CN216071615U

CN216071615U - Lifting device and transfer robot

Info

Publication number: CN216071615U
Application number: CN202121811928.XU
Authority: CN
Inventors: 王启铭
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2021-08-04
Filing date: 2021-08-04
Publication date: 2022-03-18
Anticipated expiration: 2031-08-04
Also published as: TW202306866A; WO2023010824A1

Abstract

The application provides a lifting device and transfer robot, lifting device includes: the device comprises a first portal and a second portal, wherein the second portal can move along the height direction of the first portal; the lifting device further comprises a first lifting mechanism, and the first lifting mechanism is used for driving the second portal frame to move relative to the first portal frame; the lifting device also comprises a telescopic fork goods taking mechanism which can move along the height direction of the second portal frame to lift; and the second lifting mechanism is used for driving the telescopic fork goods taking mechanism to move. In the application, the second door frame rises along the height direction of the first door frame, so that the goods taking height of the telescopic fork goods taking mechanism is increased; the second lifting mechanism drives the telescopic fork goods taking mechanism to lift, so that goods with different heights can be conveniently taken.

Description

Lifting device and transfer robot

Technical Field

The application relates to the technical field of warehouse logistics, in particular to a lifting device and a transfer robot.

Background

At present, the height of the warehouse is very high, and the height of the warehouse is 6-9 meters. As shown in figure 1, the height of the goods shelves 1 is about 4 meters generally, and in order to better utilize the height space of 5-9 meters and increase the storage capacity of the warehouse, the goods shelves 1 are stacked to form a high-rise goods shelf 10 with the height space of 5-9 meters.

At present, the height from a container to a human robot is generally about 4.5 meters, and the robot is difficult to break through 5 meters because the stability of the robot with the height of 5 meters is poor. For this reason, a container-to-human robot having good movement stability is required to sufficiently pick and place the container on the high-rise shelf 10.

Moreover, although the existing multi-stage lifting container-to-human robot has higher container taking height, the assembly cost is higher, the lifting strength is lower, and the synchronous belt is easy to age and deform; the rack and gear mode is adopted for lifting, so that great noise can be generated, and the wide application in storage logistics is not facilitated.

SUMMERY OF THE UTILITY MODEL

In view of this, this application provides a elevating gear and transfer robot adopts lower cost chain to make multistage elevating system assemble convenient, and the lifting strength is high and difficult ageing, deformation to reduce the noise that produces among the lift process. And in the moving process of the robot, the gravity center of the robot is lowered by multi-stage descending, so that the robot can stably move.

In a first aspect, the present application provides a lifting device comprising: the device comprises a first portal and a second portal, wherein the second portal can move along the height direction of the first portal; the lifting device further comprises a first lifting mechanism, and the first lifting mechanism is used for driving the second portal frame to move relative to the first portal frame; the lifting device also comprises a telescopic fork goods taking mechanism which can move along the height direction of the second portal frame to lift; and the second lifting mechanism is used for driving the telescopic fork goods taking mechanism to move. In the application, the second door frame rises along the height direction of the first door frame, so that the goods taking height of the telescopic fork goods taking mechanism is increased; the second lifting mechanism drives the telescopic fork goods taking mechanism to lift, so that goods with different heights can be conveniently taken.

Preferably, the first lifting mechanism is a chain type lifting mechanism; the first lifting mechanism comprises a driving chain wheel and a driven chain wheel which are arranged along the height direction of the first portal frame, and a closed-loop chain for connecting the driving chain wheel and the driven chain wheel, and the closed-loop chain is fixedly connected with the second portal frame; the first lifting mechanism further comprises a driving device, and the driving device is used for driving the driving chain wheel to rotate. Adopt the chain drive mode, it is convenient to assemble, and the lifting strength is high and difficult ageing, deformation to reduce the noise that the lift in-process produced. A set of fixed pulley mechanisms are formed between the driving chain wheel and the driven chain wheel by adopting a closed-loop chain, the assembly process is simple, and the transmission lifting performance is stable

Preferably, the second portal is provided with a first lifting plate in sliding fit with the first portal, and the first lifting plate is connected with the closed-loop chain through a fixing piece. And in the rotating process of the closed-loop chain, the second portal frame is driven to stably lift along the first portal frame.

