A conveyor robot jacking device

Abstract

The application provides a conveying robot jacking device, comprising: a moving chassis; a fixed tray arranged on the moving chassis; a jacking mechanism arranged on the moving chassis, the jacking mechanism being used for driving a jacking plate to lift; and the jacking plate arranged on the jacking mechanism, the jacking plate being used for carrying a material box, the jacking plate having a first height and a second height relative to the fixed tray, at the first height, the jacking plate jacks up the material box to a feeding and discharging height, and at the second height, the jacking plate falls on the fixed tray. The conveying robot jacking device can improve the problem that the conveying robot tilts or overturns during the transportation of the material box, and is helpful to improve the stability of transportation and reduce safety hazards.

Description

Technical Field

[0001] This application relates to the field of lifting equipment technology, and more specifically, to a lifting device for a conveying robot. Background Technology

[0002] The lifting mechanism is a key functional component of the conveyor robot. Its main task is to smoothly and accurately raise or lower the fixed pallet carrying the material box to a specific height to complete tasks such as picking up and placing goods and docking with the production line. Traditional scissor-lift mechanisms are prone to tilting during the lifting process due to the constant changes in the center of gravity and stress points, causing the material box being transported by the conveyor robot to tilt or even overturn. This not only affects the stability of transportation but also poses a safety hazard. Utility Model Content

[0003] This application provides at least one lifting device for a conveying robot, which can improve the problem of tilting or overturning of the conveying robot during the transportation of material boxes, and help improve the stability of transportation and reduce safety hazards.

[0004] This application provides a lifting device for a conveying robot, including: Mobile chassis; A fixed tray is disposed on the mobile chassis; A lifting mechanism is provided on the mobile chassis and is used to drive the lifting plate to rise and fall; A lifting plate is disposed on the lifting mechanism and is used to support the material box. The lifting plate has a first height and a second height that are raised and lowered relative to the fixed pallet. At the first height, the lifting plate lifts the material box to the loading and unloading height. At the second height, the lifting plate rests on the fixed pallet.

[0005] In one optional embodiment, the lifting mechanism includes a first scissor fork assembly, a second scissor fork assembly, and a drive assembly. The first scissor fork assembly and the second scissor fork assembly are symmetrical to each other, and both the first scissor fork assembly and the second scissor fork assembly are connected between the movable chassis and the lifting plate. The drive assembly is disposed on the lifting plate and is used to drive the first scissor fork assembly and the second scissor fork assembly to extend and retract synchronously, so as to raise and lower the lifting plate.

[0006] In one optional embodiment, both the first scissor fork assembly and the second scissor fork assembly include intersecting first and second rods, wherein the first rod is rotatably disposed on the back side of the lifting plate, and the second rod is rotatably and movablely disposed on the back side of the lifting plate; The drive assembly is connected to the second rod, and the drive assembly is used to drive the second rod to move relative to the lifting plate so that the first scissor fork assembly and the second scissor fork assembly extend and retract synchronously.

[0007] In one optional embodiment, the drive assembly includes a ball screw, a screw nut, a geared motor, and a synchronous push rod. The ball screw is rotatably disposed on the back side of the lifting plate. The screw nut is disposed on the ball screw and can move axially along the ball screw when the ball screw rotates circumferentially. The geared motor is disposed on the back side of the lifting plate and connected to the ball screw. The geared motor is used to drive the ball screw to rotate circumferentially. The synchronous push rod is disposed on the screw nut and its two ends are respectively rotatably connected to the first scissor fork assembly and the second scissor fork assembly. The synchronous push rod is used to apply a thrust to the first scissor fork assembly and the second scissor fork assembly to make them extend and retract synchronously.

[0008] In one optional embodiment, the drive assembly further includes a first linear guide rail, a second linear guide rail, a first slider, and a second slider. The first linear guide rail and the second linear guide rail are symmetrically arranged on both sides of the ball screw. The first slider and the second slider are movably arranged on the first linear guide rail and the second linear guide rail, respectively. The two ends of the synchronous push rod are respectively connected to the first slider and the second slider.

