CN217703492U - Lifting device for object carrying robot - Google Patents

Abstract

The application relates to the technical field of robots, and provides a lifting device for on fortune thing robot for on the chassis portion of robot, lifting device includes: a lifting platform located above the chassis portion; one end of the lifting frame is arranged on the chassis part in a sliding manner along a first preset direction, and the other end of the lifting frame is movably connected with the lifting platform; the driving mechanism is arranged on the chassis part and connected with the lifting frame; the lifting frame slides along a first preset direction by the driving of the driving mechanism and lifts or pulls the lifting platform. The problem of among the prior art easily lead to the part damage through the jacking power spare upwards application of force jacking function carrier is solved.

Description

Lifting device for object carrying robot

Technical Field

The application relates to the technical field of robots, in particular to a lifting device for an object carrying robot and the object carrying robot.

Background

At present, a robot can be provided with a split structure by separating a moving part at the bottom and a functional part at the top. Therefore, the carrying device and the functional carrier used on the carrier robot are separated, the carrying device used on the carrier robot can be butted with one of the functional carriers, and different functions can be realized according to different functional carriers. The lifting device used on the object carrying robot can realize multiple functions, and the use cost can be saved.

In the process of butting the lifting device on the carrier robot and the functional carrier, the functional carrier needs to be jacked up to separate the functional carrier from the ground, so that the butt joint of the lifting device on the carrier robot and the functional carrier is realized. The jacking structure on the existing lifting device for the object carrying robot can jack upwards through a screw rod, jacking power parts such as an electric cylinder jack upwards and the like, but the functional load-carrying part is heavier, gravity can be directly born by the jacking power parts such as the screw rod or the electric cylinder, and therefore the parts are stressed greatly and are easy to damage.

Accordingly, the prior art is yet to be improved and developed.

SUMMERY OF THE UTILITY MODEL

In view of the deficiencies of the prior art, an object of the present application is to provide a lifting device for an object carrying robot and an object carrying robot, which solve the problem in the prior art that a lifting power part applies force upwards to lift a functional carrier part, which easily causes damage to the parts.

The technical scheme of the application is as follows:

in one aspect, the present application provides a lifting device for use on a carrier robot, which is applied to a chassis part of the robot, and the lifting device includes: the lifting platform is positioned above the chassis part;

one end of the lifting frame is arranged on the chassis part in a sliding manner along a first preset direction, and the other end of the lifting frame is movably connected with the lifting platform;

the driving mechanism is arranged on the chassis part and connected with the lifting frame;

the lifting frame slides along a first preset direction by the driving of the driving mechanism and lifts or pulls the lifting platform.

The crane includes X shape lifting support, and X shape lifting support includes:

the lower end of the first lifting rod is arranged on the chassis part in a sliding manner, and the upper end of the first lifting rod is hinged with the lifting platform;

the lower end of the second lifting rod is hinged on the base part, and the upper end of the second lifting rod is arranged on the lifting platform in a sliding manner;

the first lifting rod is hinged with the second lifting rod.

Optionally, two X-shaped lifting brackets are arranged and are respectively located on two sides of a second preset direction, wherein the first preset direction is perpendicular to the second preset direction in the horizontal plane;

the lifting support further comprises a pushing connecting rod, and the pushing connecting rod is connected to the lower ends of the first lifting rods of the X-shaped lifting support on the two sides.

Optionally, a first guide rail is arranged on the chassis part, a first roller is rotatably arranged at the lower end of the first lifting rod, and the first roller is positioned in the first guide rail to slide;

the lifting table is provided with a second guide rail, the upper end of the second lifting rod is rotatably provided with a second roller, and the second roller is positioned in the second guide rail to slide.

Optionally, the driving mechanism comprises an electric push rod, and a telescopic shaft of the electric push rod is connected to the pushing connecting rod.

Optionally, the chassis part upper cover is provided with a chassis shell, and the upper surface of the chassis shell is fixedly provided with a limiting table for abutting against the lifting table.