Preferably, the first lifting plate is rotatably connected with a first guide follower wheel which is used for being in abutting press fit with the first door frame and guiding the moving direction of the second door frame. The first guide follow-up wheel is used for guiding, and the stable lifting effect of the second door frame is enhanced.

Preferably, the second lifting mechanism comprises a climbing chain arranged along the height direction of the second door frame, and two ends of the climbing chain are respectively fixedly connected with the second door frame;

the second lifting mechanism further comprises a climbing gear which is rotatably connected with the telescopic fork goods taking mechanism and a climbing motor which is used for driving the climbing gear to rotate; wherein the climbing gear is engaged with the climbing chain. The climbing chain is adopted for lifting, the manufacturing cost is low, and less noise is generated in the lifting process.

Preferably, the telescopic fork goods taking mechanism is connected with a second lifting plate;

and the second lifting plate is provided with a driven gear which is used for guiding the climbing chain to be meshed with the climbing gear. The stability of lifting along the climbing chain is enhanced through the driven gear.

Preferably, the number of the driven gears is two, and the two driven gears are respectively arranged on two sides of the climbing chain;

and the two driven gears and the climbing gear are arranged in a staggered manner. When the climbing gear ascends and descends along the climbing chain, the two driven gears are driven to be meshed with the climbing chain in a rotating mode, and the stability in the ascending and descending process is further enhanced.

Preferably, the second lifting plate is further provided with a clamp and a positioning block for guiding the climbing chain to be meshed with the driven gear. The chain is limited in the lifting process, so that the meshing performance of the two driven gears and the climbing chain is stable.

Preferably, a second guiding follower wheel is rotatably connected to the second lifting plate, and the second guiding follower wheel is used for being in press fit with the second door frame and guiding the sliding direction of the second door frame. The second guide follow-up wheel is used for guiding, so that the second lifting plate stably drives the telescopic fork goods taking mechanism to lift along the second door frame.

Preferably, a plurality of temporary storage units are stacked on the first gantry. The transportation amount of the containers which are taken out and stored in a single time is increased.

In a second aspect, the present application provides a transfer robot comprising: the lifting device comprises a movable chassis and the lifting device assembled on the movable chassis. When the transfer robot needs to move, the second portal descends along the height direction of the first portal, so that the gravity center of the transfer robot is lowered, and the moving performance is stable.

Drawings

FIG. 1 is a schematic view of a shelf structure in an existing warehouse;

fig. 2 is a schematic view of a transfer robot according to an embodiment of the present application in a first state;

FIG. 3 is an enlarged schematic view at A of FIG. 2 provided by an embodiment of the present application;

fig. 4 is a schematic structural diagram of a first lifting mechanism provided in an embodiment of the present application;

fig. 5 is a schematic structural diagram of a second lifting mechanism provided in the embodiment of the present application;

FIG. 6 is a schematic structural diagram of a second gantry provided in the embodiment of the present application;

FIG. 7 is an enlarged schematic view at B in FIG. 6 according to an embodiment of the present disclosure;

fig. 8 is a schematic view of a transfer robot according to an embodiment of the present application in a second state;

fig. 9 is a schematic perspective view illustrating an operating state of a transfer robot according to an embodiment of the present application;

fig. 10 is a schematic plan view of an operating state of a transfer robot according to an embodiment of the present application.

Reference numerals:

a goods shelf-1;

high-rise shelf-10;

a mobile chassis-20; a drive wheel-21;

a first portal-30;

second portal frame-40

A first lifting mechanism-50; a first lifter plate-51; a first guide follower wheel-52; a closed loop chain-53; a drive sprocket-54; a drive device-55; -a mount-56; a driven sprocket-57;

a second lifting mechanism-60; a second lifter plate-61; a climbing motor-62; a second guide follower wheel-63; a climbing chain-64; a lifting frame-65; climbing gear-66; a driven gear-67; a clamping and positioning block-68;

a telescopic fork goods taking mechanism-70;

a temporary storage unit-80.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The transfer robot according to the embodiment of the present application will be described below with reference to the drawings.