[0009] In one optional embodiment, the lifting mechanism further includes a stabilizing component connected between corresponding links of the first scissor fork assembly and the second scissor fork assembly, so that the corresponding links of the first scissor fork assembly and the second scissor fork assembly move synchronously.

[0010] In one optional embodiment, both the first scissor fork assembly and the second scissor fork assembly include intersecting first and second rods; The stabilizing assembly includes a first stabilizing bar and a second stabilizing bar. The axes of the first stabilizing bar and the second stabilizing bar are parallel to the rotation axes of the first bar and the second bar. The first stabilizing bar is connected between two corresponding second bars, and the second stabilizing bar is connected between two corresponding first bars.

[0011] In one alternative embodiment, the first stabilizer bar is connected to the ends of the two second bars, and the second stabilizer bar is connected to the offset ends of the two first bars.

[0012] In one optional embodiment, the lifting plate is provided with a front limiting plate, which is used to prevent the material box from moving towards the front of the conveying robot under inertia.

[0013] In one optional embodiment, the fixed pallet is provided with a side limiting plate and a rear limiting plate, which are used to prevent the material box from moving in any direction other than the front of the conveying robot.

[0014] The above-mentioned technical solution of this application has the following beneficial technical effects: In the process of conveying the material box, the lifting device of the conveying robot in this application embodiment can place the lifting plate on the fixed pallet. At this time, the fixed pallet bears the main weight, and the center of gravity of the lifting mechanism is lowered and it is not easy to tilt. This can improve the problem of the material box tilting or overturning due to the tilting of the lifting mechanism, which helps to improve the stability of transportation and reduce safety hazards.

[0015] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below. These drawings are incorporated in and constitute a part of this specification. They illustrate embodiments conforming to this application and, together with the specification, serve to explain the technical solutions of this application. It should be understood that the following drawings only show some embodiments of this application and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This illustration shows a structural schematic diagram of a first state of a lifting device for a conveying robot provided in an embodiment of this application; Figure 2 It shows Figure 1 The main view; Figure 3 This illustration shows a structural schematic diagram of the second state of a lifting device for a transport robot provided in an embodiment of this application. Figure 4 It shows Figure 3 The main view; Figure 5 It shows Figure 3 A schematic diagram showing the connection between the first and second scissor fork assemblies in the diagram. Figure 6 It shows Figure 3 A schematic diagram of the installation of the driver components in the diagram; In the picture: 100. Mobile chassis; 101. Wheels; 200. Fixed pallet; 201. Side limiting plate; 202. Rear limiting plate; 300. Lifting mechanism; 310. First scissor fork assembly; 311. First rod; 312. Second rod; 320. Second scissor fork assembly; 330. Drive assembly; 331. Ball screw; 332. Screw nut; 333. Gear motor; 334. Synchronous push rod; 335. First linear guide rail; 336. Second linear guide rail; 337. First slider; 338. Second slider; 339. Limiting block; 340. Stabilizing assembly; 341. First stabilizing rod; 342. Second stabilizing rod; 400. Lifting plate; 401. Front limiting plate. Detailed Implementation

[0018] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0019] The embodiments of this application will now be described in detail. Examples of these embodiments are illustrated 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. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0020] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0021] 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.

[0022] 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.

[0023] The lifting mechanism is a key functional component of the conveyor robot. Its main task is to smoothly and accurately raise or lower the fixed pallet carrying the material box to a specific height to complete tasks such as picking up and placing goods and docking with the production line. Traditional scissor-lift mechanisms are prone to tilting during the lifting process due to the constant changes in the center of gravity and stress points, causing the material box being transported by the conveyor robot to tilt or even overturn. This not only affects the stability of transportation but also poses a safety hazard.

[0024] Therefore, this application provides a lifting device for a conveying robot, which can improve the problem of tilting or overturning of the conveying robot during the transportation of material boxes, and help improve the stability of transportation and reduce safety hazards.

