction rope is wound around the fixed pulleys, and the lifting platform is raised or lowered by winding and unwinding the traction rope. This requires a winding and unwinding mechanism on the lifting device, resulting in a complex structure and high cost. Utility Model Content

[0004] This application aims to at least partially address one of the problems in the related art.

[0005] Therefore, a first aspect of the embodiments of this application provides a lifting device, including:

[0006] First support;

[0007] The second bracket is movably connected to the first bracket along the height direction of the first bracket. The second bracket is used to connect to the lifting platform, and the lifting platform is movable along the height direction of the first bracket.

[0008] A transmission assembly includes a first guide, a moving member, and a traction member. The traction member is wound around the first guide and the moving member, with one end connected to the first bracket and the other end connected to the lifting platform. The first guide is connected to the second bracket, and the moving member is movably connected to the first bracket along the height direction of the first bracket to drive the lifting platform to move along the height direction of the first bracket. When the lifting platform moves to a preset height, the lifting platform abuts against the second bracket and moves synchronously with the second bracket along the height direction of the first bracket.

[0009] Optionally, the second bracket is provided with a stop portion, and when the lifting platform moves to the preset height, it stops against the stop portion along the height direction of the first bracket.

[0010] Optionally, the second bracket includes a bracket body and a first spring, the two ends of the first spring being connected to the bracket body and the stop portion respectively, for providing elastic force to the stop portion toward the lifting platform.

[0011] Optionally, the lifting device further includes a counterweight block connected to the moving member. When the moving member moves along the height direction of the first support, the counterweight block moves with the moving member.

[0012] Optionally, the lifting device further includes a drive mechanism and a transmission mechanism. The drive mechanism is connected to the transmission mechanism and is used to drive the transmission mechanism to move. The transmission mechanism is connected to the moving member and is used to drive the moving member to move along the height direction of the first support.

[0013] Optionally, the transmission mechanism includes a first transmission wheel, a second transmission wheel, and a transmission member. The first transmission wheel and the second transmission wheel are arranged at intervals along the height direction of the first bracket and are both rotatably connected to the first bracket. The driving mechanism is drivenly connected to the first transmission wheel so that the driving mechanism drives the first transmission wheel to rotate. The transmission member is wound around the first transmission wheel and the second transmission wheel so that the transmission member moves along the height direction of the first bracket and the second transmission wheel rotates. The transmission member is connected to the moving member so as to drive the moving member to move along the height direction of the first bracket.

[0014] Optionally, the lifting device further includes a connector, through which the moving part and the transmission part are connected.

[0015] Optionally, the driving mechanism includes a drive motor connected to the first transmission wheel to drive the first transmission wheel to rotate.

[0016] Optionally, both the first and second transmission wheels are sprockets, and the transmission component is a chain.

[0017] Optionally, the transmission assembly further includes a second guide member connected to the first bracket, and the traction member is sequentially wound around the moving member, the second guide member, and the first guide member.

[0018] Optionally, the transmission assembly further includes a third guide member, which is connected to the second bracket and spaced apart from the first guide member along the height direction of the first bracket. The traction member is sequentially wound around the moving member, the second guide member, the third guide member, and the first guide member. When the moving member moves along the height direction of the first bracket, the traction member drives the lifting platform to move along the height direction of the first bracket.

[0019] Optionally, the first guide, the second guide, and the third guide are all fixed pulleys, the moving member is a movable pulley, and the traction member is a traction rope.

[0020] Optionally, the second guide is coaxially arranged with the second transmission wheel and rotatably connected to the same fixed shaft.

[0021] Optionally, the first guide is connected to the top of the second bracket, the third guide is connected to the bottom of the second bracket, and the second guide is connected to the top of the first bracket.

[0022] Optionally, one end of the transmission member is connected to one end of the connector, and the other end of the transmission member bypasses the first transmission wheel and the second transmission wheel and is connected to the other end of the connector.

[0023] Optionally, at least one end of the transmission member is provided with a movable member, and the lifting device further includes a second spring, the two ends of which are respectively connected to the transmission member and the movable member to provide an elastic force to the movable member toward the connecting member.

[0024] Optionally, the connector is provided with a connecting hole, the movable member includes a movable column and an abutment portion, the movable column is inserted into the connecting hole, the abutment portion is located on the side of the connecting hole away from the transmission member, the second spring is sleeved on the movable column, and the two ends of the second spring respectively abut against the connector and the abutment portion.

[0025] Optionally, before the lifting platform moves to a preset height, the moving component is used to move along a first direction so that the traction component drives the lifting platform to move along a second direction opposite to the first direction, the first direction being parallel to the height direction of the first support.

[0026] Optionally, before the lifting platform rises to a preset height, the moving member is used to descend along the height direction of the first support, so that the traction member drives the lifting platform to rise along the height direction of the first support;

[0027] After the lifting platform rises to a preset height, the moving component is used to descend along the height direction of the first support, so that the traction component drives the lifting platform and the second support to rise synchronously along the height direction of the first support to the first target height.

[0028] Before the lifting platform descends to a preset height, the moving component is used to rise along the height direction of the first support, so that the traction component drives the lifting platform and the second support to descend synchronously along the height direction of the first support.

[0029] After the lifting platform descends to a preset height, the lifting platform disengages from the second support, and the moving component is used to rise along the height direction of the first support, so that the traction component drives the lifting platform to descend along the height direction of the first support to the second target height.

[0030] A second aspect of this application provides a handling robot, comprising:

[0031] Mobile chassis;

[0032] The lifting device and the lifting platform are provided, wherein the lifting device is any of the lifting devices described above, the first bracket is connected to the mobile chassis, the lifting platform is connected to the second bracket, and the lifting platform is used to carry goods.

[0033] A third aspect of this application provides a warehousing system, including:

[0034] Shelves;

[0035] The transport robot is any one of the transport robots described above.

