CN216737484U

CN216737484U - Lifting device and mobile robot

Info

Publication number: CN216737484U
Application number: CN202122332389.8U
Authority: CN
Inventors: 李文华
Original assignee: Hangzhou Iplus Tech Co ltd
Current assignee: Hangzhou Iplus Tech Co ltd
Priority date: 2021-09-26
Filing date: 2021-09-26
Publication date: 2022-06-14
Anticipated expiration: 2031-09-26

Abstract

The utility model relates to the technical field of automatic transportation, in particular to a lifting device and a mobile robot, which comprise a first mounting structure and a second mounting structure which are arranged oppositely, wherein a lifting mechanism comprises at least one lifting unit, and the lifting unit comprises a first supporting part and a second supporting part; the first end of the first supporting part is rotatably connected with the second mounting structure; the first end of the second supporting part is rotationally connected with the second mounting structure; the first end of the first supporting part is mutually meshed with the first end of the second supporting part; the driving mechanism is arranged on the first mounting structure and used for driving the second end of the first moving part and/or the second end of the second moving part to move; the first moving part and the second moving part are driven by the driving mechanism to synchronously move towards or away from each other so as to enable the first mounting structure and the second mounting structure to be far away or close to each other.

Description

Lifting device and mobile robot

Technical Field

The utility model relates to the technical field of automatic transportation, in particular to a lifting device and a mobile robot.

Background

At present, lifting operation is common operation in the technical field of automatic transportation. Since the lifting device for lifting operation is usually required to bear a large load, the reliability and stability of the lifting device are often required. If the load is unevenly arranged, the lifting device is unbalanced in stress, and the lifting device may shake during lifting, so that the load cannot be safely and stably lifted.

In the related art, link-type lifting devices are often used to reduce the cost, but the existing link-type lifting devices have low reliability and poor stability.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a lifting device and a mobile robot, which have high reliability and good stability.

In order to achieve the purpose, the utility model adopts the following technical scheme:

in a first aspect, the present application relates to a lifting device, which is installed between a first installation structure and a second installation structure that are oppositely arranged, and comprises:

the lifting mechanism comprises at least one lifting unit, and the lifting unit comprises a first supporting part and a second supporting part; the first end of the first supporting part is rotatably connected with the second mounting structure; the first end of the second supporting part is rotationally connected with the second mounting structure; the first end of the first supporting part is mutually meshed with the first end of the second supporting part;

the driving mechanism is arranged on the first mounting structure and is used for driving the second end of the first moving part and/or the second end of the second moving part to move;

the first moving part and the second moving part are driven by the driving mechanism to synchronously move towards or away from each other, so that the first mounting structure and the second mounting structure are far away from or close to each other.

Preferably, the first end of the first supporting part is provided with a plurality of first tooth forms, and the first end of the second supporting part is provided with a plurality of second tooth forms; the first tooth form and the second tooth form are meshed with each other.

Preferably, in at least one of the lifting units, a first end of the first support part is hinged to the second mounting structure, and a first end of the second support part is hinged to the second mounting structure.

Preferably, the lifting mechanism comprises at least two lifting units connected end to end; the driving mechanism comprises a first synchronization mechanism; the lifting units connected end to end are driven by a first synchronous mechanism.

Preferably, the lifting mechanism at least comprises at least two rows of lifting units which are spaced, and the driving mechanism comprises a second synchronous mechanism; and the lifting units at intervals are driven by a second synchronous mechanism.

Preferably, the driving mechanism comprises a motor, and the driving mechanism converts the rotation motion of the motor into the reciprocating motion of the second end of the first supporting part and the second end of the second supporting part; the second synchronizing mechanism comprises a plurality of gears which are meshed with each other.

Preferably, the driving mechanism comprises a linear displacement part, a first moving part and a second moving part which are arranged along a first direction; the lifting unit is correspondingly provided with the linear displacement part;

the first moving part is rotatably connected with the first supporting part, and the second moving part is rotatably connected with the second supporting part; the first moving part and the second moving part are movably mounted on the linear displacement part relatively, and the first moving part and the second moving part can synchronously move towards or away from each other on the linear displacement part.