First, an application scenario of a transfer robot provided in an embodiment of the present application is described, and fig. 1 is also referred to, where fig. 1 is a schematic structural diagram of a shelf in a conventional warehouse; at present, the height of the warehouse is very high, and the height of the warehouse is 6-9 meters. However, the height of the goods shelves 1 is generally about 4 meters, and in order to better utilize the height space of 5-9 meters and increase the storage capacity of the warehouse, the goods shelves 1 are stacked to form a high-rise goods shelf 10 which utilizes the height space of 5-9 meters. However, the height from the container to the human robot is generally about 4.5 meters at present, and the robot is difficult to break through 5 meters because the stability of the robot with the height of 5 meters is poor. For this reason, a container-to-human robot having good movement stability is required to sufficiently access goods or containers on the high-rise shelf 10. Therefore, in the embodiment of the application, the transfer robot adopts a multi-stage lifting mode to store and take the containers in the high-rise goods shelf, and the gravity center of the transfer robot is lowered in the moving process of the transfer robot, so that the transfer robot can stably move. The following description is made with reference to the accompanying drawings.

Referring to fig. 2, fig. 2 is a schematic view of a transfer robot provided in an embodiment of the present application in a first state. The first state is a state in which the transfer robot raises and returns the container on the high-rise pallet 10. The highest box taking height of the transfer robot is about 9 meters. The transfer robot comprises a mobile chassis 20, and the mobile chassis 20 is used for receiving a container returning command and moving to a container returning area corresponding to the high-rise shelf 10. And a lifting device for taking and returning the goods on the high-rise shelf 10 is arranged on the movable chassis 20.

Referring to fig. 3, the driving wheels 21 are symmetrically disposed at the middle position of the bottom of the movable chassis 20, and casters (not shown) are symmetrically disposed at the front and rear ends of the movable chassis 20. Thereby, the moving chassis 20 drives the lifting device and the goods taking device to move in the tunnel of the high-rise shelf 10, and the goods box on the high-rise shelf 10 receiving the instruction position is carried.

The lifting device comprises a first portal 30 arranged on the moving chassis 20 and a second portal 40 capable of moving along the height direction of the first portal 30.

The first mast 30 is assembled on the moving chassis 20 in a fixed vertical state, and the first mast 30 includes two vertical beams disposed opposite to each other, and a cross beam connecting the two vertical beams to form a doorframe-type structure. It should be understood that the cross beam may be a cross beam for fixing the temporary storage unit 80, or a cross beam separately provided for fixing two vertical beams, which is not limited herein.

The second gantry 40 may be slidably mounted on the first gantry 30 using the second gantry 40 while moving in a height direction with respect to the first gantry 30. As shown in fig. 2, the second portal 40 may extend from the top of the first portal 30 while moving in the height direction of the first portal 30, such that the highest point of the second portal 40 corresponds to the highest point of the high-rise shelf 10.

Referring to fig. 3 and 4, the lifting device further includes a first lifting mechanism 50 for driving the second gantry 40 to lift and lower along the height direction of the first gantry 30. In order to improve the stability of the loaded container during lifting, the number of the first lifting mechanisms 50 is two, the two first lifting mechanisms 50 are correspondingly arranged on the two vertical beams of the first door frame 30 one by one, and the two first lifting mechanisms 50 synchronously lift and lower the second door frame 40, so that the lifting or lowering heights of the two vertical beams of the second door frame 40 are always consistent. The first lifting mechanism 50 is a chain type lifting mechanism which has low manufacturing cost, simple assembly process and is not easy to age and deform. Only one set of first lifting mechanisms 50 connected to either side of the first mast 30 will be described in detail below.

The first elevating mechanism 50 includes a driving sprocket 54 and a driven sprocket 57 provided along the height direction of the first mast 30. A closed loop chain 53 is connected between the driving sprocket 54 and the driven sprocket 57; the driving sprocket 54 is a power wheel and is driven to rotate by a driving device 55. The driving device 55 is connected to a speed reducer by a driving motor, and the speed reducer synchronously drives and rotates the two driving sprockets 54 of the two sets of first lifting mechanisms 50.

The driven sprocket 57 is rotatably coupled to the first mast 30 so that the driven sprocket 57 is rotated during rotation of the drive sprocket 54. The driving sprocket 54 and the driven sprocket 57 are distributed along the height direction of the first mast 30. Illustratively, the driving device 55 and the driving sprocket 54 are disposed at the bottom of the first gantry 30, and the driven sprocket 57 is rotatably connected to the top of the first gantry 30. Or the driving device 55 and the driving chain wheel 54 are arranged on the top of the first gantry 30, and the driven chain wheel 57 is rotatably connected to the bottom of the first gantry 30. In the present embodiment, the distribution of the driving sprocket 54 and the driving device 55 disposed at the bottom of the first mast 30 will be described.