[0036] The lifting device of this application allows the second support to move along the height direction of the first support by movably connecting the second support to the first support along the height direction of the first support. It also allows the lifting platform to move relative to the second support along the height direction of the first support by movably connecting the lifting platform to the second support along the height direction of the first support. Furthermore, it allows the lifting platform and the second support to move synchronously along the height direction of the first support by stopping at a preset height. Finally, it connects the first guide member of the transmission assembly to the second support, allows the moving member of the transmission assembly to move along the height direction of the first support, and winds a traction member of the transmission assembly around the first guide member and the moving member, with one end of the traction member connected to the first support and the other end connected to the lifting platform. This allows the traction member to drive the lifting platform to move along the height direction of the first support during the movement of the moving member, and when the lifting platform reaches the preset height, it stops at the second support, causing the lifting platform and the second support to move synchronously along the height direction of the first support.

[0037] Since the moving component moves along the height direction of the first support, causing the traction component to drive the lifting platform along the height direction of the first support, and also causing the lifting platform and the second support to move synchronously along the height direction of the first support, there is no need to retract or extend the traction component. Therefore, the transmission assembly does not need to have a dedicated retraction or extension mechanism for the traction component. This simplifies the architecture of the transmission assembly, thereby simplifying the structure of the lifting device and reducing its cost. Attached Figure Description

[0038] Figure 1 This is a perspective view of the lifting device according to an embodiment of this application.

[0039] Figure 2 yes Figure 1 Enlarged view of point A in the middle.

[0040] Figure 3 This is a perspective view of the lifting device according to an embodiment of this application.

[0041] Figure 4 yes Figure 3 A magnified view of a section at point B in the middle.

[0042] Figure 5 yes Figure 3 Enlarged view of point C in the middle.

[0043] Figure 6 This is a perspective view of the lifting device according to an embodiment of this application, with the cover and counterweight removed.

[0044] Figure 7 yes Figure 6 Enlarged view of point D in the middle.

[0045] Figure 8 This is a first-view perspective view of the lifting device according to an embodiment of this application, with the cover removed.

[0046] Figure 9 yes Figure 8 Enlarged view of point E in the middle.

[0047] Figure 10 This is a perspective view of the lifting device according to an embodiment of this application, with the cover removed.

[0048] Figure 11 yes Figure 10 Enlarged view of point F in the middle.

[0049] Figure 12 This is a schematic diagram of the lifting principle of the lifting device according to an embodiment of this application.

[0050] Figure 13 This is a schematic diagram of the structure of the warehousing system according to an embodiment of this application.

[0051] Figure label:

[0052] 100. Lifting device;

[0053] 1. First bracket; 11. Movable component; 111. Movable column; 112. Abutment part; 12. Second spring; 13. Buffer position; 14. First guide wheel;

[0054] 2. Second bracket; 21. Stopping part; 22. First spring; 23. First track; 24. Second track; 25. Bracket body; 26. Stopping block;

[0055] 3. Lifting platform; 31. Pushing component; 311. Pushing part; 32. Second guide wheel;

[0056] 4. Transmission assembly; 41. First guide; 42. Moving component; 43. Traction component; 44. Second guide; 45. Third guide;

[0057] 5. Cover;

[0058] 6. Transmission mechanism; 61. First transmission wheel; 62. Second transmission wheel; 63. Transmission component;

[0059] 7. Drive mechanism; 71. Drive motor;

[0060] 8. Connectors;

[0061] 9. Counterweight;

[0062] 10. Picking and placing mechanism;

[0063] 200. Mobile chassis;

[0064] 300. Shelves. Detailed Implementation

[0065] The embodiments of this application are described in detail below, with examples of these embodiments illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0066] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0067] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0068] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0069] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0070] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0071] Currently, to increase the storage density of warehousing systems, the height of the shelving is being increased from a first height (e.g., 4m) to a second height (e.g., 6m-9m). However, directly increasing the height of the handling robot to the second height would result in a higher overall height for the robot, poorer stability, and reduced travel speed.

[0072] To ensure the stability of the handling robot, its lifting device has been improved. Specifically, the lifting device includes a first support, a second support, a lifting platform, and a transmission assembly. The transmission assembly can drive the lifting platform to move relative to the second support along the height direction of the first support, and also drive the second support to move along the height direction of the first support. When the height of the goods is lower than a first height, the lifting platform only moves along the height direction of the first support, and the second support does not need to move along the height direction of the first support. When the height of the goods is higher than the first height, the lifting platform first moves along the height direction of the first support, and stops at the second support when it reaches the first height. After that, the lifting platform and the second support move synchronously along the height direction of the first support. In related technologies, the transmission assembly has the problems of complex structure and high cost, resulting in high costs for the lifting device, the handling robot, and the warehousing system.

[0073] In response to the technical problems existing in the relevant technologies, refer to Figures 1 to 12 As shown, the lifting device 100 of this embodiment includes a first support 1, a second support 2, and a transmission assembly 4. The second support 2 is movably connected to the first support 1 along the height direction of the first support 1. The second support 2 is used to connect to a lifting platform 3, and the lifting platform 3 is movable along the height direction of the first support 1. The height direction of the first support 1 can be the up-down direction shown in the figure.

[0074] like Figure 2 and Figure 4 As shown, the transmission assembly 4 includes a first guide 41, a moving member 42, and a traction member 43. The traction member 43 is wound around the first guide 41 and the moving member 42, with one end of the traction member 43 connected to the first bracket 1 and the other end connected to the lifting platform 3. The first guide 41 is connected to the second bracket 2, and the second guide 44 is movably connected to the first bracket 1 along the height direction of the first bracket 1, so as to drive the lifting platform 3 to move along the height direction of the first bracket 1. When the lifting platform 3 moves to a preset height, it abuts against the second bracket 2. When the lifting platform 3 moves to the preset height, the lifting platform 3 and the second bracket 2 move synchronously along the height direction of the first bracket 1.