Preferably, the linear displacement part comprises a screw, a first external thread and a second external thread are respectively arranged at two ends of the screw, and the rotating directions of the first external thread and the second external thread are opposite;

the first moving part is provided with a first internal thread; the first internal thread and the first external thread are mutually screwed and can rotate and move along the first external thread;

the second moving part is provided with a second internal thread; the second internal thread and the second external thread are mutually screwed and can move along with the rotation of the second external thread.

Preferably, the lifting device further comprises a first guide part arranged along a first direction, and the first guide part is provided with a guide rail; wherein, the first direction is the direction in which the first moving part and the guide rail can move relatively, and the second moving part and the guide rail can move relatively; the first moving part is matched with the guide rail, and the second moving part is matched with the guide rail.

Preferably, the lifting device further comprises a second guide part arranged along the second direction, and the second guide part is provided with a guide shaft and a guide sleeve which are matched with each other; the second direction is a direction in which the first mounting structure and the second mounting structure can move relatively;

one of the first mounting structure and the second mounting structure is provided with a guide shaft, and the other mounting structure is provided with a guide sleeve.

In a second aspect, the present application further relates to a mobile robot, including the lifting device of any one of the first aspects and a chassis, where the lifting device is disposed on the chassis.

Compared with the prior art, the utility model has the beneficial effects that:

according to the lifting device and the mobile robot thereof, the first supporting part and the second supporting part are arranged in an engaged mode, so that the force of the lifting mechanism acting on the lifting platform in the moving process is stable, and the synchronism of the first supporting part and the second supporting part is improved due to the engagement arrangement. The utility model improves the reliability and stability of the lifting device during lifting operation.

Drawings

FIG. 1 is a side view of a schematic of an embodiment of the present invention.

Fig. 2 is a perspective view of a schematic structure in an embodiment of the present invention.

Fig. 3 is a cross-sectional view taken along line a-a of fig. 2.

Fig. 4 is a schematic view of a portion of the assembly shown in fig. 2.

Fig. 5 is a schematic structural diagram of the moving element and the first position-limiting element shown in fig. 4.

Fig. 6 is a schematic structural view of the connecting rod shown in fig. 4.

Fig. 7 is a schematic structural diagram of the lifting mechanism, the driving mechanism and the second mounting structure shown in fig. 2.

Fig. 8 is a partially enlarged view of a portion a shown in fig. 7.

Description of the symbols of the drawings:

1. a first mounting structure; 2. a second mounting structure, 21, a mounting support; 3. the lifting mechanism 31, the first supporting part 32, the second supporting part 331, the bearing 332, the clamping groove 333 and the clamping piece; 4. a driving mechanism 41, a first synchronous mechanism 42, a second synchronous mechanism 43, a linear displacement part 44, a first moving part 45, a second moving part 4451, a convex part 4452 and a sleeve; 5. a first guide portion; 6. a second guide portion; 7. a chassis.

Detailed Description

The present invention will now be described in more detail with reference to the accompanying drawings, in which the description of the utility model is given by way of illustration and not of limitation. The various embodiments may be combined with each other to form other embodiments not shown in the following description.

Referring to fig. 2-8, in a first aspect, the present application relates to a lifting device, which is installed between a first installation structure 1 and a second installation structure 2 that are oppositely disposed, and includes:

a lifting mechanism 3 including at least one lifting unit including a first support 31 and a second support 32; the first end of the first supporting part 31 is rotatably connected with the second mounting structure 2; a first end of the second support portion 32 is rotatably connected to the second mounting structure 2; the first end of the first support portion 31 and the first end of the second support portion 32 are engaged with each other;

the driving mechanism 4 is arranged on the first mounting structure 1 and is used for driving the second end of the first moving part 31 and/or the second end of the second moving part 45 to move;

the first moving part 44 and the second moving part 45 are driven by the driving mechanism 4 to synchronously move towards or away from each other, so that the first mounting structure 1 and the second mounting structure 2 are far away from or close to each other.

The first mounting structure 1 may be a plate, a frame or other structures for facilitating assembly. The first mounting structure 1 is used for mounting the driving mechanism.

