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 comprises an outer frame and an inner frame, and an installation space is formed in the outer frame. The inner frame is arranged in the mounting space, the inner frame 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; at least one of the inner frame and the outer frame is provided with the rolling wheel assembly, and the rolling wheel assembly is suitable for rolling in the sliding groove along with the relative movement of the inner frame and the outer frame. According to the guide mechanism, the idler wheel assembly is arranged between the inner frame and the outer frame, the idler wheels can freely roll in the sliding grooves along with sliding of the inner frame in the outer frame, compared with traditional sliding friction, friction force can be obviously reduced, abrasion can be reduced, and therefore the service life of the guide mechanism is prolonged.