[0075] The preset height can be designed as needed; for example, the preset height can be the same as the height of the second bracket 2, which can be 4m. The first guide 41 is rotatably connected to the second bracket 2, allowing the first guide 41 to rotate relative to the second bracket 2. For example, the first guide 41 and the second bracket 2 are connected by bearings, bushings, etc.

[0076] The lifting device 100 of this application embodiment allows the second support 2 to move along the height direction of the first support 1 by movably connecting the second support 2 to the first support 1. Similarly, the lifting platform 3 is movably connected to the second support 2 along the height direction of the first support 1, allowing the lifting platform 3 to move relative to the second support 2 along the height direction of the first support 1. Finally, the lifting platform 3 stops at the second support 2 when it reaches a preset height, enabling both the lifting platform 3 and the second support 2 to move synchronously along the height direction of the first support 1. By connecting the first guide 41 of the transmission assembly 4 to the second bracket 2, the moving part 42 of the transmission assembly 4 moves along the height direction of the first bracket 1, and the traction part 43 of the transmission assembly 4 is wound around the first guide 41 and the moving part 42, with one end of the traction part 43 connected to the first bracket 1 and the other end of the traction part 43 connected to the lifting platform 3, so that during the movement of the moving part 42 along the height direction of the first bracket 1, the traction part 43 can drive the lifting platform 3 to move along the height direction of the first bracket 1, and when the lifting platform 3 moves to a preset height, the lifting platform 3 and the second bracket 2 abut against each other so that the lifting platform 3 and the second bracket 2 move synchronously along the height direction of the first bracket 1.

[0077] Since the moving member 42 moves along the height direction of the first support 1, causing the traction member 43 to drive the lifting platform 3 along the height direction of the first support 1, and also causing the lifting platform 3 and the second support 2 to move synchronously along the height direction of the first support 1, there is no need to retract or extend the traction member 43. Therefore, the transmission assembly 4 does not need to be equipped with a dedicated retraction or extension mechanism for the traction member 43. This simplifies the structure of the transmission assembly 4, thereby simplifying the structure of the lifting device 100 and reducing the cost of the lifting device 100.

[0078] In some examples of embodiments of this application, the first support 1 and the second support 2 can be made of rigid materials. For example, the first support 1 and the second support 2 can be made of stainless steel, aluminum alloy, cast iron, etc. Of course, the first support 1 and the second support 2 can also be made of non-metallic materials such as rigid plastic. This application does not limit this.

[0079] In some examples of embodiments of this application, the traction member 43 may be made of a flexible material. For example, the traction member 43 may be a nylon rope, cotton rope, or steel wire rope, and this application embodiment does not limit this.

[0080] It is understandable that the lifting platform 3 is used to carry goods, which can be material boxes, cargo boxes, original boxes, or the goods themselves.

[0081] In some examples of embodiments of this application, the first support 1 and the second support 2 can be a gantry. For example, the first support 1 includes two columns and a crossbeam. The crossbeam extends along the width direction of the first support 1, the columns extend along the height direction of the first support 1, and the two ends of the crossbeam are respectively connected to the tops of the two columns. The width direction of the first support 1 can be the left-right direction as shown in the figure.

[0082] For example, the beam extends in the left-right direction, the two columns extend in the up-down direction, the two columns are arranged at intervals in the left-right direction, and the two ends of the beam are connected to the upper ends of the left and right columns respectively.

[0083] In some examples of embodiments of this application, such as Figure 3 and Figure 8 As shown, the lifting platform 3 is equipped with a picking and placing mechanism 10, which is used to remove goods from the shelf or place goods on the shelf.

[0084] In some examples of embodiments of this application, the lifting device 100 further includes a drive mechanism 7 and a transmission mechanism 6. The drive mechanism 7 is connected to the transmission mechanism 6 in a transmission manner. The drive mechanism 7 is used to drive the transmission mechanism 6 to move. The transmission mechanism 6 is connected to the moving member 42 in a transmission manner. The transmission mechanism 6 is used to drive the moving member 42 to move along the height direction of the first support 1.

[0085] By setting up a drive mechanism 7 and a transmission mechanism 6, the moving part 42 can be raised and lowered using the drive mechanism 7 and the transmission mechanism 6, thereby realizing the raising and lowering of the lifting device 100, which helps to improve the ease of use of the lifting device 100.

[0086] In some examples of embodiments of this application, such as Figure 1 , Figure 3 and Figure 6 As shown, when the first support 1 and the second support 2 are gantry frames, both the transmission assembly 4 and the transmission mechanism 6 are provided in two sets. The transmission assembly 4 and the transmission mechanism 6 are respectively located on both sides of the gantry frame, and the transmission assembly 4 located on the same side is connected to the transmission mechanism 6. The drive mechanism 7 can be provided in one or two sets. When the drive mechanism 7 is provided in two sets, the drive mechanism 7 corresponds one-to-one with the transmission mechanism 6, and the drive mechanism 7 is connected to the corresponding transmission mechanism 6. When the drive mechanism 7 is provided in one set, the drive mechanism 7 is connected to both sets of transmission mechanisms 6 through a transmission shaft, so that one drive mechanism 7 can drive the movement of both sets of transmission mechanisms 6 simultaneously.

[0087] In some other examples of embodiments of this application, the transmission component 4, the transmission mechanism 6, and the drive mechanism 7 may each be provided as a set.

[0088] In some other examples of embodiments of this application, the drive mechanism 7 and the transmission mechanism 6 may not be provided, and the moving part 42 may be moved directly by manual pushing along the height direction of the first support 1.

[0089] In some examples of embodiments of this application, such as Figure 2 , Figure 9 , Figure 11 and Figure 12 As shown, the transmission mechanism 6 includes a first transmission wheel 61, a second transmission wheel 62, and a transmission member 63. The first transmission wheel 61 and the second transmission wheel 62 are arranged at intervals along the height direction of the first support 1 and are both rotatably connected to the first support 1. The drive mechanism 7 is drively connected to the first transmission wheel 61 so that the drive mechanism 7 drives the first transmission wheel 61 to rotate. The transmission member 63 is wound around the first transmission wheel 61 and the second transmission wheel 62 so that the transmission member 63 moves along the height direction of the first support 1 and the second transmission wheel 62 rotates. The transmission member 63 is connected to the moving member 42 so as to drive the moving member 42 to move along the height direction of the first support 1.