Optionally, the upper part of the lifting platform is provided with a docking block for mating with a docking guide groove of an external function carrier to guide a lifting device used on the carrier robot when connected with the function carrier.

Optionally, a clamping groove is formed in the side wall of the butt joint guide groove;

the outer wall of the butt joint block is movably provided with a clamping block and a clamping driving component positioned in the butt joint block, and the clamping block extends out of the butt joint block and is clamped and embedded in the clamping groove through the driving of the clamping driving component or retracts into the butt joint block and is separated from the clamping groove.

Optionally, the detent drive assembly comprises: the clamping driving motor is arranged on the chassis part;

the cam is arranged on a rotating shaft of the clamping driving motor;

the transmission plate is fixedly connected with the clamping block;

and the elastic piece is connected to the transmission plate and applies force to the transmission plate to enable the transmission plate to abut against the connecting cam.

Optionally, the convex end of the cam is rotatably connected with a rotating wheel, and the cam abuts against the transmission plate through the rotating wheel

Optionally, the upper surface of one end of the clamping block facing the butt joint guide groove is provided with an inclined surface.

Has the advantages that: the application provides a lift device for on fortune thing robot, wherein through set up crane and actuating mechanism on the chassis portion, actuating mechanism can produce power and drive the crane, realize the lift of crane, because lift platform connects elevating system, and then drive lift platform goes up and down, because elevating system's one end slides along first predetermined direction and sets up on the chassis portion, consequently elevating system supports when lifting and slides on the chassis portion, the weight of the function carrier that lift platform lifted like this can exert pressure on the chassis portion through elevation structure, support by the chassis portion, thereby reduced the weight of lifting and to actuating mechanism's the application of pressure, make the structure more reasonable, avoided actuating mechanism to directly bear the pressure of the heavy object that lifts, actuating mechanism has effectively been protected.

Drawings

Fig. 1 is a state diagram of a lifting device for a carrier robot according to an embodiment of the present application in use;

fig. 2 is a schematic structural diagram of a lifting device for a carrier robot according to an embodiment of the present application;

fig. 3 is a partial structural schematic view of a lifting device for a carrier robot according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of another view angle of the lifting device for the object carrying robot according to the embodiment of the present application;

FIG. 5 is an enlarged view of portion A of FIG. 4;

fig. 6 is a partial structural schematic view of a functional carrier used for cooperation with a lifting device on a carrier robot according to an embodiment of the present application.

The reference numbers in the figures: 10. a functional carrier; 100. a functional component; 200. a bottom bracket; 210. an upper support section; 211. an upper support plate; 212. butting the guide grooves; 213. a tapered mouth; 214. a first guide wheel; 215. a clamping groove; 310. a chassis section; 311. a first guide rail; 320. a lifting frame; 321. a first lifting rod; 322. a second lifting rod; 323. a pushing connecting rod; 324. a first roller; 325. a second roller; 330. a lifting platform; 331. a butt joint block; 332. a conical head; 333. a second guide wheel; 334. a bit block; 335. a second guide rail; 340. a clamping driving component; 341. a clamping driving motor; 342. a cam; 343. a drive plate; 344. a first elastic member; 345. a rotating wheel; 350. a drive mechanism; 360. a chassis housing; 361. and a limiting table.

Detailed Description

The present application provides a lifting device for a robot for transporting objects, and in order to make the objects, technical solutions, and effects of the present application clearer and clearer, the present application will be further described in detail below with reference to the accompanying drawings and examples. 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.

As shown in fig. 2, the present embodiment provides a lifting device for a carrier robot, which is applied to a chassis portion 310 of the robot, and the lifting device for a carrier robot in the present embodiment specifically includes: a lift frame 320, a drive mechanism 350, and a lift table 330. The lifting platform 330 is located above the chassis portion 310 and can be lifted up and down above the chassis portion 310, as shown in fig. 1 and 6, the lifting platform 330 is used for detachably connecting the external functional carrier 10, and the lifting platform 330 is used for lifting the functional carrier 10. As shown in fig. 2 and 3, one end of the crane 320 is slidably disposed on the chassis 310 along a first predetermined direction (front-back direction), and the other end is movably connected to the lifting platform 330, so that the crane 320 can extend and retract along the up-down direction. The driving mechanism 350 is disposed on the chassis portion 310 and connected to the lifting frame 320, the driving mechanism 350 can provide lifting power for the lifting frame 320, and the lifting frame 320 slides along a first preset direction by the driving of the driving mechanism 350 and lifts or pulls down the lifting platform 330.