With continued reference to fig. 4, the second mast 40 is provided with a first lifter plate 51. The first lifting plate 51 is fixedly attached to the second mast 40 and, to increase the raised position of the second mast 40, the first lifting plate 51 is attached to the bottom of the second mast 40. The first lifting plate 51 is provided with a fixing member 56 fixedly connected with the closed loop chain 53. During the rotation of the closed loop chain 53, the first lifting plate 51 is driven by the fixing member 56 to move along the height direction of the first gantry 30, and then the second gantry 40 is lifted.

In order to ensure the stable movement of the sliding assembly of the first lifting plate 51 on the first gantry 30, a first guiding follower wheel 52 for guiding the sliding direction of the second gantry 40 is rotatably connected to the first lifting plate 51. The first guide follower wheels 52 are symmetrically provided in plural, and the plural first guide follower wheels 52 are in contact with two inner walls of the first gantry 30 opposite to the vertical beam in a pressing manner. Therefore, in the process that the first lifting plate 51 moves up and down along the first portal frame 30, the plurality of first guide follow-up wheels 52 rotate along two inner walls of the vertical beam of the first portal frame 30, and the purposes of guiding and stably lifting are achieved.

In the above structure, the closed loop chain 53 is adopted to form a set of fixed pulley mechanism between the driving chain wheel 54 and the driven chain wheel 57, and the second door frame 40 is driven to lift in the rotation process of the closed loop chain 53, so that the assembly process is simple, and the transmission lifting performance is stable.

Referring to fig. 2 and 5, the lifting device of the present embodiment further includes a telescopic fork goods taking mechanism 70, and the telescopic fork goods taking mechanism 70 is at least a three-stage telescopic goods taking mechanism. The telescopic fork cargo picking mechanism 70 is movable in the height direction of the second door frame 40, and illustratively, the telescopic fork cargo picking mechanism 70 is slidably connected to the second door frame 40, and a second lifting mechanism 60 for driving the telescopic fork cargo picking mechanism 70 to slide in the height direction of the second door frame 40 is disposed on the second door frame 40.

Illustratively, the telescopic fork pick mechanism 70 is at the highest pick level as shown in FIG. 2. When the highest goods taking height is realized, the second door frame 40 synchronously drives the telescopic fork goods taking mechanism 70 to ascend in the ascending process along the first door frame 30. When the bottom of the second portal frame 40 is overlapped with the top of the first portal frame 30, the telescopic fork pickup mechanism 70 is driven by the second lifting mechanism 60 to move along the height direction of the second portal frame 40, so that the container pickup operation can be performed on the highest cargo layer of the high-rise shelf 10. Specifically, when containers are taken back from the high-rise shelf 10 with different heights, the second portal 40 can be lifted to the highest position where the container needing to be taken is located, and is not necessarily lifted to the limit position of the second portal 40; or the extreme position of the second portal 40, at this time, the retractable fork goods taking mechanism 70 may be lifted synchronously under the action of the second lifting mechanism 60 in the lifting process of the portal, or may be lifted to the height of the corresponding container under the driving of the second lifting mechanism 60 after the second portal 40 is lifted, or only the retractable fork goods taking mechanism 70 is lifted, or the retractable fork goods taking mechanism 70 is lifted first and the second portal 40 is lifted again.

Referring to fig. 6 to 7, fig. 6 is a schematic structural diagram of the second gantry 40 according to the present embodiment. The second mast 40 is a frame structure that cooperates with the first mast 30. The second lifting mechanisms 60 are symmetrically arranged on two sides of the second door frame 40, and two groups of the second lifting mechanisms 60 are respectively connected with two sides of the telescopic fork goods taking mechanism 70, so that the telescopic fork goods taking mechanism 70 can be stably lifted when bearing a container. Only the second elevating mechanism 60 on either side of the second mast 40 will be described in detail below.

The second elevating mechanism 60 includes a climbing chain 64 disposed along the height direction of the second mast 40. The climbing chain 64 is a single chain, one end of the climbing chain 64 is fixedly connected with the top end of the second door frame 40, and the other end is fixedly connected with the bottom end of the second door frame 40. Meanwhile, in order to enhance the service life of the climbing chain 64, the climbing chain 64 has no tension inside the second frame 40 and is in a free lobe state.

