Guide mechanism, lifting device and robot

The utility model relates to the technical field of robots, and provides a guide mechanism, a lifting device and a robot. The guide mechanism according to the embodiment of the utility model comprises an outer frame, an inner frame, a friction plate and a movable assembly, the inner frame is arranged in the outer frame and can slide relative to the outer frame, the inner frame is hollow, and a sliding groove is formed between the inner frame and the outer frame; the friction plate is arranged in the sliding groove; the movable assembly is installed on at least one of the outer frame and the inner frame, and the movable assembly moves relative to the friction plate. According to the guide mechanism provided by the embodiment of the utility model, the friction plate is arranged in the sliding groove so as to ensure that the friction plate and the movable assembly can be in tight contact and generate enough friction force, so that the movable assembly can smoothly move in the sliding groove.