The lifting device for the object-carrying robot is characterized in that the lifting frame 320 and the driving mechanism 350 are arranged on the chassis part 310 of the robot, the driving mechanism 350 can generate power to drive the lifting frame 320 to lift the lifting frame 320, the lifting platform 330 is driven to lift due to the fact that the lifting platform 330 is connected with the lifting frame 320, one end of the lifting frame 320 is arranged on the chassis part 310 in a sliding mode along the first preset direction, the lifting frame 320 is supported on the chassis part 310 to slide when lifting, and therefore the weight of the functional carrier 10 lifted by the lifting platform 330 can be applied to the chassis part 310 through the lifting structure and is supported by the chassis part 310, and accordingly the pressure of the lifted heavy object on the driving mechanism 350 is reduced, the structure is more reasonable, the driving mechanism 350 is prevented from directly bearing the pressure of the lifted heavy object, and the driving mechanism 350 is effectively protected.

As shown in fig. 2 and 3, the crane 320 in this embodiment specifically includes an X-shaped lifting support, and the X-shaped lifting support specifically includes: a first lifting rod 321, and a second lifting rod 322; the first lifting rod 321 and the second lifting rod 322 are hinged, and are hinged at the middle position of the length of the two lifting rods, and can rotate around the hinged position relatively. The first predetermined direction in this embodiment is a front-back direction, the lower end of the first lifting rod 321 is slidably disposed on the chassis portion 310, specifically, the lower end of the first lifting rod 321 can slide along the front-back direction, and the upper end thereof is hinged to the lifting platform 330. The lower end of the second lifting rod 322 is hinged on the chassis part 310, and the upper end thereof is arranged on the lifting platform 330 in a sliding manner; specifically, the upper end of the second lifting rod 322 slides synchronously with the first lifting rod 321. When the driving mechanism 350 is powered on and then starts to drive one side of the X-shaped lifting bracket to move, for example, when the front side moves, that is, the lower end of the first lifting rod 321 moves from front to back, the upper end of the second lifting rod 322 slides in the front-to-back direction under the driving of the first lifting rod 321, so that the distance between the lower end of the first lifting rod 321 and the lower end of the second lifting rod 322 becomes closer and closer, the distance between the upper end of the second lifting rod 322 and the upper end of the first lifting rod 321 becomes closer and closer, and the vertical direction of the X-shaped lifting bracket becomes larger when the distance in the front-to-back direction of the X-shaped lifting bracket becomes smaller. The chassis part 310 is arranged on the ground at a constant height, so that the lifting platform 330 is lifted, and the functional carrier 10 is lifted. When the driving mechanism 350 is enabled reversely, the distance in the front-back direction of the X-shaped lifting bracket is increased, and the up-down direction of the X-shaped lifting bracket is decreased, so that the lifting platform 330 is lowered to lower the functional carrier 10, the functional carrier 10 falls to the ground through the bottom bracket 200, and the lifting device on the carrier robot can be separated from the functional carrier 10.