[0025] refer to Figures 1 to 6 In some embodiments, the lifting device of the conveying robot includes a mobile chassis 100, a fixed pallet 200, a lifting mechanism 300, and a lifting plate 400. The mobile chassis 100 is configured to move the fixed pallet 200, the lifting mechanism 300, and the lifting plate 400. The fixed pallet 200 is disposed on the mobile chassis 100. The lifting mechanism 300 is disposed on the mobile chassis 100 and is used to drive the lifting plate 400 to rise and fall. The lifting plate 400 is disposed on the lifting mechanism 300 and is used to carry a material box. The lifting plate 400 has a first height and a second height relative to the fixed pallet 200. At the first height, the lifting plate 400 lifts the material box to the loading / unloading height. At the second height, the lifting plate 400 rests on the fixed pallet 200. During operation, when it is necessary to load or unload the material box, the lifting mechanism 300 first controls the lifting plate 400 to rise to the first height. After the material box is loaded onto the lifting plate 400, the lifting mechanism 300 then controls the lifting plate 400 to descend to the second height, so that the lifting plate 400 rests on the fixed pallet 200. At this time, the fixed pallet 200 bears the main weight, and the lower center of gravity of the lifting mechanism 300 makes it less prone to tilting. This improves the problem of the material box tilting or overturning due to the tilting of the lifting mechanism 300, thus helping to improve the stability of transportation and reduce safety hazards. It should be understood that in specific implementations, in order to improve conveying efficiency, the conveying robot can move while controlling the lifting plate 400 to descend to the second height after loading or unloading the material box, and can move while controlling the lifting plate 400 to rise to the first height when preparing to unload the material box.

[0026] refer to Figure 1 In some embodiments, the mobile chassis 100 includes wheels 101, a drive mechanism, and a power supply. The wheels 101 are disposed on both sides of the mobile chassis 100, and the drive mechanism and power supply are disposed inside the mobile chassis 100. The drive mechanism is used to drive the wheels 101 to rotate, thereby moving the mobile chassis 100, and the power supply is used to supply power to the drive mechanism. During use, the control center can control the drive mechanism to rotate the wheels 101 clockwise or counterclockwise, thereby moving the mobile chassis 100 between the loading station and the unloading station. Of course, the specific structure of the mobile chassis 100 can be selected according to the actual situation and is not limited to the methods discussed above.

[0027] refer to Figure 3 and Figure 4 In some embodiments, the lifting mechanism 300 includes a first scissor fork assembly 310, a second scissor fork assembly 320, and a drive assembly 330. The first scissor fork assembly 310 and the second scissor fork assembly 320 are symmetrical to each other, and both the first scissor fork assembly 310 and the second scissor fork assembly 320 are connected between the movable chassis 100 and the lifting plate 400. The drive assembly 330 is disposed on the lifting plate 400 and is used to drive the first scissor fork assembly 310 and the second scissor fork assembly 320 to extend and retract synchronously, so that the lifting plate 400 rises and falls. During use, the control center can control the drive assembly 330 to drive the first scissor fork assembly 310 and the second scissor fork assembly 320 to extend and retract synchronously, so that the lifting plate 400 rises and falls. It should be understood that, in specific implementations, in order to improve the stability of the lifting plate 400 during lifting, the first scissor fork assembly 310 and the second scissor fork assembly 320 can be respectively connected to opposite sides of the back of the lifting plate 400.

[0028] In some embodiments, both the first scissor fork assembly 310 and the second scissor fork assembly 320 are provided with four movable connecting ends, respectively defined as a first front movable end, a first rear movable end, a second front movable end, and a second rear movable end. The first front movable end and the first rear movable end are located at the upper ends of the first scissor fork assembly 310 / second scissor fork assembly 320, and the second front movable end and the second rear movable end are located at the lower ends of the first scissor fork assembly 310 / second scissor fork assembly 320. The first front movable end is rotatably disposed on the back of the lifting plate 400, the second front movable end is rotatably disposed on the movable chassis 100, and the first rear movable end is rotatably and movably disposed on the back of the lifting plate 400 and the second rear movable end is rotatably and movably disposed on the movable chassis 100. During use, the drive assembly 330 can specifically drive the first rear movable end to move relative to the lifting plate 400, thereby causing the first scissor fork assembly 310 and the second scissor fork assembly 320 to extend and retract. Of course, the configuration of the first scissor fork assembly 310 and the second scissor fork assembly 320 can be selected according to the actual situation and is not limited to the configuration discussed above.