[0090] By arranging the transmission mechanism 6 with the above-described structure, the driving stability of the transmission mechanism 6 can be improved, thereby improving the stability of the lifting device 100.

[0091] In some examples of embodiments of this application, such as Figure 2 , Figure 9 and Figure 11 As shown, both the first transmission wheel 61 and the second transmission wheel 62 are sprockets, and the transmission component 63 is a chain.

[0092] By setting both the first transmission wheel 61 and the second transmission wheel 62 as sprockets and the transmission component 63 as a chain, it is beneficial to further improve the driving stability of the transmission mechanism 6 and the stability of the lifting device 100.

[0093] In other examples of embodiments of this application, the first transmission wheel 61 and the second transmission wheel 62 can be pulleys, and the transmission member 63 can be a transmission belt; or, the first transmission wheel 61 and the second transmission wheel 62 can both be gears, and the transmission member 63 can be a rack.

[0094] In some examples of embodiments of this application, such as Figure 1 and Figure 10 As shown, the drive mechanism 7 includes a drive motor 71, which is connected to the first transmission wheel 61 to drive the first transmission wheel 61 to rotate.

[0095] For example, the first transmission wheel 61 is located at the bottom of the first bracket 1, and the drive motor 71 is located at the bottom of the first bracket 1. The drive motor 71 is connected to the first transmission wheel 61 to drive the first transmission wheel 61 to rotate. When the first transmission wheel 61 rotates, the transmission component 63 moves in response to the rotation of the first transmission wheel 61, and the transmission component 63 drives the second transmission wheel 62 to rotate.

[0096] In some examples of embodiments of this application, such as Figure 2 , Figure 11 and Figure 12 As shown, the transmission assembly 4 also includes a connector 8, and the moving part 42 and the transmission part 63 are connected by the connector 8.

[0097] By setting the connector 8, it is easy to connect the moving part 42 and the transmission part 63.

[0098] In some examples of embodiments of this application, the moving part 42 can also be directly connected to the transmission part 63. For example, the moving part 42 and the transmission part 63 are directly connected by fasteners. The fasteners can be bolts, screws, etc.

[0099] In some examples of embodiments of this application, such as Figure 2 and Figure 11 As shown, one end of the transmission component 63 is connected to one end of the connecting component 8, and the other end of the transmission component 63 passes around the first transmission wheel 61 and the second transmission wheel 62 and is connected to the other end of the connecting component 8. That is to say, the two ends of the transmission component 63 are connected by the connecting component 8.

[0100] By connecting the two ends of the transmission component 63 with the connector 8, it is convenient to adjust the length of the ring formed by the transmission component 63 and the connector 8, so that the transmission component 63 can cooperate more reliably with the first transmission wheel 61 and the second transmission wheel 62, which helps to improve the reliability of the lifting device 100.

[0101] In some examples of embodiments of this application, the two ends of the transmission component 63 can also be directly connected. In this case, the transmission component 63 is an overall ring structure.

[0102] In some examples of embodiments of this application, such as Figure 2 and Figure 11 As shown, at least one end of the transmission member 63 is provided with a movable member 11, and the lifting device 100 also includes a second spring 12. The two ends of the second spring 12 are respectively connected to the transmission member 63 and the movable member 11 to provide elastic force to the movable member 11 toward the connecting member 8.

[0103] For example, such as Figure 2As shown, the upper end of the transmission member 63 is provided with a movable member 11, and both the movable member 11 and the connecting member 8 are located on the lower side of the upper end of the transmission member 63. The movable member 11 is movably connected to the connecting member 8 in the vertical direction. A second spring is used to provide a downward elastic force to the movable member 11.

[0104] By making the movable part 11 movable along the height direction of the first support 1, and the second spring 12 used to provide elastic force to the movable part 11 toward the connecting part 8, the tension of the transmission part 63 can be automatically achieved by using the second spring 12, thereby improving the reliability of the transmission mechanism 6 and improving the reliability of the lifting device 100.

[0105] In other examples of embodiments of this application, a tensioning wheel may also be provided on the first bracket 1, the tensioning wheel is rotatably connected to the first bracket 1, and the transmission member 63 is wound around the tensioning wheel, so that the tensioning wheel is used to achieve the tensioning of the transmission member 63.

[0106] In some examples of embodiments of this application, such as Figure 2 and Figure 11 As shown, the connector 8 has a connecting hole, and the movable member 11 includes a movable post 111 and an abutment part 112. The movable post 111 is inserted into the connecting hole, and the abutment part 112 is located on the side of the connecting hole away from the transmission member 63. The second spring 12 is sleeved on the movable post 111, and the two ends of the second spring 12 abut against the connector 8 and the abutment part 112, respectively.

[0107] For example, the connecting hole extends vertically, the upper end of the transmission member 63 is located on the upper side of the connecting hole, and the abutment portion 112 is located on the lower side of the connecting hole. The second spring 12 provides a downward elastic force to the transmission member 63. The transmission member 63 can be a compression spring, a rubber cylinder, etc.

[0108] By designing the connecting member 8 and the movable member 11 as described above, it is convenient to connect the transmission member 63 and the connecting member 8 through the movable member 11, which helps to reduce the cost of the lifting device 100.

[0109] In some examples of embodiments of this application, such as Figure 4 , Figure 2 , Figure 11 and Figure 12 As shown, the transmission assembly 4 also includes a second guide 44, which is connected to the first bracket 1, and the traction member 43 is sequentially wound around the moving member 42, the second guide 44 and the first guide 41.

[0110] The second guide 44 is rotatably connected to the first bracket 1, allowing the second guide 44 to rotate relative to the first bracket 1. For example, the second guide 44 and the first bracket 1 are connected by bearings, bushings, etc.