As shown in fig. 2 and 3, two X-shaped lifting brackets in this embodiment are disposed and located at two sides of a second predetermined direction (left-right direction), respectively, where the first predetermined direction is perpendicular to the second predetermined direction in a horizontal plane; the second preset direction in this embodiment is the left-right direction, and the X-shaped lifting bracket is set to be left and right, so that the lifting platform 330 can be supported in the left-right direction, and thus the lifting platform 330 can be stably connected to the chassis part 310, the lifting frame 320 has high structural strength, and the carrying capacity of the lifting platform 330 is stronger. The lifting support further comprises a pushing connecting rod 323, and the pushing connecting rod 323 is connected to the lower ends of the first lifting rods 321 of the X-shaped lifting support at two sides. The middle of the pushing connecting rod 323 is connected with the driving mechanism 350, when the driving mechanism 350 is enabled, the pushing connecting rod 323 drives the X-shaped lifting supports on the left side and the right side, and then drives the first lifting rods 321 of the X-shaped lifting supports, so that the lower ends of the first lifting rods 321 on the two sides slide back and forth, the X-shaped lifting supports on the left side and the right side are moved through one pushing connecting rod 323, the X-shaped lifting supports can be evenly stressed, and the structure is more stable. In addition, the upper end of first lifter 321 and the upper end of second lifter 322 also are synchronous sliding, consequently carry out fixed connection through the upper portion pole between the upper end of first lifter 321 and the upper end of second lifter 322, make the bearing structure after first lifter 321 is connected with second lifter 322 more stable, and bearing capacity is stronger, realizes the outrigger to lifting table 330.

As shown in fig. 2 and 3, the chassis portion 310 in this embodiment is provided with a first guide rail 311, the lower end of the first lifting rod 321 is rotatably provided with a first roller 324, and the first roller 324 is located in the first guide rail 311 for sliding movement; in the concrete structure, the left and right sides of chassis portion 310 all is provided with first guide rail 311, first guide rail 311 sets up along the fore-and-aft direction, set up the notch on the side that the first guide rail 311 of both sides is relative, first gyro wheel 324 is located the notch, the lower extreme of first lifter 321 is located the notch outside, the lower extreme of first lifter 321 removes the messenger under actuating mechanism 350's drive, cooperation through first gyro wheel 324 and first guide rail 311, thereby make first lifter 321 can follow the fore-and-aft direction and stably slide. And the notches of the first guide rails 311 on both sides are arranged oppositely, so that the X-shaped lifting bracket can be positioned between the first guide rails 311 on both sides, the first guide rails 311 can limit the X-shaped lifting bracket, and the X-shaped lifting bracket cannot run to the outer sides of the first guide rails 311 in the left and right directions. The lifting table 330 is provided with a second guide rail 335, the upper end of the second lifting rod 322 is rotatably provided with a second roller 325, and the second roller 325 is positioned in the second guide rail 335 for sliding. The second guide rail 335 is disposed on a lower surface of the lifting table 330 in a front-rear direction, and the second guide rail 335 cooperates with the second roller 325 so that the second lift lever 322 can stably support the lifting table 330.

The driving mechanism 350 in this embodiment specifically includes an electric push rod, and a telescopic shaft of the electric push rod is connected to the pushing connecting rod 323. Electric putter can pass through electric energy control, can carry out circular telegram outage control according to the instruction of receiving as the master control system in being used for the lifting device on the fortune thing robot to can carry out more accurate flexible control to electric putter's telescopic shaft.

As shown in fig. 1, a chassis housing 360 is disposed on the chassis portion 310 in this embodiment, and a limiting platform 361 is fixedly disposed on an upper surface of the chassis housing 360, and the limiting platform 361 is used for abutting against the lifting platform 330. The limiting table 361 is used for limiting and supporting the lifting table 330 after the lifting table 330 descends, so as to prevent the lifting table 330 from descending excessively, thereby exceeding the stroke, if the stroke is exceeded, the first roller 324 can be separated from the first track, the second roller 325 can be separated from the second track, and the lifting table 330 can be extruded to the upper surface of the chassis shell 360, and the surface element can be damaged. The stops 361 protect the chassis housing 360 and its associated components.

In order to realize the function of navigation movement of the robot, a radar navigation system and/or a visual identification system are arranged on the lifting device used on the object-carrying robot. A front and back side that is used for lifting device on fortune thing robot all need set up the camera, carries out object judgement, position identification etc. through the camera. The radar navigation system can adopt a laser radar with 360 degrees to realize the robot functions of environmental scanning, path planning, automatic obstacle avoidance and the like.

