Lifting device, robot and vehicle

Abstract

This application provides a lifting device, a robot, and a vehicle. The lifting device includes: a base; a drive component; a scissor lift structure connected to the base; and a linkage assembly including a first link and a second link, which are rotatably connected; the first link is connected to the scissor lift structure, and the second link is connected to the drive component. The lifting device provided by this application has a robust and reliable structure, and the linkage assembly enhances load buffering, thereby improving the stability and safety of the lifting device.

Description

Technical Field

[0001] This application belongs to the field of vehicles, and particularly relates to a lifting device, a robot, and a vehicle. Background Technology

[0002] The existing lifting devices on AGVs (Automated Guided Vehicles) have complex structures, and their stability and safety are poor when lifting heavy objects. Utility Model Content

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a lifting device, robot, and vehicle with a robust and reliable structure, which enhances load buffering through a linkage assembly, thereby improving the stability and safety of the lifting device.

[0004] To achieve the above objectives, a lifting device is provided according to an embodiment of the first aspect of this application, comprising: a base; a drive member; a scissor lift structure connected to the base; and a linkage assembly including a first link and a second link, the first link and the second link being rotatably connected; the first link being connected to the scissor lift structure, and the second link being connected to the drive member.

[0005] The lifting device according to the embodiments of this application has a stable and reliable structure. The lifting device improves the stability and safety of lifting by increasing the load buffer through the linkage assembly.

[0006] In some examples of this application, the first link has a first end and a second end, the second link has a third end and a fourth end, the second end and the third end are rotatably connected; the first end is connected to the scissor lift structure, and the fourth end is connected to the drive member.

[0007] In some examples of this application, the linkage assembly has a first state and a second state. When the linkage assembly is in the first state or the second state, the length direction of the first link and the second link is consistent with the length direction of the scissor lift structure.

[0008] In some examples of this application, the first state is that the first link and the second link are on the same straight line, and the first end is furthest from the fourth end; the second state is that the first link and the second link are on the same straight line, and the first end is closest to the fourth end.

[0009] In some examples of this application, the second link includes a first connector, a second connector, and a third connector, wherein the second connector is connected to the first connector and the third connector to form a first receiving cavity.

[0010] In some examples of this application, the first receiving cavity is capable of accommodating at least a portion of the first connecting rod.

[0011] In some examples of this application, the first connector and the third connector are parallel.

[0012] In some examples of this application, the driving component further includes: a motor; a motor gear disposed on the motor; and a motor drive wheel connected to the motor gear and the second connecting rod.

[0013] In some examples of this application, the motor drive wheel includes a drive gear and a drive shaft, the drive gear is disposed on the drive shaft and meshes with the motor gear, and the drive shaft is connected to the second connecting rod.

[0014] In some examples of this application, the scissor lift structure includes at least one scissor lever assembly, the scissor lever assembly including at least one pair of levers, each pair of levers including two levers that are cross-arranged and hinged to each other, and two of the two levers of the pair of levers closest to the base are respectively mounted on the base.

[0015] In some examples of this application, one of the pair of levers closest to the base is hinged to the base, and the other of the pair of levers closest to the base is slidably mounted on the base, the other of the pair of levers closest to the base being used to slide on the base under the drive of the drive member.

[0016] In some examples of this application, the base is provided with a first guide rail, and the other of a pair of rocker arms closest to the base is hinged with a first slider, which is slidably engaged with the first guide rail.

[0017] In some examples of this application, the scissor lift structure includes a first scissor lever group and a second scissor lever group. The first scissor lever group includes a first lever and a second lever that are arranged crosswise and hinged to each other. The second scissor lever group includes a third lever and a fourth lever that are arranged crosswise and hinged to each other. The first lever, the second lever, the third lever, and the fourth lever are all disposed on the base.

[0018] In some examples of this application, the base is provided with a first guide rail and a second guide rail, the first rocker arm is provided with a first slider, the third rocker arm is provided with a second slider, the first slider is slidably engaged with the first guide rail, and the second slider is slidably engaged with the second guide rail.

[0019] In some examples of this application, both the first slider and the second slider are connected to the first connecting rod.

[0020] In some examples of this application, a top plate is also included, on which one of the pair of levers furthest from the base is hinged, and the other of the pair of levers furthest from the base is slidably mounted on the top plate.

[0021] According to an embodiment of the second aspect of this application, a robot is provided, the robot including a lifting device according to any one of the embodiments of the first aspect of this application.