[0111] By providing the second guide 44, the overall length of the traction member 43 can be set to be longer, which increases the range of movement of the lifting platform 3 in the height direction of the first support 1. Therefore, the lifting platform 3 can carry goods of greater height, thus improving the usability of the lifting device 100.

[0112] In some examples of embodiments of this application, such as Figure 2 , Figure 11 and Figure 12 As shown, the second guide 44 is coaxially arranged with the second transmission wheel 62 and rotatably connected to the same fixed shaft.

[0113] For example, the fixed shaft is fixedly connected to the first bracket 1, and the second guide 44 and the second transmission wheel 62 are rotatably connected to the fixed shaft through bearings or bushings, respectively.

[0114] By allowing the second guide 44 and the second transmission wheel 62 to be rotatably connected to the same fixed shaft, it is beneficial to simplify the structure of the transmission assembly 4, further simplify the structure of the lifting device 100, and reduce the cost of the lifting device 100.

[0115] In some other examples of embodiments of this application, the second guide 44 and the second transmission wheel 62 may be on different axes. In this case, the second guide 44 and the second transmission wheel 62 are rotatably connected to different fixed axes.

[0116] In some examples of embodiments of this application, such as Figure 2 , Figure 9 , Figure 11 and Figure 12 As shown, the transmission assembly 4 also includes a third guide 45, which is connected to the second bracket 2 and spaced apart from the first guide 41 along the height direction of the first bracket 1. A traction member 43 is sequentially wound around the moving member 42, the second guide 44, the third guide 45, and the first guide 41. When the moving member 42 moves along the height direction of the first bracket 1, the traction member 43 drives the lifting platform 3 to move along the height direction of the first bracket 1.

[0117] The third guide 45 is rotatably connected to the second bracket 2, allowing the third guide 45 to rotate relative to the second bracket 2. For example, the third guide 45 and the second bracket 2 are connected by bearings, bushings, etc.

[0118] By providing a third guide 45, the overall length of the traction member 43 can be made longer, increasing the range of movement of the lifting platform 3 in the height direction of the first support 1. Therefore, the lifting platform 3 can carry goods of considerable height, expanding the usability of the lifting device 100.

[0119] In some examples of embodiments of this application, the first guide 41, the second guide 44 and the third guide 45 are all fixed pulleys, the moving member 42 is a movable pulley and the traction member 43 is a traction rope.

[0120] By setting the first guide 41 and the third guide 45 as fixed pulleys, the moving part 42 as a movable pulley, and the traction part 43 as a traction rope, the transmission assembly 4 is made into a pulley assembly as a whole, which can reduce the volume and weight of the transmission assembly 4, thereby reducing the volume and weight of the lifting device 100.

[0121] In some examples of embodiments of this application, such as Figure 2 , Figure 9 , Figure 11 and Figure 12 As shown, the first guide 41 is connected to the top of the second bracket 2, the third guide 45 is connected to the bottom of the second bracket 2, and the second guide 44 is connected to the top of the first bracket 1.

[0122] For example, the first guide 41 is connected to the upper part of the second bracket 2, the third guide 45 is connected to the lower part of the second bracket 2, and the second guide 44 is connected to the upper part of the first bracket 1.

[0123] By arranging the first guide 41, the second guide 44, and the third guide 45 in the aforementioned positions, the overall length of the traction member 43 can be set to be longer while maintaining a fixed number of fixed pulleys. This increases the range of movement of the lifting platform 3 in the height direction of the first support 1. Consequently, the lifting platform 3 can carry goods of considerable height, thus expanding the usability of the lifting device 100.

[0124] In some examples of embodiments of this application, such as Figure 1 and Figure 4 As shown, the transmission assembly 4 also includes a counterweight 9, which is connected to the moving member 42. When the moving member 42 moves along the height direction of the first support 1, the counterweight 9 moves with the moving member 42.

[0125] The counterweight 9 can be connected to the connector 8.

[0126] By connecting a counterweight 9 to the moving part 42, the counterweight 9 moves together with the moving part 42. On the one hand, before the lifting platform 3 moves to the preset height, when the lifting platform 3 moves along the height direction of the first support 1, the counterweight 9 can balance part of the weight of the lifting platform 3, so that the lifting platform 3 can be driven to move along the height direction of the first support 1 even when the output torque of the drive motor 71 is relatively small. On the other hand, after the lifting platform 3 moves to the preset height, when the lifting platform 3 and the second support 2 move synchronously along the height direction of the first support 1, the counterweight 9 can balance part of the weight of the lifting platform 3 and the second support 2, so that the lifting platform 3 and the second support 2 can be driven to move synchronously along the height direction of the first support 1 even when the output torque of the drive motor 71 is relatively small. Therefore, the moving speed of the lifting platform 3 can be increased when the power of the drive motor 71 is relatively small, thereby improving the lifting efficiency of the lifting device 100.

[0127] In some examples of embodiments of this application, such as Figure 4 and Figure 5 As shown, the second support 2 is provided with a stop part 21, and the lifting platform 3 is provided with a push part 311. The push part 311 stops against the stop part 21 when the lifting platform 3 moves to a preset height.

[0128] For example, when the lifting platform 3 moves to a preset height, the pushing part 311 faces upward and stops against the stopping part 21. Then, when the lifting platform 3 moves upward relative to the first support 1, the pushing part 311 pushes the stopping part 21 upward, so that the second support 2 and the lifting platform 3 move upward relative to the first support 1 in sync.

[0129] By providing a stop part 21 on the second support 2 and a push part 311 on the lifting platform 3, when the lifting platform 3 moves to a preset height, the push part 311 and the stop part 21 stop along the height direction of the first support 1, thereby achieving a stop between the lifting platform 3 and the second support 2. This improves the reliability of the stop between the lifting platform 3 and the second support 2, which is beneficial to improving the reliability of the lifting device 100.