[0029] refer to Figure 5 For example, both the first scissor fork assembly 310 and the second scissor fork assembly 320 include a first rod 311 and a second rod 312 that intersect and are rotatably connected. The end of the first rod 311 near the lifting plate 400 is a first front movable end, that is, the first rod 311 is rotatably disposed on the back of the lifting plate 400. The end of the second rod 312 near the lifting plate 400 is a first rear movable end, that is, the second rod 312 is rotatably and movablely disposed on the back of the lifting plate 400. In addition, the drive assembly 330 is connected to the second rod 312 (the end near the lifting plate 400). The drive assembly 330 is used to drive the second rod 312 to move relative to the lifting plate 400, so that the first scissor fork assembly 310 and the second scissor fork assembly 320 extend and retract synchronously.

[0030] It should be noted that if the first scissor fork assembly 310 and the second scissor fork assembly 320 only include the first rod 311 and the second rod 312, the end of the first rod 311 near the movable chassis 100 is the second rear movable end, and the end of the second rod 312 near the movable chassis 100 is the second front movable end. Of course, in specific implementations, in order to increase the lifting height, the first scissor fork assembly 310 and the second scissor fork assembly 320 may also include more rods.

[0031] refer to Figure 6In some embodiments, the drive assembly 330 includes a ball screw 331, a screw nut 332, a geared motor 333, and a synchronous push rod 334. The ball screw 331 is rotatably disposed on the back of the lifting plate 400. The screw nut 332 is disposed on the ball screw 331 and can move axially along the ball screw 331 when the ball screw 331 rotates circumferentially. The geared motor 333 is disposed on the back of the lifting plate 400 and connected to the ball screw 331 through a reducer. The geared motor 333 is used to drive the ball screw 331 to rotate circumferentially. The synchronous push rod 334 is disposed on the screw nut 332 and its two ends are rotatably connected to the first scissor fork assembly 310 and the second scissor fork assembly 320, respectively. The synchronous push rod 334 is used to apply a thrust to the first scissor fork assembly 310 and the second scissor fork assembly 320 so that the two extend and retract synchronously. During operation, the control center can control the geared motor 333 to drive the ball screw 331 to rotate circumferentially, thereby causing the screw nut 332 to move axially along the ball screw 331. Simultaneously, this drives the synchronous push rod 334 to reciprocate axially along the ball screw 331, so that the first scissor fork assembly 310 and the second scissor fork assembly 320 extend and retract synchronously. Of course, the configuration of the drive assembly 330 can be selected according to actual conditions and is not limited to the methods discussed above.

[0032] In some embodiments, the geared motor 333 has a motor holding brake mechanism. For example, the geared motor 333 integrates an electromagnetic brake. During use, when the motor is running normally, the electromagnetic brake is energized and released; when the motor is de-energized, the electromagnetic brake automatically clamps the motor shaft, preventing its rotation and achieving instantaneous locking (response time is typically in the millisecond range). This configuration allows the geared motor 333 to lock when power is off, thereby locking the lifting plate 400 at any height within the lifting range and avoiding the risk of the lifting plate 400 accidentally falling in a disabled state.

[0033] It should be noted that when the motor is powered off, the threaded pair of the ball screw and screw nut 332 has a certain self-locking ability due to friction and thread angle design when there is no power input. Even if the motor brake fails slightly, the self-locking characteristic of the screw can delay the descent of the lifting plate 400.

[0034] refer to Figure 6In some embodiments, the drive assembly 330 further includes a first linear guide rail 335, a second linear guide rail 336, a first slider 337, and a second slider 338. The first linear guide rail 335 and the second linear guide rail 336 are parallel to each other and symmetrically arranged on both sides of the ball screw 331. The first slider 337 and the second slider 338 are movably disposed on the first linear guide rail 335 and the second linear guide rail 336, respectively. The two ends of the synchronous push rod 334 are respectively connected to the first slider 337 and the second slider 338. During use, the first slider 337 and the second slider 338 are guided and limited by the first linear guide rail 335 and the second linear guide rail 336, thereby limiting the posture of the synchronous push rod 334 during movement, ensuring that the first scissor fork assembly 310 and the second scissor fork assembly 320 extend and retract synchronously, avoiding tilting due to asynchrony between the first scissor fork assembly 310 and the second scissor fork assembly 320, and helping to improve the stability and reliability of operation.