Meanwhile, the second elevating mechanism 60 further includes a climbing gear 66 rotatably connected to the telescopic fork pickup mechanism 70. The climbing gear 66 engages the climbing chain 64 during rotation to cause the telescopic fork lift mechanism 70 to be raised and lowered along the second mast 40.

The climbing gears 66 are driven by the climbing motor 62 to rotate, and the climbing gears 66 on both sides driven by the climbing motor 62 are synchronously meshed with the corresponding climbing chains 64. The lifting along the climbing chain 64 is adopted, so that the manufacturing cost is low, and less noise is generated in the lifting process.

As shown in fig. 5, the second elevating plate 61 slidably connected to the second frame 40 is connected to the telescopic fork pickup mechanism 70. The climbing motor 62 ascends and descends synchronously with the second ascending and descending plates 61 on both sides, and the climbing gear 66 is rotatably connected to the second ascending and descending plates 61, so that the second ascending and descending plates 61 are driven to ascend and descend in the process that the climbing gear 66 is meshed with the climbing chain 64.

Meanwhile, in order to ensure the tight meshing climbing between the climbing gear 66 and the climbing chain 64, the second lifting plate 61 is provided with a driven gear 67 for guiding the climbing chain 64 to mesh with the climbing gear 66. The number of the driven gears 67 is two, and the two driven gears 67 are respectively arranged on two sides of the climbing chain 64; and two driven gears 67 are disposed offset from the climbing gear 66. When the climbing gear 66 goes up and down along the climbing chain 64, the two driven gears 67 are driven to be meshed with the climbing chain 64 in a rotating mode, so that the climbing gear 66 is meshed with the climbing chain 64 to be guided, the tight meshing degree between the climbing gear 66 and the climbing chain 64 is ensured, and the stability in the lifting process is further enhanced.

The second lifting plate 61 is further provided with a clamp and a positioning block 68 for guiding the climbing chain 64 to be meshed with the driven gear 67. The climbing chain 64 is limited in the lifting process, so that the two driven gears 67 and the climbing chain 64 are stable in rotating and meshing performance.

As can be seen from the above description, in the free-lobe state of the climbing chain 64, there is no tension, so that the second lifting plate 61 is not easy to damage the climbing chain 64 during climbing. Moreover, the climbing mode is adopted, so that the noise is effectively reduced. The climbing chain 64 is guided by the clamping and positioning block 68, so that the two driven gears 67 are meshed with the climbing chain 64, and the two driven gears 67 are meshed with the climbing chain 64, so that the meshing degree of the climbing gear 66 and the climbing chain 64 is tight, and stable lifting is realized.

With continued reference to fig. 5 and 7, in order to ensure the stable movement of the sliding assembly of the second lifting plate 61 on the second door frame 40, a second guiding follower wheel 63 for abutting and pressing fit with the second door frame 40 and guiding the sliding direction of the second lifting plate 61 is rotatably connected to the second lifting plate 61. The second guide follower wheels 63 are symmetrically provided in plural, and the plural second guide follower wheels 63 are in contact with two opposite inner walls of the vertical beam of the second door frame 40 in a pressing manner. Therefore, in the process that the second lifting plate 61 moves up and down along the second portal frame 40, the plurality of second guide follow-up wheels 63 are attached to the two inner walls of the vertical beam of the second portal frame 40 to rotate, and the purposes of guiding and stable lifting are achieved.

The second lifting plate 61 is provided with a lifting frame 65 connected with the telescopic fork goods taking mechanism 70, and the lifting frame 65 is provided with a rotating mechanism for driving the telescopic fork goods taking mechanism 70 to rotate along the lifting frame 65, so as to adjust the direction of the goods taking and returning of the telescopic fork goods taking mechanism 70. As shown in fig. 2 and 8, in order to increase the carrying capacity of the transfer robot, a plurality of buffer units 80 are stacked on the first mast 30, and the retractable fork pickup mechanism 70 transfers a container on the buffer unit 80 to the high-rise shelf 10 through the swing mechanism, or transfers a container on the high-rise shelf 10 to the buffer unit 80 to be stored.