The second mounting structure 2 may include a plate and a mounting support 21, and the plate is fixedly connected to at least one mounting support 21. A mounting support 21 is mounted in correspondence with one or more of said lifting units, first ends of said first 31 and second 32 support portions being rotatably connected to said second mounting structure 2, respectively. It will be appreciated that the lifting mechanism 3 is moved to act on the mounting support 21, and the mounting support 21 acts on the panel to cause the panel to move up and down. In other embodiments, one mounting support 21 may be provided for a plurality of lifting mechanisms 3 located in the same row.

One of the first mounting structure 1 and the second mounting structure 2 is a base, and the other is an object stage. The base is used for installation and fixation. The object stage is used for bearing and carrying objects.

As shown in fig. 2, the first supporting portion 31 and the second supporting portion 32 may be integrally formed, or may be two or more rod members spaced apart from each other. Other shapes may be provided as desired. Generally made of rigid materials with higher strength. When the first supporting portion 31 and the second supporting portion 32 are mounted in a triangular structure, the triangular structure has better stability, and other structures with better stability can be set according to requirements.

The first end of the first supporting portion 31 and the first end of the second supporting portion 32 are engaged with each other, so that the acting force of the lifting mechanism 3 on the second mounting structure 2 is stable during the movement process. The synchronism of the synchronous movement of the second end of the first support portion 31 and the second end of the second support portion 32 toward and away from each other can be improved due to the meshing engagement; the first supporting part 31 and the second supporting part 32 rotate synchronously in opposite directions or in opposite directions, and the synchronism is good.

Besides, it is understood that, in one case, the second ends of the first support part 31 and the second support part 32 are both provided in connection with the driving mechanism 4, the driving mechanism 4 acting on the support parts simultaneously, so that the second ends of the first support part 31 and the second support part 32 move simultaneously;

in another case, when the second end of one of the first support portion 31 and the second support portion 32 is connected to the driving mechanism 4, wherein the first support portion 31/the second support portion 32 moves under the action of the driving mechanism 4, since the first support portion 31 and the second support portion 32 are engaged with each other at one end and the transmission efficiency and the transmission precision are high, the other of the first support portion 31 and the second support portion 32 is engaged with each other to move synchronously.

The driving mechanism 4 may include a motor and a transmission assembly coupled to the motor, or may be a driving force provided by a pneumatic device composed of an air cylinder and an air pump, or may be another structure capable of providing a driving force. The transmission assembly is correspondingly connected with at least one lifting mechanism 3.

As an embodiment, as shown in fig. 6, a first end of the first supporting portion 31 is provided with a plurality of first tooth shapes, and a first end of the second supporting portion 32 is provided with a plurality of second tooth shapes; the first tooth form and the second tooth form are meshed with each other.

It can be understood that, as shown in fig. 2 and 4, the first tooth form and the second tooth form are symmetrically arranged, and the number of the first tooth form and the second tooth form can be set according to the tooth spacing and the rotation angle, and is generally set to be in the range of 8-12. First profile of tooth with second profile of tooth intermeshing, not only satisfy lifting mechanism 3 driven stationarity, the structure is simpler simultaneously for the assembly degree of difficulty greatly reduced, in this embodiment, first profile of tooth with first supporting part 31 integrated into one piece, the second profile of tooth with second supporting part 32 integrated into one piece, in other embodiments, first profile of tooth or second profile of tooth also can with first supporting part 31 or second supporting part 32 pass through removal portion body rigid coupling etc..

As an embodiment, the first tooth shapes are equal in size and are uniformly arranged; and the second tooth shapes are equal in size and are uniformly distributed.

It can be understood that the tooth shapes are equal in size and are uniformly arranged, which helps to further improve the stability in the meshing transmission process.

In one embodiment, in at least one of the lifting units, a first end of the first supporting portion 31 is hinged to the second mounting structure 2, and a first end of the second supporting portion 32 is hinged to the second mounting structure 2.

It can be understood that the hinge joint is a rotation connection mode with better stability, and more particularly, the hinge joint can be adopted. In the present invention, the second mounting structure 2 is provided with two first hole locations, and the first supporting portion 31 and the second supporting portion 32 are respectively provided with one second hole location. A bearing 331 is disposed through the first hole site and the second hole site.