As shown in fig. 1 and 6, in addition, the function carrier 10 used in cooperation with the lifting device includes a function part 100 and a bottom bracket 200 at the bottom of the function part 100, and the function carrier 10 is detachably docked with the lifting device for the carrier robot through the bottom bracket 200. The functional components 100 on the functional carrier 10 can be arranged according to different requirements, and the bottom bracket 200 can adopt a uniform standard. The functional carrier 10 can be set to different styles according to different functions, such as a multi-cabinet warehouse, a hotel cleaning warehouse, an office warehouse and the like, and after being combined with a lifting device used on the object carrying robot, the robot can automatically transport the objects. For another example, the functional components of the functional carrier 10 can be set as a sterilizer or an air sprayer, so as to realize the cleaning and disinfecting functions of the robot; the functional components of the functional carrier 10 can be set as a fire sensor, a gas sensing probe and the like, so that the security function of the robot can be realized. When the lifting device used on the carrier robot is used for butting different function carriers 10, different functions can be realized.

As shown in fig. 1, in order to realize more stable docking with the lifting device, the bottom bracket 200 in this embodiment specifically includes an upper support plate 211, and the upper surface of the upper support plate 211 is fixedly connected with the functional component 100. As shown in fig. 6, the lower surface of the upper support plate 211 is provided with a docking guide groove 212, the docking guide groove 212 extends in the front-rear direction, and the rear end of the docking guide groove 212 is opened. The butt joint guide groove 212 is used for carrying out limit butt joint with a lifting device on the object carrying robot. By adopting the mode, the functional components can be stably supported through the bottom support 200 when being placed independently, and can be used as a connecting structure when being connected with the lifting device, so that stable butt joint is realized. In order to enable the functional components to be moved when being placed separately, wheels can be further arranged on the lower surface of the bottom bracket 200, so that the functional components can be conveniently moved without a lifting device used on the object carrying robot.

As shown in fig. 4 and 6, the lifting device for the object-carrying robot in the present embodiment lifts and separates the functional component by the lifting of the lifting table 330. The upper part of the lifting table 330 is provided with a docking block 331 matching with the docking guide groove 212, the docking block 331 is arranged along the front-rear direction, and when the lifting device on the object-carrying robot is connected with the bottom bracket 200, the docking block 331 is embedded in the docking guide groove 212. After the lifting device used on the object carrying robot identifies the corresponding functional component, the lifting device can move from back to front, so that the lifting device enters the connecting space of the bottom bracket 200, the butt joint block 331 enters the butt joint guide groove 212 in the process of entering the connecting space, and the lifting device and the functional component used on the object carrying robot are in butt joint smoothly by matching the butt joint block 331 and the butt joint guide groove.

As shown in fig. 4 and 6, in the present embodiment, a first guide slope is provided at an opening of the docking guide groove 212 to form a tapered opening 213, a tapered head 332 is provided at one end (front end) of the docking block 331, and the tapered head 332 is matched with the tapered opening 213 to guide the movement of the docking block 331. The tapered opening 213 at the rear end is arranged, so that the tapered head 332 can enter the butt joint guide groove 212 more easily, and when the tapered head 332 of the butt joint block 331 enters the tapered opening 213, even if the tapered head is slightly deviated, the butt joint block 331 is guided by the first guide inclined surface, so that the butt joint block 331 can enter the butt joint guide groove 212, butt joint can be completed without requiring high butt joint precision, and the fault tolerance is high.