[0022] According to an embodiment of a third aspect of this application, a vehicle is provided, the vehicle including a lifting device according to any one of the embodiments of a first aspect of this application or a robot according to an embodiment of a second aspect of this application.

[0023] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the lifting device provided in the embodiments of this application;

[0025] Figure 2 This is a schematic diagram of the lifting device provided in another embodiment of this application;

[0026] Figure 3 This is a schematic diagram of the linkage assembly provided in the embodiments of this application;

[0027] Figure 4 This is a schematic diagram of the structure of a linkage assembly provided in another embodiment of this application;

[0028] Figure 5 This is a schematic diagram of the structure of a linkage assembly provided in another embodiment of this application;

[0029] Figure 6 This is a schematic diagram of the structure of the driving component provided in the embodiments of this application;

[0030] Figure 7 This is a schematic diagram of the scissor lift structure provided in the embodiments of this application.

[0031] Figure label:

[0032] Lifting device 1;

[0033] 10 base; 20 drive unit; 30 scissor lift structure; 40 connecting rod assembly; 50 top plate; 60 pressure relief structure;

[0034] First link 401; Second link 402; First end 401a; Second end 401b; Third end 402a; Fourth end 402b;

[0035] First connector 4021; second connector 4022; third connector 4023; first receiving cavity 4024;

[0036] Motor 201; Motor gear 202; Motor drive wheel 203; Drive gear 2031; Drive shaft 2032;

[0037] Scissor lift assembly 301; Lift arm 302;

[0038] First guide rail 101; First slider 102; Second guide rail 103; Second slider 104;

[0039] First scissor lift assembly 302; Second scissor lift assembly 303; First lift 302a; Second lift 302b; Third lift 303a; Fourth lift 303b;

[0040] Third guide rail 501; Fourth guide rail 502; Third slider 503; Fourth slider 504; Bearing 505. Detailed Implementation

[0041] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0042] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0043] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "vertical," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships 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 on this application. Wherein, the x-axis direction is lateral, the positive x-axis direction is right, and the negative x-axis direction is left; the y-axis direction is longitudinal, the positive y-axis direction is front, and the negative y-axis direction is rear; the z-axis direction is vertical, the positive z-axis direction is up, and the negative z-axis direction is down; the xOy plane is the horizontal plane, the yOz plane is the longitudinal vertical plane, and the xOz plane is the lateral vertical plane. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0044] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0045] The following is for reference. Figures 1-7 A detailed description of the lifting device 1 according to an embodiment of this application.

[0046] In some embodiments, such as Figure 1 As shown, the lifting device 1 includes a base 10, a drive component 20, a scissor lift structure 30, and a linkage assembly 40. The scissor lift structure 30 is connected to the base 20. The linkage assembly 40 includes a first link 401 and a second link 402, which are rotatably connected; the first link 401 is connected to the scissor lift structure 30, and the second link 402 is connected to the drive component 20.

[0047] In some embodiments, such as Figure 1As shown, the linkage assembly 40 includes a first link 401 and a second link 402, which are rotatably connected. The first link 401 is connected to the scissor lift structure 30, and the second link 402 is connected to the drive member 20. The drive member 20 drives the second link 402 to move. Since the first link 401 and the second link 402 are rotatably connected, the first link 401 is moved. Because the first link 401 is connected to the scissor lift structure 30, its movement causes the scissor lift structure 30 to move up and down.

[0048] In summary, the lifting device 1 proposed in this application has a stable and reliable structure. The driving component 20 drives the scissor lift structure 30 to lift and lower through the linkage assembly 40, which increases the torque transmission stroke. Furthermore, the load impact of the lifting device 1 is buffered by the linkage assembly 40, thereby improving the stability and safety of the lifting device.

[0049] In some embodiments, such as Figure 3 As shown, the first connecting rod 401 has a first end 401a and a second end 401b, and the second connecting rod 402 has a third end 402a and a fourth end 402b. The second end 401b and the third end 402a are rotatably connected. The first end 401a is connected to the scissor lift structure 30, and the fourth end 402b is connected to the drive member 20.

[0050] In some embodiments, such as Figure 3 As shown, the second end 401b of the first link 401 and the third end 402a of the second link 402 are hinged together. The first end 401a of the first link 401 is connected to the scissor lift structure 30, and the fourth end 402b of the second link 402 is connected to the drive member 20. Thus, the drive member 20 drives the fourth end 402b, thereby driving the second link 402. Since the second end 401b of the first link 401 and the third end 402a of the second link 402 are hinged together, the first link 401 can be driven to move. The first end 401a of the first link 401 is connected to the scissor lift structure 30, thereby driving the scissor lift structure 30 to rise and fall.