The hinge assembly of the first supporting portion 31 and the second supporting portion 32 has a specific structure that two end portions of the bearing 331 are radially formed with a clamping groove 332, the clamping piece 334 is clamped in the clamping groove, the clamping piece 334 is abutted against the outer side surface of the supporting portion 31, it can be understood that the two end portions of the bearing 331 protrude out of the outer side surface of the supporting portion 31, the clamping groove 332 is formed at the two end portions of the bearing 331, the clamping piece 334 is clamped and fixed in the clamping groove, and the axial displacement of the supporting portion 31 along the bearing 331 is limited by the clamping piece 334, so that the connection stability between the supporting portion 31 and the supporting portion 21 is improved.

In other embodiments, the present invention may also employ ball bearing connections to achieve more degrees of freedom. Other rotational connections may be substituted.

As an embodiment, the lifting mechanism 3 includes at least two lifting units connected end to end; the driving mechanism 4 comprises a first synchronization mechanism 41; the lifting units connected end to end are driven by a first synchronizing mechanism 41.

The first synchronization mechanism 41 is used for realizing or improving the synchronization of the motion between the lifting units connected end to end. It is better to apply the case where the size is larger in a certain direction than one of the first mounting structure 1 or the second mounting structure 2.

More specifically, in one case, the driving mechanism 4 corresponding to at least two lifting units connected end to end includes a plurality of screws arranged in series along the axial direction thereof. The first synchronization mechanism 41 may be a coupler, and is correspondingly sleeved and fixed at the end portions of two adjacent screws. When one screw rod is driven to rotate, the other screw rod synchronously rotates through the coupler, namely, the mutual transmission among the screw rods in each linear displacement part 43 group can be realized through the coupler, so that the screw rods in each linear displacement part 43 group synchronously move, and the stable adjustment of the distance between the first mounting structure 1 and the second mounting structure 2 can be better kept.

In another embodiment, the difference between the present embodiment and the previous embodiment is that two adjacent screws are arranged at an included angle, the first synchronization mechanism 41 is a pair of mutually engaged helical gears, one of the helical gears is fixedly connected to one end of one of the adjacently arranged screws, and the other helical gear is fixedly connected to one end of the other adjacently arranged screw.

In one embodiment, the lifting mechanism 3 comprises at least two rows of lifting units spaced apart from each other, and the driving mechanism 4 comprises a second synchronizing mechanism 42; wherein, the lifting units at intervals are driven by a second synchronous mechanism 42.

The second synchronization mechanism 42 is used for achieving or improving synchronization between the lifting units in different columns. Since the lifting unit can be disposed at any position between the first mounting structure 1 and the second mounting structure 2, it is more suitable for the case where one of the first mounting structure 1 and the second mounting structure 2 is large in size in the other direction.

As an embodiment, the driving mechanism 4 includes a motor, and the driving mechanism 4 converts the rotation of the motor into the reciprocating motion of the second end of the first supporting portion 31 and the second end of the second supporting portion 32; the second synchronizing mechanism 42 comprises a plurality of gears which are meshed with each other.

The second synchronizing mechanism 42 includes gears engaged with each other, any one of the gears is a driving gear and driven by a motor to rotate, and the other gears are driven gears and rotate under the rotation action of the driving gear. The two rows of lifting units which are arranged at intervals are in transmission connection with two gears with the same tooth number respectively. The second synchronizing mechanism 42 includes an odd number of gears engaged with each other to keep the same direction of rotation of the two spaced linear displacement portions 43. The second synchronizing mechanism 42 has a plurality of gears engaged with each other, and the rotating axes of the gears are mounted on a fixed support. The radius of the gear can be selected according to the distance between at least two rows of lifting units, and the number of the gear can be set according to the rotating speed of the rotating motion.

The gears are meshed with each other, so that the transmission stability is better, and the transmission efficiency is high.

In other embodiments, the second synchronization mechanism 42 may be provided in other forms, such as a synchronous belt drive.