[0130] In some other examples of embodiments of this application, the second support 2 may not have a stop portion 21, and the lifting platform 3 may not have a push portion 311. In this case, when the lifting platform 3 moves to a preset height, the lifting platform 3 contacts the second support 2 and generates a frictional force along the height direction of the first support 1. Using the frictional force between the lifting platform 3 and the second support 2, the second support 2 and the lifting platform 3 move upward relative to the first support 1 synchronously.

[0131] In some examples of embodiments of this application, such as Figure 4 As shown, the second support 2 includes a support body 25 and a first spring 22. The two ends of the first spring 22 are connected to the support body 25 and the stop part 21 respectively, so as to provide elastic force to the stop part 21 toward the lifting platform 3.

[0132] For example, the second bracket 2 is provided with a stop block 26, which has an insertion hole extending vertically with the opening facing downwards. The stop part 21 includes a stop post and a fixing member. The stop post is buoyantly inserted into the insertion hole, and the fixing member is located on the lower side of the stop post and connected to it. The two ends of the first spring 22 abut against the stop block 26 and the fixing member, respectively. The first spring 22 provides a downward elastic force to the stop part 21. The first spring 22 can be a compression spring, a rubber cylinder, etc.

[0133] By configuring the second bracket 2 to include a bracket body 25 and a first spring 22, and the first spring 22 providing elastic force to the stop part 21 toward the lifting platform 3, when the pushing part 311 abuts against the stop part 21, the first spring 22 provides elastic force to the stop part 21, absorbing the impact force when the pushing part 311 and the stop part 21 come into contact, thus playing a buffering role and preventing excessive impact force when the pushing part 311 and the stop part 21 abut against each other, which could lead to damage to either the second bracket 2 or the lifting platform 3. This further improves the reliability of the lifting device 100.

[0134] In other examples of embodiments of this application, the first spring 22 may be omitted, and the stop portion 21 may be directly made into a spring. For example, the stop portion 21 may be made of materials such as rubber or silicone. In this case, when the pushing portion 311 stops against the stop portion 21, the stop portion 21 itself plays an elastic buffering role.

[0135] In some examples of embodiments of this application, such as Figure 4 As shown, the stop part 21 is provided on the top of the second bracket 2.

[0136] For example, such as Figure 4 As shown, the stop part 21 can float and connect to the upper part of the support body 25 along the height direction of the first support 1. At this time, it will stop with the stop part 21 of the second support 2 when the pushing part 311 of the lifting platform 3 moves to the upper part of the second support 2.

[0137] By placing the stop part 21 at the top of the second support 2, the pushing part 311 of the lifting platform 3 will only stop against the stop part 21 of the second support 2 when it moves to the top of the second support 2. This allows the lifting platform 3 to move a greater distance relative to the second support 2, increasing the range of movement of the lifting platform 3 in the height direction of the first support 1. Therefore, with a fixed height of the first support 1 and the second support 2, the lifting platform 3 can carry goods of greater height, improving the usability of the lifting device 100.

[0138] In some examples of embodiments of this application, such as Figure 5As shown, the top of the lifting platform 3 is provided with a pusher 31, which is connected to the traction member 43, and the top of the pusher 31 forms a pusher part 311.

[0139] For example, such as Figure 5 As shown, the pusher 31 is disposed on the upper part of the lifting platform 3, and the upper end of the pusher 31 forms a pusher portion 311. At this time, when the pusher portion 311 abuts against the stop portion 21, the entire lifting platform 3 is located below the stop portion 21.

[0140] By providing a pusher 31 at the top of the lifting platform 3, and connecting the pusher 31 to the traction member 43, the top of the pusher 31 forms a pusher portion 311, so that when the pusher portion 311 stops the stop portion 21, the entire lifting platform 3 can be lower than the stop portion 21, effectively avoiding collision between the lifting platform 3 and the stop portion 21, and improving the reliability of the lifting device 100.

[0141] like Figure 11 As shown, the bracket body 25 is provided with a first track 23, and the first bracket 1 is provided with a first guide wheel 14. The first guide wheel 14 is rotatably connected to the first bracket 1, and the first guide wheel 14 is guided and cooperated with the first track 23.

[0142] By guiding the first guide wheel 14 to cooperate with the first track 23, the second support 2 is prevented from tilting when it moves along the height direction of the first support 1, which helps to improve the reliability of the lifting device 100.

[0143] like Figure 9 As shown, the second support 2 is provided with a second track 24, and the lifting platform 3 is provided with a second guide wheel 32. The second guide wheel 32 is rotatably connected to the second support 2, and the second guide wheel 32 is guided and cooperated with the second track 24.

[0144] By guiding the second guide wheel 32 and the second track 24, when the lifting platform 3 moves relative to the second support 2 along the height direction of the first support 1, the lifting platform 3 is prevented from tilting, which helps to improve the reliability of the lifting device 100.

[0145] like Figure 1 and Figure 3 As shown, the lifting device 100 also includes a cover 5, which covers the outside of the first support 1, and a portion of the traction member 43 is disposed inside the cover 5.

[0146] The cover 5 is placed on the outside of the first support 1, and a part of the traction member 43 is placed inside the cover 5, which can shield the traction member 43 and improve the safety of the lifting device 100.

[0147] In some examples of embodiments of this application, such as Figure 1 , Figure 4 , Figure 10, Figure 8 and Figure 6 As shown, the first support 1 is provided with multiple buffer positions 13, which are arranged at intervals along the height direction of the first support 1. The buffer positions 13 are used to buffer goods. The buffer positions 13 and the lifting platform 3 are respectively located on both sides of the thickness direction of the first support 1. The thickness direction of the first support 1 can be the front-back direction shown in the figure.

[0148] For example, the buffer position 13 is located on the rear side of the first bracket 1, the second bracket 2 is located on the front side of the first bracket 1, and the lifting platform 3 is located on the front side of the second bracket 2.