[0051] In some embodiments, such as Figure 1-5 As shown, the linkage assembly 40 has a first state and a second state. When the linkage assembly 40 is in the first state or the second state, the length direction of the first link 401 and the second link 402 is consistent with the length direction of the scissor lift structure 30.

[0052] In some embodiments, such as Figure 1-5As shown, in the first state, the first link 401 and the second link 402 are on the same straight line, and the distance between the first end 401a and the fourth end 402b is the farthest; in the second state, the first link 401 and the second link 402 are on the same straight line, and the distance between the first end 401a and the fourth end 402b is the closest.

[0053] In some embodiments, such as Figure 1-5 As shown, when the linkage assembly 40 is in the first state, that is, as Figure 4 As shown, the first link 401 and the second link 402 are on the same straight line, and the distance between the first end 401a and the fourth end 402b is the greatest. At this time, the length direction of the first link 401 and the second link 402 is consistent with the length direction of the scissor lift structure 30. It should be noted that the length direction of the scissor lift structure 30 is the direction of the X-axis in the figure. When the link assembly 40 is in the second state, as shown... Figure 5 As shown, the first link 401 and the second link 402 are on the same straight line, and the first end 401a and the fourth end 402b are closest to each other. At this time, the length direction of the first link 401 and the second link 402 is consistent with the length direction of the scissor lift structure 30.

[0054] In some embodiments, when the linkage assembly 40 is in the first state, the first link 401 and the second link 402 are on the same straight line, and the distance between the first end 401a and the fourth end 402b is the greatest, and they are aligned with the length direction of the scissor lift structure 30. At this time, the first link 401 and the second link 402 form a whole and abut against the scissor lift structure 30, with the first link 401 and the second link 402 at their dead points. If a heavy object is placed on the lifting device 1, the scissor lift structure 30 is subjected to pressure. The torque is transmitted to the first link 401 and the second link 402 in the same direction as their length. Therefore, the first link 401 and the second link 402 are equivalent to forming a whole, abutting against the scissor lift structure 30, preventing the scissor lift structure 30 from lifting, thereby improving the stability of the lifting device 1. Similarly, when the linkage assembly 40 is in the second state, the first linkage 401 and the second linkage 402 are on the same straight line, and the first end 401a and the fourth end 402b are closest to each other and are consistent with the length direction of the scissor lift structure 30. At this time, the first linkage 401 and the second linkage 402 form a whole and abut against the scissor lift structure 30. The first linkage 401 and the second linkage 402 are at the dead point position, which can improve the stability of the lifting device 1.

[0055] In some embodiments, such as Figure 3As shown, the second connecting rod 402 includes a first connecting member 4021, a second connecting member 4022 and a third connecting member 4023. The second connecting member 4022 is connected to the first connecting member 4021 and the third connecting member 4023 to form a first receiving cavity 4024.

[0056] In some embodiments, such as Figure 3 As shown, the upper end of the second connector 4022 is connected to the first connector 4021, and the lower end of the second connector 4022 is connected to the third connector 4023, thereby forming the first receiving cavity 4024.

[0057] In some embodiments, the first receiving cavity 4024 is capable of accommodating at least a portion of the first connecting rod 401.

[0058] In some embodiments, the first receiving cavity 4024 can accommodate at least a portion of the first connecting rod 401, and the second end 401b connecting the first connecting rod 401 and the second connecting rod 402 can be accommodated in the first receiving cavity. Furthermore, during the rotation of the first connecting rod 401 and the second connecting rod 402, the second connecting member 4022 can also be used as a stop.

[0059] In some embodiments, the first connector 4021 and the third connector 4023 are parallel.

[0060] In some embodiments, such as Figure 1 and Figure 6 As shown, the drive unit 20 also includes a motor 201, a motor gear 202, and a motor drive wheel 203. The motor gear 202 is mounted on the motor 201; the motor drive wheel 203 is connected to the motor gear 202 and the second connecting rod 402.

[0061] In some embodiments, the motor drive wheel 203 includes a drive gear 2031 and a drive shaft 2032. The drive gear 2031 is disposed on the drive shaft 2032 and meshes with the motor gear 202. The drive shaft 2032 is connected to the second connecting rod 402.