As an embodiment, the driving mechanism 4 includes a linear displacement portion 43, a first moving portion 44 and a second moving portion 45 arranged along a first direction; the lifting unit is correspondingly provided with the linear displacement part 43;

wherein the first moving part 44 is rotatably connected to the first supporting part 31, and the second moving part 45 is rotatably connected to the second supporting part 32; the first moving part 44 and the second moving part 45 are movably mounted on the linear displacement part 43, and the first moving part 44 and the second moving part 45 can move synchronously toward or away from each other on the linear displacement part 43.

The linear displacement portion 43 is attached to the first attachment structure 1.

Preferably, the first moving portion 44 is hinged to the first supporting portion 31, and the second moving portion 45 is hinged to the second supporting portion 32. The hinge joint is a rotary connection mode with good stability, and more particularly, the hinge joint can be adopted.

More specifically, in order to realize the rotational connection between the first moving portion 44 and the first supporting portion 31, the first moving portion 44 further includes a moving portion body, a convex portion 4451 is disposed on the moving portion body, a first limiting member is disposed on the convex portion 4451, wherein there are two first limiting members, each first limiting member includes a sleeve 4452 fixedly secured on the convex portion 4451 and a ring body radially protruding from the sleeve 4452, the sleeve 4452 on one of the first limiting members abuts against the ring body on the other first limiting member, and the first supporting portion 31 and the second supporting portion 32 are respectively rotatably secured on one of the sleeves 4452 and located between the two ring bodies.

It can be understood that, as shown in fig. 4-5 and 7, the protruding portion 4451 may be configured as a cylinder, the sleeve 4452 is fittingly sleeved on the protruding portion 4451, the first supporting portion 31 and the second supporting portion 32 are respectively formed with a slot along the thickness direction thereof, the first supporting portion 31 and the second supporting portion 32 can be rotatably connected to the sleeve 4452 through the slots, so that the first moving portion 44 and the second moving portion 45 can be respectively hinged to the first supporting portion 31 and the second supporting portion 32 through the moving portion body, and the two ring bodies limit the supporting portions to prevent the first supporting portion 31 and the second supporting portion 32 from being separated from the sleeve 4452 during the movement process.

In addition, the utility model can also adopt ball bearing connection to obtain more degrees of freedom. Or other rotational connection.

In one embodiment, the linear displacement portion 43 includes a screw, and a first external thread and a second external thread are respectively disposed at two ends of the screw, and the rotation directions of the first external thread and the second external thread are opposite;

the first moving part 44 is provided with a first internal thread; the first internal thread and the first external thread are mutually screwed and can rotate and move along the first external thread;

the second moving part 45 is provided with a second internal thread; the second internal thread and the second external thread are mutually screwed and can move along with the rotation of the second external thread.

The screw rod be double-thread screw, the pitch of first external screw thread and second external screw thread equal, the thread is even to be set up. The first moving portion 44 and the second moving portion 45 have the same operation principle as a nut of a ball screw assembly. Both ends of the screw are mounted on the first mounting structure 1 through bearings, the screw rotates, the first moving part 44 and the second moving part 45 do not rotate, and the rotation of other mounting parts of the first moving part 44 and the second moving part 45 is not influenced.

And the transmission is more stable and synchronous by adopting a screw rod and thread matching mode.

The first moving portion 44 and the second moving portion 45 are both driven simultaneously, so that each pair of the sliders makes a reciprocating linear motion on the screw, and the two sliders move simultaneously in an opposite direction or in an opposite direction, so that an included angle between the pair of first supporting portions 31 and the pair of second supporting portions 32 is increased or decreased. When the first moving part 44 and the second moving part 45 synchronously move towards each other on the linear displacement part 43, that is, the included angle between the first supporting part 31 and the second supporting part 32 is reduced, the first mounting structure 1 and the second mounting structure 2 are separated from each other; when the two first moving portions 44 and the second moving portions 45 move back and forth along the linear displacement portion 43, that is, the included angle between the first supporting portion 31 and the second supporting portion 32 increases, the first mounting structure 1 and the second mounting structure 2 approach each other.