As shown in fig. 4 and 6, in the present embodiment, a first guide wheel 214 is rotatably disposed in the docking guide groove 212; only a small part of the first guide wheel 214 protrudes into the docking guide groove 212, and after the docking block 331 enters the docking guide groove 212, the first guide wheel 214 abuts against the side surface of the docking block 331, so that large-area contact friction between the side surface of the docking block 331 and the inner side surface of the docking guide groove 212 is avoided, and the docking block 331 can enter the docking guide groove 212 more stably by the first guide wheel 214. In the same principle, the outer wall of the docking block 331 is rotatably provided with a second guide wheel 333, the first guide wheel 214 and the second guide wheel 333 are arranged in a staggered manner in the vertical direction, the first guide wheel 214 abuts against the outer wall of the docking block 331, and the second guide wheel 333 abuts against the inner wall of the docking guide groove 212. The second guide wheel 333 can abut against the inner wall of the docking guide groove 212 to avoid large-area contact friction, the second guide wheel 333 can prevent the inner wall of the docking guide groove 212 from contacting the docking block 331, and the docking block 331 can enter the docking guide groove 212 more stably by guiding through the second guide wheel 333.

As shown in fig. 4, 5 and 6, the side wall of the docking guide groove 212 of the present embodiment is provided with a locking groove 215, and the locking groove 215 is provided at the middle position of the side wall along the front-rear direction; as shown in fig. 4 and 5, a clamping block 334 and a clamping driving component 340 located in the butting block 331 are movably disposed on an outer wall of the butting block 331 of the corresponding lifting device for the object-carrying robot, and the clamping block 334 extends out of the butting block 331 and is clamped in the clamping groove 215 or retracts into the butting block 331 and is separated from the clamping groove 215 by the driving of the clamping driving component 340. When the docking block 331 is completely inserted into the docking guide groove 212, the lifting table 330 of the lifting device is lifted up and lifts the bottom chassis 200 and the functional component 100. The outer wall of the docking block 331 is provided with a retractable blocking block 334, so that after the docking block 331 completely enters the docking guide groove 212, the blocking block 334 extends into the blocking groove 215 along the left-right direction, so that the docking block 331 cannot move in the front-back direction in the docking guide groove 212, and the lifting device used for the object-carrying robot is locked with the bottom bracket 200. When the lifting device used on the object carrying robot needs to separate from the functional component, the clamping block retracts into the butt joint block 331, so that the clamping block is driven to separate from the clamping guide groove by moving backwards through the lifting device used on the object carrying robot, and the separation of the lifting device used on the object carrying robot from the bottom support 200 and the functional component is realized.

As shown in fig. 4, the upper surface of the detent block 334 of the present embodiment facing the end inside the docking guide groove 212 is provided as an inclined surface. The inclined surface is adopted, so that one end of the clamping block 334 facing the clamping groove 215 is small, and the other end deviating from the clamping groove 215 is large, thereby facilitating the smooth entering of the clamping block 334 into the clamping groove 215.

As shown in fig. 4, 5, and 6, the detent driving assembly 340 in this embodiment specifically includes: a detent driving motor 341, a cam 342, a driving plate 343, and a first elastic member 344. The position-locking driving motor 341 is arranged on the chassis part 310, the cam 342 is arranged on the rotating shaft of the position-locking driving motor 341, the position-locking driving motor 341 rotates to drive the cam 342 to rotate, and the transmission plate 343 is fixedly connected with the position-locking block 334; the first elastic member 344 is coupled to the driving plate 343 and applies force to the driving plate 343 to abut the driving plate 343 against the connecting cam 342. In the rotating process of the cam 342, the protruding end of the cam 342 rotates and can push the transmission plate 343, taking the left clamping driving assembly 340 as an example, the rotating cam 342 makes the transmission plate 343 move leftward, the transmission plate 343 extrudes the first elastic part 344, the first elastic part 344 generates elastic force and the transmission plate 343 drives the clamping block 334 to move leftward, so that the clamping block 334 is contracted into the clamping block, and the clamping block is separated from the clamping guide groove, thereby realizing the separation of the lifting device used for the object carrying robot from the bottom bracket 200 and the functional components. When the lifting device used on the object carrying robot is connected with the bottom bracket 200, the clamping position driving motor 341 continues to rotate, the protruding end of the cam 342 is separated from the driving plate 343, and the driving plate 343 moves rightwards under the action of the elastic force of the first elastic piece 344, so that the clamping position block 334 is driven to move rightwards to enter the clamping position groove 215 on the side surface of the clamping guide groove, and the connection of the lifting device used on the object carrying robot, the bottom bracket 200 and the functional component is realized.

