In order to solve move-in and move-out of a container for an underwater robot, a lifting equipment is proposed and designed. The mainly focuses in this paper are its working principle, structural design, structural finite element analysis and action simulation. Multi-level planar truss is designed and integrated with the container so as to ensure the distance to the outside of the container and all back inside of the container. Longitudinal movement by 2nd level and 3rd level motors set on the correspond planar truss, and transverse movement by electric hoist set on the 3rd level beam can cover all space of the container. According to finite element analysis, the structure meets the strength and stability requirements. The motion simulation of the lifting equipment is carried out and shows its feasibilities of all kinds of movements. After that, a test prototype is manufactured and physical load tests are carried out to further verify its reliability and practicability as well as its theoretical model.