As an embodiment, the lifting device further comprises a first guiding part 5 arranged along a first direction, wherein the first guiding part 5 is provided with a guide rail; wherein the first direction is a direction in which the first moving part 44 and the guide rail can move relatively, and the second moving part 45 and the guide rail can move relatively; the first moving portion 44 is engaged with the guide rail, and the second moving portion 45 is engaged with the guide rail.

More specifically, the first moving portion 44 and the second moving portion 45 respectively include moving portion bodies on which the arrangement convex portions 4451 are provided to be convex in a direction perpendicular to the first direction. The guide rails are provided with guide grooves in which the protrusions 4451 are slidable. More specifically, one of the first guide portions 5 is provided corresponding to one of the lift units. One first guide portion 5 may be provided corresponding to a plurality of lifting units in the same row. Wherein each first guiding portion 5 comprises one or at least two guiding rails, and the first moving portion 44 and the second moving portion 45 respectively comprise one or at least two protrusions 4451. When the number of the guide rails is two, the two guide rails are respectively arranged on two sides of the lifting unit along a first direction; in this case, the first moving portion 44 and the second moving portion 45 also have two symmetrical protrusions 4451, which can slide in the slide grooves of the slide rails on the same side.

The arrangement of the first guide portion 5 further increases the stability of the movement of the first moving portion 44 and the second moving portion 45. The first moving portion 44 and the second moving portion 45 are prevented from deflecting.

As an embodiment, the lifting device further comprises a second guiding part 6 arranged along the second direction, and the second guiding part 6 is provided with a guiding shaft and a guiding sleeve which are matched with each other; the second direction is a direction in which the first mounting structure and the second mounting structure can move relatively;

More specifically, the guide shaft is sleeved in the guide sleeve and can move relatively to the guide sleeve along a second direction.

The arrangement of the guide shaft and the guide sleeve further increases the stability of the relative movement of the first mounting structure 1 and the second mounting structure 2 along the second direction.

To better illustrate the principle of the present invention and illustrate the specific implementation of the present invention, as shown in fig. 2, taking one embodiment as an example, the driving mechanism 4 includes two rows of linear displacement portions 43 arranged at intervals, and the linear displacement portions 43 include two linear displacement portions 43 arranged end to end along a first direction. Specifically, the linear displacement portion 43 is a screw. The driving mechanism 4 comprises a second synchronizing mechanism 42, and the second synchronizing mechanism 42 is a plurality of gears which are meshed with each other; wherein, the lifting units at intervals are synchronously driven through meshed gears. Wherein, one end of the same side linear displacement part 43 (screw) of the two rows of linear displacement parts 43 groups arranged at intervals is fixedly connected with a gear arranged at the end part respectively. The second synchronizing mechanism 42 includes an odd number of gears engaged with each other to keep the same rotation direction of the two spaced linear displacement portions 43, specifically, 7 gears are provided in this embodiment. In this embodiment, the driving mechanism 4 includes a motor, and after the motor is started, the motor drives any gear in the second synchronizing mechanism 42 to perform meshing transmission, so that two rows of the screws fixedly connected with the gears rotate synchronously, and balance of the first mounting structure 1 and the second mounting structure 2 during lifting can be better maintained.

In a second aspect, the present application further relates to a mobile robot, which includes the lifting device of the first aspect and a chassis 7, wherein the lifting device is disposed on the chassis 7. The lifting device is completely the same as the technical means and the expanded embodiment in the embodiment of the first aspect, and the working principle and the action effect are also the same, so that the details are not described.

In the mounting method, the first mounting structure 1 may be disposed above the second mounting structure 2, and the second mounting structure 2 may be mounted on the top of the chassis 7. The second mounting structure 2 may be disposed above the first mounting structure 1, and the first mounting structure 1 may be mounted on top of the chassis 7. The two forms of realization do not affect the working principle thereof.

It can be understood that the number and the positions of the lifting units can be changed according to actual needs, so that the first mounting structure 1 and the second mounting structure 2 with different shapes or sizes and the like can be arranged on the lifting units, and further, the use requirements of the mobile robot under various working conditions can be met.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.