As shown in fig. 5, in addition to the purpose of alleviating the rigid collision of the cam 342, a rotating wheel 345 is provided at the convex end of the cam 342, and the driving plate 343 is pushed by the rotating wheel 345 against the driving plate 343, thereby reducing friction and impact.

It is to be understood that the application of the present application is not limited to the examples described above, but, to those skilled in the art, modifications and variations are possible in light of the above teachings, and all such modifications and variations are intended to be included within the scope of this invention as defined in the appended claims.

Claims (10)

1. A lifting device for a carrying robot is applied to a chassis part of the robot, and is characterized by comprising: a lifting table located above the chassis section;

one end of the lifting frame is arranged on the chassis part in a sliding manner along a first preset direction, and the other end of the lifting frame is movably connected to the lifting platform;

the driving mechanism is arranged on the chassis part and connected with the lifting frame;

the lifting frame is driven by the driving mechanism to slide along a first preset direction and lift or pull down the lifting frame;

wherein, the crane includes X shape lifting support, X shape lifting support includes:

the lower end of the first lifting rod is arranged on the chassis part in a sliding manner, and the upper end of the first lifting rod is hinged with the lifting platform;

the lower end of the second lifting rod is hinged to the base part, and the upper end of the second lifting rod is arranged on the lifting platform in a sliding mode;

the first lifting rod is hinged with the second lifting rod.

2. The lifting device for the cargo robot as recited in claim 1, wherein there are two X-shaped lifting frames respectively located at two sides of the second predetermined direction, and wherein the first predetermined direction is perpendicular to the second predetermined direction in the horizontal plane;

the lifting support further comprises a pushing connecting rod, and the pushing connecting rod is connected to the lower ends of the first lifting rods of the X-shaped lifting support on the two sides.

3. The lifting device for the cargo robot as recited in claim 2, wherein the chassis part is provided with a first guide rail, the lower end of the first lifting rod is rotatably provided with a first roller, and the first roller is positioned in the first guide rail for sliding movement;

the lifting table is provided with a second guide rail, the upper end of the second lifting rod is rotatably provided with a second roller, and the second roller is located in the second guide rail and slides.

4. The lifting device for the cargo robot as recited in claim 3, wherein the driving mechanism comprises an electric push rod, and a telescopic shaft of the electric push rod is connected to the pushing connecting rod.

5. The lifting device for the cargo robot as recited in claim 2, wherein the chassis housing is provided with a chassis upper cover, and a limiting table is fixedly arranged on the upper surface of the chassis housing and is used for abutting against the lifting table.

6. The lift device for a tote robot of claim 2, wherein the upper portion of the lift table is provided with docking blocks for mating with docking guide slots of an external function carrier to guide the lift device for the tote robot when coupled to the function carrier.

7. The lifting device for the carrier robot as claimed in claim 6, wherein the docking guide slot has a side wall provided with a locking slot;

the butt joint block is characterized in that a clamping block and a clamping driving assembly are movably arranged on the outer wall of the butt joint block, the clamping driving assembly is positioned in the butt joint block, and the clamping block stretches out of the butt joint block and is clamped and embedded in the clamping groove through the driving of the clamping driving assembly or shrinks into the butt joint block and is separated from the clamping groove.

8. The lift device of claim 7, wherein the detent drive assembly comprises: the clamping driving motor is arranged on the chassis part;

the cam is arranged on a rotating shaft of the clamping driving motor;

the transmission plate is fixedly connected with the clamping block;

and the elastic piece is connected to the transmission plate and applies force to the transmission plate to enable the transmission plate to be abutted and connected with the cam.

9. The lift device of claim 8, wherein a rotating wheel is rotatably connected to the protruding end of the cam, and the cam abuts against the transmission plate via the rotating wheel.

10. The lift device for a tote robot of claim 7, wherein an upper surface of the end of said catch block facing into said docking guide slot is beveled.

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