[0149] In some examples of embodiments of this application, before the lifting platform 3 moves to a preset height, the moving member 42 is used to move along a first direction so that the traction member 43 drives the lifting platform 3 to move along a second direction opposite to the first direction, the first direction being parallel to the height direction of the first support 1.

[0150] For example, before the lifting platform 3 moves to the preset height, the moving part 42 is used to move downward so that the traction part 43 drives the lifting platform 3 to move upward.

[0151] In some examples of embodiments of this application, before the lifting platform 3 rises to a preset height, the moving part 42 is used to descend along the height direction of the first support 1 so that the traction part 43 drives the lifting platform 3 to rise along the height direction of the first support 1.

[0152] After the lifting platform 3 rises to the preset height, the moving part 42 is used to descend along the height direction of the first support 1 so that the traction part 43 drives the lifting platform 3 and the second support 2 to rise synchronously along the height direction of the first support 1 to the first target height.

[0153] Before the lifting platform 3 descends to the preset height, the moving part 42 is used to rise along the height direction of the first support 1 so that the traction part 43 drives the lifting platform 3 and the second support 2 to descend synchronously along the height direction of the first support 1.

[0154] After the lifting platform 3 descends to the preset height, the lifting platform 3 disengages from the second support 2, and the moving part 42 is used to rise along the height direction of the first support 1 so that the traction part 43 drives the lifting platform 3 to descend along the height direction of the first support 1 to the second target height.

[0155] The first target height is greater than the preset height and less than or equal to the sum of the preset height and the height of the second support 2; the second target height is less than the preset height.

[0156] like Figure 13 As shown, in some specific application scenarios, taking the lifting platform 3 equipped with a picking and placing mechanism 10, and using the lifting device 100 to pick up multiple target goods from the shelf 300 as an example, the following explanation will be provided:

[0157] The lifting platform 3 first moves to the height of the first target item, then the picking and placing mechanism 10 removes the first target item from the shelf 300 and places it on the first buffer position 13, which can be any buffer position 13. Next, the lifting platform 3 moves to the height of the second target item, and the picking and placing mechanism 10 removes the second target item from the shelf 300 and places it on the second buffer position 13, which can be any buffer position 13 other than the first buffer position 13. Alternatively, buffer positions can be set at the bottom of the shelf 300, and the target items removed by the picking and placing mechanism 10 from the shelf 300 can also be placed on these buffer positions. Target items removed by the picking and placing mechanism 10 from the shelf 300 can also be placed on other positions within the shelf 300.

[0158] It is understood that the process of placing multiple target goods on the shelf 300 is the same as or similar to the process of retrieving multiple target goods from the shelf 300 in the above embodiment. For example, the lifting platform 3 first moves to the height of the first target goods, and then the picking and placing mechanism 10 removes the first target goods from the first buffer position 13. After that, the picking and placing mechanism 10 places the first target goods on the first shelf position of the shelf 300, which can be any shelf position of the shelf 300. Then the lifting platform 3 moves to the height of the second target goods, and then the picking and placing mechanism 10 removes the second target goods from the second buffer position 13. After that, the picking and placing mechanism 10 places the second target goods on the second shelf position of the shelf 300, which can be any shelf position of the shelf 300 other than the first shelf position. The picking and placing mechanism 10 can also remove target goods from the buffer positions of the shelf 300, or remove target goods from other shelf positions of the shelf 300 and place the removed target goods on the corresponding shelf positions of the shelf 300.

[0159] The handling robot of this application embodiment includes a mobile chassis 200, a lifting device 100, and a lifting platform 3. The lifting device 100 is the lifting device 100 described in any of the above embodiments, and the lifting device 100 is connected to the mobile chassis 200. The mobile chassis 200 is used to drive the lifting device 100 to move, and the lifting platform 3 is connected to the second support 2 and is used to carry goods.

[0160] Because the lifting device 100 in this embodiment simplifies its structure and reduces its cost, the handling robot in this embodiment is low in cost.

[0161] In some specific application scenarios, let's take the example of a handling robot retrieving target goods from a high-rise shelf (e.g., more than 4 meters high) as an example:

[0162] After receiving order information or target goods location information from the host computer, the transport robot moves its chassis 200, which in turn moves the lifting device 100, to the shelf 300 containing the target goods. Then, the transmission component 4 of the lifting device 100 drives the lifting platform 3 to rise relative to the second support 2. When the lifting platform 3 reaches a preset height, it rises synchronously with the second support 2 until it reaches the same height as the shelf containing the target goods. Afterward, the pick-and-place mechanism 10 removes the target goods from the shelf 300. Next, the transmission component 4 of the lifting device 100 drives the lifting platform 3 to descend synchronously with the second support 2. Once the second support 2 reaches its lowest point, the lifting platform 3 descends relative to the second support 2 to any of the buffer positions 13 for storage. The pick-and-place mechanism 10 then performs the reverse operation when storing the goods from the buffer position 13 on a higher shelf 300.

[0163] In some specific application scenarios, let's take the example of a handling robot retrieving target goods from a bottom shelf 300 (e.g., with a height of 4m or less) to illustrate the point:

[0164] After receiving order information or target goods location information from the host computer, the transport robot moves its chassis 200, which in turn moves the lifting device 100, to the shelf 300 containing the target goods. Then, the transmission component 4 of the lifting device 100 drives the lifting platform 3 to rise relative to the second support 2, until it reaches the same height as the shelf containing the target goods. Afterward, the pick-and-place mechanism 10 removes the target goods from the shelf 300. Next, the transmission component 4 of the lifting device 100 drives the lifting platform 3 to descend relative to the second support 2 to any of the buffer positions 13 for storage. When storing goods from the buffer positions 13 on a lower shelf 300, the operation is reversed.

[0165] The warehousing system of this application embodiment includes a shelf 300 and a handling robot, wherein the handling robot is any of the handling robots described in the above embodiments.

[0166] Because the handling robot of this application embodiment has a low cost, the warehousing system of this application embodiment also has a low cost.