[0062] In some embodiments, the motor 201 is started, thereby driving the motor gear 202 to rotate. The rotation of the motor gear 202 drives the transmission gear 2031, which is meshed with the motor gear 202, to rotate. The transmission gear 2031 drives the transmission shaft 2032 to rotate, thereby driving the second connecting rod 402, which is connected to the transmission shaft 2032, to rotate.

[0063] In some embodiments, such as Figure 1 and Figure 7As shown, the scissor lift structure 30 includes at least one scissor lever assembly 301, which includes at least one pair of levers 302. Each pair of levers 302 includes two levers 302 that are arranged in a cross configuration and hinged to each other. Two of the two levers 302 in the pair of levers 302 closest to the base 10 are respectively mounted on the base 10.

[0064] In some embodiments, one of the pair of levers 302 closest to the base 10 is hinged to the base 10, the other of the pair of levers 302 closest to the base 10 is slidably mounted on the base 10, and the other of the pair of levers 302 closest to the base 10 is used to slide on the base 10 under the drive of the drive member 20.

[0065] In some embodiments, the base 10 is provided with a first guide rail 101, and the other of the pair of rocker arms 302 closest to the base 10 is hinged with a first slider 102, which is slidably engaged with the first guide rail 101.

[0066] In some embodiments, such as Figure 1 and Figure 7 As shown, the scissor lift structure 30 includes a first scissor swing arm group 302 and a second scissor swing arm group 303. The first scissor swing arm group 302 includes a first swing arm 302a and a second swing arm 302b that are arranged in a cross configuration and hinged to each other. The second scissor swing arm group 303 includes a third swing arm 303a and a fourth swing arm 303b that are arranged in a cross configuration and hinged to each other. The first swing arm 302a, the second swing arm 302b, the third swing arm 303a and the fourth swing arm 303b are all mounted on the base 10.

[0067] In some embodiments, such as Figure 1 and Figure 7 As shown, the base 10 is provided with a first guide rail 101 and a second guide rail 103, the first rocker arm 302a is provided with a first slider 102, and the third rocker arm 303a is provided with a second slider 104. The first slider 102 is slidably engaged with the first guide rail 101, and the second slider 104 is slidably engaged with the second guide rail 103.

[0068] In some embodiments, the first rocker arm 302a is hinged to the first slider 102, the second rocker arm 302b is hinged to the base 10, the third rocker arm 303a is hinged to the second slider 104, and the fourth rocker arm 303b is hinged to the base 10.

[0069] In some embodiments, the first slider 102 and the second slider 104 are both connected to the first connecting rod 401.

[0070] In other embodiments, the first slider 102 and the second slider 104 may be integral and connected to the first connecting rod 401; the first slider 102 and the second slider 104 may also be each connected to the first connecting rod 401.

[0071] In some embodiments, such as Figure 1 , Figure 2 and Figure 7 As shown, the lifting device 1 also includes a top plate 50, one of the pair of swing arms 302 furthest from the base 10 is hinged to the top plate 50, and the other of the pair of swing arms 302 furthest from the base 10 is slidably mounted on the top plate 50.

[0072] In some embodiments, such as Figure 1 , Figure 2 and Figure 7 As shown, a third guide rail 501 and a fourth guide rail 502 are provided on the top plate 50, a third slider 503 is provided on the second rocker arm 302b, and a fourth slider 504 is provided on the fourth rocker arm 303b. The third slider 503 is slidably engaged with the third guide rail 501, and the fourth slider 504 is slidably engaged with the fourth guide rail 502.

[0073] In some embodiments, the first rocker arm 302a is hinged to the top plate 50, the second rocker arm 302b is hinged to the third slider 503, the third rocker arm 303a is hinged to the top plate 50, and the fourth rocker arm 303b is hinged to the fourth slider 504.

[0074] In some embodiments, such as Figure 1 , Figure 2 and Figure 7 As shown, a bearing 505 is provided on the top plate 50. The bearing 505 is connected to the motor gear 202. The motor gear 202 is driven to rotate by the motor 201, which in turn drives the top plate 50 to rotate.

[0075] In some embodiments, the bearing 505 may share the same motor with the motor 201 that drives the scissor lift structure 30, or an additional motor 201 may be installed to supply power to the bearing 505 for rotation.

[0076] In some embodiments, the lifting device 1 further includes a pressure relief structure 60, one end of which is connected to the base 10 and the other end is connected to the top plate 50.