[0035] refer to Figure 6 In some embodiments, the drive assembly 330 further includes a limiting block 339, which is disposed at both ends of the first linear guide rail 335 and the second linear guide rail 336. During use, the limiting block 339 can limit the linear movement range of the slider.

[0036] refer to Figure 3 In some embodiments, the lifting mechanism 300 further includes a stabilizing component 340, which is connected between corresponding links of the first scissor fork assembly 310 and the second scissor fork assembly 320 to ensure synchronous movement of the corresponding links of the first scissor fork assembly 310 and the second scissor fork assembly 320. That is, the stabilizing component 340 can restrict asynchronous movement of the corresponding links of the first scissor fork assembly 310 and the second scissor fork assembly 320. During use, the stabilizing component 340 ensures synchronous extension and retraction of the first scissor fork assembly 310 and the second scissor fork assembly 320, preventing tilting due to asynchrony, thus improving operational stability and reliability. Furthermore, the stabilizing component 340, connected between the corresponding links of the first scissor fork assembly 310 and the second scissor fork assembly 320, also enhances the overall strength and stability of the lifting mechanism 300.

[0037] refer to Figure 5In some embodiments, the stabilizing component 340 includes a first stabilizing rod 341 and a second stabilizing rod 342. The axes of the first stabilizing rod 341 and the second stabilizing rod 342 are parallel to the rotation axes of the first rod 311 and the second rod 312. The first stabilizing rod 341 is connected between two corresponding second rods 312, and the second stabilizing rod 342 is connected between two corresponding first rods 311. For example, the first stabilizing rod 341 is connected at the ends of the two second rods 312 (near the end of the movable chassis 100), and the second stabilizing rod 342 is connected at the offset ends of the two first rods 311 (near the end of the movable chassis 100). During use, the first stabilizing rod 341 is connected between the two second rods 312, enabling the two second rods 311 to move synchronously, and the second stabilizing rod 342 is connected between the two first rods 311, enabling the two first rods 311 to move synchronously. Of course, the arrangement of the stabilizing component 340 can be selected according to the actual situation and is not limited to the arrangement discussed above.

[0038] It should be noted that if the first scissor fork assembly 310 and the second scissor fork assembly 320 include more rods, the rods connected to the first stabilizer bar 341 and the rods connected to the second stabilizer bar 342 can be two sets of rods that do not intersect each other. Of course, the stabilizer assembly 340 may also include more stabilizer bars, so that each set of corresponding rods in the first scissor fork assembly 310 and the second scissor fork assembly 320 is connected to a stabilizer bar.

[0039] refer to Figures 1 to 4 In some embodiments, the lifting plate 400 is provided with a front limiting plate 401, which is used to prevent the material box from moving towards the front of the conveying robot under inertia. During use, when the mobile chassis 100 approaches the unloading station and decelerates during movement, the material box tends to move forward under inertia, and the front limiting plate 401 can restrict the forward movement of the material box.

[0040] refer to Figures 1 to 4 In some embodiments, the fixed pallet 200 is provided with side limiting plates 201 and rear limiting plates 202. There are two side limiting plates 201, located on the left and right sides of the fixed pallet 200 respectively. The side limiting plates 201 and rear limiting plates 202 are used to prevent the material box from moving in directions other than the front of the conveying robot. During use, when the movable chassis 100 moves and the lifting plate 400 is at the second height, the side limiting plates 201, rear limiting plates 202, and front limiting plates 401 cooperate to limit the material box in both the front-back and left-right directions, preventing the material box from shifting or tilting during transportation.

[0041] In the process of conveying the material box, the lifting plate 400 of the conveying robot lifting device in this application embodiment can fall on the fixed pallet 200. At this time, the fixed pallet 200 bears the main weight, and the center of gravity of the lifting mechanism 300 is lowered and it is not easy to tilt. This can improve the problem of the material box tilting or overturning due to the tilt of the lifting mechanism 300, which helps to improve the stability of transportation and reduce safety hazards.