Referring to fig. 8, fig. 8 is a schematic view of the transfer robot according to the embodiment in the second state. The second state is a state when the transfer robot travels. The transfer robot has unstable transfer performance when transferring the cargo box of the high-rise shelf 10. For this reason, in the present embodiment, during the movement of the transfer robot, the second mast 40 is driven by the first lifting mechanism 50 to be lowered to the lower position along the first mast 30, and the telescopic fork lift mechanism 70 is driven by the second lifting mechanism 60 to be lowered to the lower position along the second mast 40. Thereby reducing the gravity center of the transfer robot and enabling the transfer robot to walk stably. When the containers on the low-layer goods shelves are stored and taken simultaneously, the second door frame 40 is in a low position and the position is unchanged, and the telescopic fork goods taking mechanism 70 can lift along the second door frame 40 to complete the taking and returning operation of the low-layer containers.

Referring to fig. 9 to 10, fig. 9 and 10 are schematic views showing a state where the transfer robot in the present embodiment returns the loading platform on the high-rise shelf 10. The first door frame 30, the second door frame 40 and the telescopic fork goods taking mechanism 70 are driven to move to the side of the high-rise goods shelf 10 to be taken by moving the chassis 20. At this time, the first lifting mechanism 50 drives the second gantry 40 to lift along the first gantry 30, and the second gantry 40 extends from the top of the first gantry 30. Subsequently, the second lifting mechanism 60 drives the telescopic fork goods taking mechanism 70 to rise along the second door frame 40 to a height level with the goods layer to be taken, the telescopic fork goods taking mechanism 70 takes out the goods box on the high-rise shelf 10, the second lifting mechanism 60 drives the second door frame 40 to descend along the first door frame 30, and the first lifting mechanism 50 drives the telescopic fork goods taking mechanism 70 to descend along the second door frame 40 to the corresponding temporary storage unit 80 for storage. The reverse operation is performed when the containers in the buffer unit 80 are stored on the high-rise racks 10.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

Claims

1. A lifting device, comprising: the device comprises a first portal and a second portal, wherein the second portal can move along the height direction of the first portal;

the lifting device further comprises a first lifting mechanism, and the first lifting mechanism is used for driving the second portal frame to move relative to the first portal frame;

the lifting device also comprises a telescopic fork goods taking mechanism which can move along the height direction of the second portal frame to lift; and the second lifting mechanism is used for driving the telescopic fork goods taking mechanism to move.

2. The lift device of claim 1, wherein the first lift mechanism is a chain lift mechanism;

the first lifting mechanism comprises a driving chain wheel and a driven chain wheel which are arranged along the height direction of the first portal frame, and a closed-loop chain for connecting the driving chain wheel and the driven chain wheel, and the closed-loop chain is fixedly connected with the second portal frame;

the first lifting mechanism further comprises a driving device, and the driving device is used for driving the driving chain wheel to rotate.

3. The lifting device as claimed in claim 2, wherein the second gantry is provided with a first lifting plate, and the first lifting plate is connected with the closed loop chain through a fixing member.

4. The lifting device as claimed in claim 3, wherein the first lifting plate is rotatably connected with a first guiding follower wheel for abutting and pressing engagement with the first portal frame and guiding the moving direction of the second portal frame.

5. The lifting device according to any one of claims 1 to 4, wherein the second lifting mechanism comprises a climbing chain arranged along the height direction of the second door frame, and two ends of the climbing chain are fixedly connected with the second door frame respectively;

the second lifting mechanism further comprises a climbing gear which is rotatably connected with the telescopic fork goods taking mechanism and a climbing motor which is used for driving the climbing gear to rotate; wherein the climbing gear is engaged with the climbing chain.

6. The lift device of claim 5, wherein a second lift plate is coupled to the telescopic fork pickup mechanism;

and the second lifting plate is provided with a driven gear which is used for guiding the climbing chain to be meshed with the climbing gear.

7. The lifting device as claimed in claim 6, wherein the number of the driven gears is two, and the two driven gears are respectively arranged at two sides of the climbing chain;

and the two driven gears and the climbing gear are arranged in a staggered manner.

8. The lifting device as claimed in claim 7, wherein the second lifting plate is further provided with a clamp and a positioning block for guiding the climbing chain to engage with the driven gear.

9. The elevating apparatus as claimed in claim 6, wherein a second guide follower wheel for press-fitting with the second door frame and guiding a sliding direction of the second door frame is rotatably connected to the second elevating plate.

10. The lifting device as claimed in claim 1, wherein a plurality of temporary storage units are stacked on the first gantry.

11. A transfer robot, characterized by comprising: a mobile chassis, and a lifting device according to any one of claims 1 to 10 mounted on the mobile chassis.