[0077] In some embodiments, the pressure relief structure 60 may be a spring or a hydraulic device, and the spring may be a nitrogen spring.

[0078] Combination Figures 1-7 A detailed description of a lifting device 1 according to a specific embodiment of this application.

[0079] The lifting device 1 includes a base 10, a drive component 20, a scissor lift structure 30, a connecting rod assembly 40, a top plate 50, and a pressure relief structure 60.

[0080] The driving component 20 includes a motor 201, a motor gear 202, and a motor drive wheel 203. The motor gear 202 is mounted on the motor 201; the motor drive wheel 203 is connected to the motor gear 202 and the second connecting rod 402.

[0081] The scissor lift structure 30 includes a first scissor lever assembly 302 and a second scissor lever assembly 303. The first scissor lever assembly 302 includes a first lever 302a and a second lever 302b that are arranged crosswise and hinged to each other. The second scissor lever assembly 303 includes a third lever 303a and a fourth lever 303b that are arranged crosswise and hinged to each other. The first lever 302a, the second lever 302b, the third lever 303a, and the fourth lever 303b are all mounted on a base 10. The base 10 is provided with a first guide rail 101 and a second guide rail 103. A first slider 102 is provided on the first lever 302a, and a second slider 104 is provided on the third lever 303a. The first slider 102 is slidably engaged with the first guide rail 101, and the second slider 104 is slidably engaged with the second guide rail 103.

[0082] The linkage assembly 40 includes a first linkage 401 and a second linkage 402, which are rotatably connected. The first linkage 401 is connected to the scissor lift structure 30, and the second linkage 402 is connected to the drive member 20. The first linkage 401 has a first end 401a and a second end 401b, and the second linkage 402 has a third end 402a and a fourth end 402b, which are rotatably connected. The first end 401a is connected to the scissor lift structure 30, and the fourth end 402b is connected to the drive member 20. The second linkage 402 includes a first connector 4021, a second connector 4022, and a third connector 4023, which are connected to the first connector 4021 and the third connector 4023 to form a first receiving cavity 4024. The first linkage 401 is installed in the first receiving cavity 4024.

[0083] The top plate 50 is provided with a third guide rail 501 and a fourth guide rail 502. The second rocker arm 302b is provided with a third slider 503, and the fourth rocker arm 303b is provided with a fourth slider 504. The third slider 503 is slidably engaged with the third guide rail 501, and the fourth slider 504 is slidably engaged with the fourth guide rail 502.

[0084] Therefore, motor 201 starts, driving motor gear 202 to rotate, which in turn drives motor transmission wheel 203 to rotate. The rotation of motor transmission wheel 203 drives second connecting rod 402 to rotate, and the rotation of second connecting rod 402 drives first connecting rod 401 to rotate, thereby pulling first swing arm 302a to slide on first guide rail 101, third swing arm 303a to slide on second guide rail 103, and at the same time, second swing arm 302b to slide on third guide rail 501, and fourth swing arm 303b to slide on fourth guide rail 502, thereby driving lifting device 1 to rise and fall.

[0085] When the lifting device 1 reaches its highest point, the linkage assembly 40 is in its first state, with the first link 401 and the second link 402 aligned on the same straight line, and the first end 401a and the fourth end 402b being furthest apart. At this time, the length directions of the first link 401 and the second link 402 are consistent with the length direction of the scissor lift structure 30, meaning they are also consistent with the length direction of the first guide rail 101. At this time, the first link 401 and the second link 402 are in their dead-point positions. If a heavy object is placed on the lifting device 1, the scissor lift structure 30 will be subjected to pressure. The torque transmitted to the first link 401 and the second link 402 is in the same direction as their length. Therefore, the first link 401 and the second link 402 effectively form a single unit, resisting the scissor lift structure 30 and preventing it from lifting, thus improving the stability of the lifting device 1. It should be noted that the length direction of the scissor lift structure 30 is the direction of the X-axis in the figure.

[0086] When the lifting device 1 reaches its lowest point, the linkage assembly 40 is in its second state. The first linkage 401 and the second linkage 402 are on the same straight line, with the first end 401a and the fourth end 402b being closest together and aligned with the length direction of the scissor lift structure 30. In other words, the length directions of the first linkage 401 and the second linkage 402 are aligned with the length direction of the first guide rail 101. At this time, the first linkage 401 and the second linkage 402 are at their dead points. If a heavy object is placed on the lifting device 1, the scissor lift structure 30 will be subjected to pressure. The torque will be transmitted to the first linkage 401 and the second linkage 402 in the same direction as their length. Therefore, the first linkage 401 and the second linkage 402 effectively form a single unit, abutting against the scissor lift structure 30 and preventing it from lifting, thus improving the stability of the lifting device 1.