[0167] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Any changes, modifications, substitutions, and variations made to the above embodiments by those skilled in the art are within the protection scope of this application.

Claims

1. A lifting device, characterized in that, include: First support; The second bracket is movably connected to the first bracket along the height direction of the first bracket. The second bracket is used to connect to the lifting platform, and the lifting platform is movable along the height direction of the first bracket. A transmission assembly includes a first guide, a moving member, and a traction member. The traction member is wound around the first guide and the moving member, with one end connected to the first bracket and the other end connected to the lifting platform. The first guide is connected to the second bracket, and the moving member is movably connected to the first bracket along the height direction of the first bracket to drive the lifting platform to move along the height direction of the first bracket. When the lifting platform moves to a preset height, the lifting platform abuts against the second bracket and moves synchronously with the second bracket along the height direction of the first bracket.

2. The lifting device according to claim 1, characterized in that, The second bracket is provided with a stop part, and when the lifting platform moves to the preset height, it stops against the stop part along the height direction of the first bracket.

3. The lifting device according to claim 2, characterized in that, The second support includes a support body and a first spring, the two ends of the first spring being connected to the support body and the stop portion respectively, so as to provide elastic force to the stop portion toward the lifting platform.

4. The lifting device according to claim 1, characterized in that, It also includes a counterweight block, which is connected to the movable component. When the movable component moves along the height direction of the first support, the counterweight block is used to move together with the movable component.

5. The lifting device according to claim 1, characterized in that, It also includes a drive mechanism and a transmission mechanism. The drive mechanism is connected to the transmission mechanism and is used to drive the transmission mechanism to move. The transmission mechanism is connected to the moving part and is used to drive the moving part to move along the height direction of the first bracket.

6. The lifting device according to claim 5, characterized in that, The transmission mechanism includes a first transmission wheel, a second transmission wheel, and a transmission component. The first transmission wheel and the second transmission wheel are arranged at intervals along the height direction of the first bracket and are rotatably connected to the first bracket. The driving mechanism is drivenly connected to the first transmission wheel so that the driving mechanism drives the first transmission wheel to rotate. The transmission component is wound around the first transmission wheel and the second transmission wheel so that the transmission component moves along the height direction of the first bracket and the second transmission wheel rotates. The transmission component is connected to the moving component so as to drive the moving component to move along the height direction of the first bracket.

7. The lifting device according to claim 6, characterized in that, It also includes a connector, through which the moving part and the transmission part are connected.

8. The lifting device according to claim 6, characterized in that, The driving mechanism includes a drive motor, which is connected to the first transmission wheel to drive the first transmission wheel to rotate.

9. The lifting device according to claim 6, characterized in that, Both the first and second transmission wheels are sprockets, and the transmission component is a chain.

10. The lifting device according to claim 6, characterized in that, The transmission assembly further includes a second guide member, which is connected to the first bracket, and the traction member is sequentially wound around the moving member, the second guide member, and the first guide member.

11. The lifting device according to claim 10, characterized in that, The transmission assembly further includes a third guide member, which is connected to the second bracket and spaced apart from the first guide member along the height direction of the first bracket. The traction member is sequentially wound around the moving member, the second guide member, the third guide member, and the first guide member. When the moving member moves along the height direction of the first bracket, the traction member drives the lifting platform to move along the height direction of the first bracket.

12. The lifting device according to claim 11, characterized in that, The first guide, the second guide, and the third guide are all fixed pulleys, the moving member is a movable pulley, and the traction member is a traction rope.

13. The lifting device according to claim 12, characterized in that, The second guide is coaxially arranged with the second transmission wheel and rotatably connected to the same fixed shaft.

14. The lifting device according to claim 11, characterized in that, The first guide is connected to the top of the second bracket, the third guide is connected to the bottom of the second bracket, and the second guide is connected to the top of the first bracket.

15. The lifting device according to claim 7, characterized in that, One end of the transmission component is connected to one end of the connector, and the other end of the transmission component bypasses the first transmission wheel and the second transmission wheel and is connected to the other end of the connector.

16. The lifting device according to claim 15, characterized in that, The transmission component has a movable component at at least one end, and the lifting device further includes a second spring, the two ends of which are respectively connected to the transmission component and the movable component to provide elastic force to the movable component toward the connecting component.

17. The lifting device according to claim 16, characterized in that, The connector has a connecting hole, the movable part includes a movable column and an abutment part, the movable column is inserted into the connecting hole, the abutment part is located on the side of the connecting hole away from the transmission part, the second spring is sleeved on the movable column, and the two ends of the second spring abut against the connector and the abutment part respectively.

18. The lifting device according to any one of claims 1-17, characterized in that, Before the lifting platform moves to a preset height, the moving component is used to move along a first direction so that the traction component drives the lifting platform to move along a second direction opposite to the first direction, the first direction being parallel to the height direction of the first support.

19. The lifting device according to claim 18, characterized in that, Before the lifting platform rises to a preset height, the moving component is used to descend along the height direction of the first support, so that the traction component drives the lifting platform to rise along the height direction of the first support. After the lifting platform rises to a preset height, the moving component is used to descend along the height direction of the first support, so that the traction component drives the lifting platform and the second support to rise synchronously along the height direction of the first support to the first target height. Before the lifting platform descends to a preset height, the moving component is used to rise along the height direction of the first support, so that the traction component drives the lifting platform and the second support to descend synchronously along the height direction of the first support. After the lifting platform descends to a preset height, the lifting platform disengages from the second support, and the moving component is used to rise along the height direction of the first support, so that the traction component drives the lifting platform to descend along the height direction of the first support to the second target height.

20. A transport robot, characterized in that, include: Mobile chassis; A lifting device and a lifting platform, wherein the lifting device is the lifting device according to any one of claims 1-19, the first bracket is connected to the mobile chassis, the lifting platform is connected to the second bracket, and the lifting platform is used to carry goods.

21. A warehousing system, characterized in that, include: Shelves; A transport robot, wherein the transport robot is the transport robot as described in claim 20.

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