[0042] One or more embodiments in this specification are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments in this specification should be included within the protection scope of this application.

[0043] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A lifting device for a conveying robot, characterized in that, include: Mobile chassis; A fixed tray is disposed on the mobile chassis; A lifting mechanism is provided on the mobile chassis and is used to drive the lifting plate to rise and fall; A lifting plate is disposed on the lifting mechanism and is used to support the material box. The lifting plate has a first height and a second height that are raised and lowered relative to the fixed pallet. At the first height, the lifting plate lifts the material box to the loading and unloading height. At the second height, the lifting plate rests on the fixed pallet.

2. The lifting device for the conveying robot according to claim 1, characterized in that, The lifting mechanism includes a first scissor fork assembly, a second scissor fork assembly, and a drive assembly. The first scissor fork assembly and the second scissor fork assembly are symmetrical to each other, and both the first scissor fork assembly and the second scissor fork assembly are connected between the mobile chassis and the lifting plate. The drive assembly is disposed on the lifting plate and is used to drive the first scissor fork assembly and the second scissor fork assembly to extend and retract synchronously, so as to raise and lower the lifting plate.

3. The lifting device for the conveying robot according to claim 2, characterized in that, Both the first scissor fork assembly and the second scissor fork assembly include intersecting first and second rods. The first rod is rotatably disposed on the back of the lifting plate, and the second rod is rotatably and movablely disposed on the back of the lifting plate. The drive assembly is connected to the second rod, and the drive assembly is used to drive the second rod to move relative to the lifting plate so that the first scissor fork assembly and the second scissor fork assembly extend and retract synchronously.

4. The lifting device for the conveying robot according to claim 3, characterized in that, The drive assembly includes a ball screw, a screw nut, a geared motor, and a synchronous push rod. The ball screw is rotatably mounted on the back of the lifting plate. The screw nut is mounted on the ball screw and can move axially along the ball screw when the ball screw rotates circumferentially. The geared motor is mounted on the back of the lifting plate and connected to the ball screw. The geared motor is used to drive the ball screw to rotate circumferentially. The synchronous push rod is mounted on the screw nut and its two ends are rotatably connected to the first scissor fork assembly and the second scissor fork assembly, respectively. The synchronous push rod is used to apply a thrust to the first scissor fork assembly and the second scissor fork assembly to make them extend and retract synchronously.

5. The lifting device for the conveying robot according to claim 4, characterized in that, The drive assembly further includes a first linear guide rail, a second linear guide rail, a first slider, and a second slider. The first linear guide rail and the second linear guide rail are symmetrically arranged on both sides of the ball screw. The first slider and the second slider are movably arranged on the first linear guide rail and the second linear guide rail, respectively. The two ends of the synchronous push rod are respectively connected to the first slider and the second slider.

6. The lifting device for the conveying robot according to claim 2, characterized in that, The lifting mechanism further includes a stabilizing component connected between corresponding links of the first scissor fork assembly and the second scissor fork assembly, so that the corresponding links of the first scissor fork assembly and the second scissor fork assembly move synchronously.

7. The lifting device for the conveying robot according to claim 6, characterized in that, Both the first scissor fork assembly and the second scissor fork assembly include intersecting first and second rods; The stabilizing assembly includes a first stabilizing bar and a second stabilizing bar. The axes of the first stabilizing bar and the second stabilizing bar are parallel to the rotation axes of the first bar and the second bar. The first stabilizing bar is connected between two corresponding second bars, and the second stabilizing bar is connected between two corresponding first bars.

8. The lifting device for the conveying robot according to claim 7, characterized in that, The first stabilizer bar is connected to the ends of the two second bars, and the second stabilizer bar is connected to the offset ends of the two first bars.

9. The lifting device for the conveying robot according to claim 1, characterized in that, The lifting plate is equipped with a front limiting plate, which is used to prevent the material box from moving towards the front of the conveying robot under inertia.

10. The lifting device for the conveying robot according to claim 9, characterized in that, The fixed pallet is equipped with a side limiting plate and a rear limiting plate, which are used to prevent the material box from moving in any direction other than the front of the conveying robot.

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