Claims

1. A lifting device is arranged between a first mounting structure (1) and a second mounting structure (2) which are oppositely arranged, and is characterized by comprising:

a lifting mechanism (3) comprising at least one lifting unit comprising a first support (31) and a second support (32); the first end of the first supporting part (31) is rotatably connected with the second mounting structure (2); the first end of the second supporting part (32) is rotationally connected with the second mounting structure (2); the first end of the first supporting part (31) is mutually meshed with the first end of the second supporting part (32);

and a driving mechanism (4) which is arranged on the first mounting structure (1) and is used for driving the second end of the first moving part (44) and/or the second end of the second moving part (45) to move;

wherein, the first moving part (44) and the second moving part (45) are driven by the driving mechanism (4) to synchronously move towards or away from each other so as to enable the first mounting structure (1) and the second mounting structure (2) to be far away from or close to each other.

2. A lifting device as claimed in claim 1, characterized in that the first end of the first support (31) is provided with a plurality of first profiles and the first end of the second support (32) is provided with a plurality of second profiles; the first tooth form and the second tooth form are meshed with each other.

3. The lifting device as claimed in claim 2, wherein the first tooth shapes are equal in size and are uniformly arranged; and the second tooth shapes are equal in size and are uniformly distributed.

4. A lifting device according to claim 1, characterized in that in at least one of the lifting units the first end of the first support part (31) is hinged to the second mounting structure (2) and the first end of the second support part (32) is hinged to the second mounting structure (2).

5. A lifting device according to claim 1, characterized in that the lifting mechanism (3) comprises at least two lifting units connected end to end; the driving mechanism (4) comprises a first synchronization mechanism (41); the lifting units connected end to end are driven by a first synchronous mechanism (41).

6. A lifting device as claimed in claim 1, characterized in that the lifting means (3) comprise at least two spaced rows of lifting units, and the drive means (4) comprise second synchronizing means (42); wherein, the lifting units at intervals are driven by a second synchronous mechanism (42).

7. A lifting device as claimed in claim 6, characterized in that the drive mechanism (4) comprises an electric motor, the drive mechanism (4) converting a rotational movement of the electric motor into a reciprocating movement of the second end of the first support (31) and the second end of the second support (32); the second synchronizing mechanism (42) comprises a plurality of gears which are meshed with each other.

8. A lifting device as claimed in claim 1, characterized in that said drive mechanism (4) comprises a linear displacement portion (43), a first displacement portion (44) and a second displacement portion (45) arranged in a first direction; the lifting unit is correspondingly provided with the linear displacement part (43);

wherein the first moving part (44) is rotatably connected with the first supporting part (31), and the second moving part (45) is rotatably connected with the second supporting part (32); the first moving part (44) and the second moving part (45) are movably arranged on the linear displacement part (43) relatively, and the first moving part (44) and the second moving part (45) can synchronously move towards or away from each other on the linear displacement part (43).

9. The lifting device as claimed in claim 8, characterized in that the linear displacement portion (43) comprises a screw rod, both ends of the screw rod are respectively provided with a first external thread and a second external thread, and the rotation directions of the first external thread and the second external thread are opposite;

the first moving part (44) is provided with a first internal thread; the first internal thread and the first external thread are mutually screwed and can move along with the rotation of the first external thread;

the second moving part (45) is provided with a second internal thread; the second internal thread and the second external thread are mutually screwed and can move along with the rotation of the second external thread.

10. The lifting apparatus of claim 8, wherein: the lifting device further comprises a first guide part (5) arranged along a first direction, and the first guide part (5) is provided with a guide rail; wherein the first direction is a direction in which the first moving part (44) and the guide rail can move relatively, and the second moving part (45) and the guide rail can move relatively; the first moving part (44) is matched with the guide rail, and the second moving part (45) is matched with the guide rail.

11. The lifting device according to claim 1, characterized in that it further comprises a second guide (6) arranged in a second direction, said second guide (6) having a guide shaft and a guide sleeve cooperating with each other; the second direction is a direction in which the first mounting structure (1) and the second mounting structure (2) can move relatively;

one of the first mounting structure (1) and the second mounting structure (2) is provided with a guide shaft, and the other one is provided with a guide sleeve.

12. A mobile robot, characterized by comprising a lifting device according to any of claims 1-11 and a chassis (7), said lifting device being arranged on said chassis (7).