[0087] The robot according to the embodiments of this application includes the lifting device 1 described in any of the above embodiments.

[0088] The vehicle according to the embodiments of this application includes the lifting device 1 described in any of the above embodiments or the robot described above.

[0089] Other configurations and operations of the lifting device 1 according to the embodiments of this application are known to those skilled in the art and will not be described in detail here.

[0090] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example 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.

[0091] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A lifting device, characterized in that, include: Base; Drive components; A scissor lift structure, wherein the scissor lift structure is connected to the base; A linkage assembly, comprising a first link and a second link, which are rotatably connected; the first link is connected to the scissor lift structure, and the second link is connected to the drive component.

2. The lifting device according to claim 1, characterized in that, The first connecting rod has a first end and a second end, and the second connecting rod has a third end and a fourth end, the second end and the third end being rotatably connected; the first end is connected to the scissor lift structure, and the fourth end is connected to the drive component.

3. The lifting device according to claim 2, characterized in that, The linkage assembly has a first state and a second state. When the linkage assembly is in the first state or the second state, the length direction of the first link and the second link is consistent with the length direction of the scissor lift structure.

4. The lifting device according to claim 3, characterized in that, The first state is when the first link and the second link are on the same straight line, and the first end is furthest from the fourth end; the second state is when the first link and the second link are on the same straight line, and the first end is closest to the fourth end.

5. The lifting device according to claim 2, characterized in that, The second connecting rod includes a first connecting member, a second connecting member, and a third connecting member. The second connecting member is connected to the first connecting member and the third connecting member to form a first receiving cavity.

6. The lifting device according to claim 5, characterized in that, The first receiving cavity is capable of accommodating at least a portion of the first connecting rod.

7. The lifting device according to claim 5, characterized in that, The first connector and the third connector are parallel.

8. The lifting device according to claim 1, characterized in that, The driving component also includes: Electric motor; A motor gear, wherein the motor gear is disposed on the motor; The motor drive wheel is connected to the motor gear and the second connecting rod.

9. The lifting device according to claim 8, characterized in that, The motor drive wheel includes a drive gear and a drive shaft. The drive gear is mounted on the drive shaft and meshes with the motor gear. The drive shaft is connected to the second connecting rod.

10. The lifting device according to claim 1, characterized in that, The scissor lift structure includes at least one scissor lever assembly, which includes at least one pair of levers. Each pair of levers includes two levers that are cross-arranged and hinged to each other. Two of the levers in the pair closest to the base are respectively mounted on the base.

11. The lifting device according to claim 10, characterized in that, One of the pair of levers closest to the base is hinged to the base, and the other of the pair of levers closest to the base is slidably mounted on the base, the other of the pair of levers closest to the base being used to slide on the base under the drive of the drive member.

12. The lifting device according to claim 11, characterized in that, The base is provided with a first guide rail, and the other of the pair of swing rods closest to the base is hinged to a first slider, which is slidably engaged with the first guide rail.

13. The lifting device according to claim 10, characterized in that, The scissor lift structure includes a first scissor lever assembly and a second scissor lever assembly. The first scissor lever assembly includes a first lever and a second lever that are arranged crosswise and hinged to each other. The second scissor lever assembly includes a third lever and a fourth lever that are arranged crosswise and hinged to each other. The first lever, the second lever, the third lever, and the fourth lever are all mounted on the base.

14. The lifting device according to claim 13, characterized in that, The base is provided with a first guide rail and a second guide rail. A first slider is provided on the first swing arm, and a second slider is provided on the third swing arm. The first slider is slidably engaged with the first guide rail, and the second slider is slidably engaged with the second guide rail.

15. The lifting device according to claim 14, characterized in that, Both the first slider and the second slider are connected to the first connecting rod.

16. The lifting device according to claim 10, characterized in that, It also includes a top plate, one of the pair of levers furthest from the base is hinged to the top plate, and the other of the pair of levers furthest from the base is slidably mounted on the top plate.

17. A robot, characterized in that, Includes the lifting device according to any one of claims 1-16.

18. A vehicle, characterized in that, It includes the lifting device according to any one of claims 1-16 or the robot according to claim 17.

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