WO2024109615A1

WO2024109615A1 - Elevator, warehousing system, warehousing system control method and warehousing workstation

Info

Publication number: WO2024109615A1
Application number: PCT/CN2023/131895
Authority: WO
Inventors: 陈叶广; 叶敏
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2022-11-25
Filing date: 2023-11-15
Publication date: 2024-05-30
Also published as: CN115709963A

Abstract

An elevator (100) and a warehousing system. The elevator (100) comprises a main body structure (110) and a push-pull mechanism (120). The main body structure (110) comprises a stand column (111), a first bearing table (112) and a second bearing table (113), wherein the first bearing table (112) and the second bearing table (113) are arranged on the stand column (111) in a lifting direction. The push-pull mechanism (120) comprises a transmission member (121), a pushing member (122) and a pulling member (123), wherein the transmission member (121) is movably arranged on the main body structure (110) in a push-pull direction, the transmission member (121) is respectively connected to the pushing member (122) and the pulling member (123), the pushing member (122) is located on the side of the pulling member (123) facing a goods pulling direction, and the transmission member (121) is used for driving the pushing member (122) to move in a goods pushing direction, such that the pushing member (122) pushes out a first container on the first bearing table (112); and the transmission member (121) is further used for driving the pulling member (123) to move towards the goods pulling direction, such that the pulling member (123) pulls a second container to the second bearing table (113). By means of such configurations, the problems of a large space occupation and a low efficiency when the elevator (100) transfers containers are solved.

Description

Elevator, storage system, storage system control method and storage workstation

This application claims priority to the Chinese patent application filed with the China Patent Office on November 25, 2022, with application number 202211490458.0 and application name "Elevator, Storage System, Storage System Control Method and Storage Workstation", all contents of which are incorporated by reference in this application.

Technical Field

The embodiments of the present application relate to the field of logistics warehousing technology, and specifically to an elevator, a warehousing system, a warehousing system control method, and a warehousing workstation.

Background technique

At present, elevators are used in storage systems to lift containers to a corresponding height. Storage systems generally include unloaders, loaders and conveyor lines. Unloaders include unloading buffer towers and unloading elevators, and loaders include loading buffer towers and loading elevators. The robot with the container first moves the container to the unloading buffer tower, and then the unloading buffer tower transports the container to the unloading elevator. After the unloading elevator places the container on the conveyor line for corresponding processing, the conveyor line transports the container to the loading elevator, and then the loading buffer tower moves the container off the loading elevator, and then the robot moves the container away from the loading buffer tower.

Since the containers need to pass through the buffer tower before they can be input to the elevator or unloaded from the elevator, the transportation of the containers requires a large space and the operation efficiency is low.

Summary of the invention

In view of the above problems, the embodiments of the present application provide an elevator, a storage system, a storage system control method and a storage workstation, which are used to solve the problem of large space occupation and low efficiency when the elevator transfers containers.

According to one aspect of the embodiments of the present application, the present application provides a hoist. The hoist includes a main structure and a push-pull mechanism. The main structure includes a column, a first bearing platform and a second bearing platform; the first bearing platform and the second bearing platform are arranged on the column along the lifting direction, and the first bearing platform and the second bearing platform are both movably connected to the column along the lifting direction. The push-pull mechanism includes a transmission member, a push member and a pull member. The transmission member is movably arranged on the main structure along the push-pull direction, and an angle is set between the push-pull direction and the lifting direction. The push-pull direction includes a pushing direction and a pulling direction. The transmission member is connected to the push member and the pull member respectively, and in the initial state, the push member is located on the side of the pull member facing the pulling direction, and the transmission member is used to drive the push member to move along the pushing direction so that the push member pushes out the first container on the first bearing platform, and the transmission member is also used to drive the pull member to move in the pulling direction so that the pull member pulls the second container to the second bearing platform.

In the elevator provided in the embodiment of the present application, a transmission member is arranged on the main structure, and a pushing member and a pulling member are connected to the transmission member. When the transmission member moves, it drives the pushing member to push the first container of the first supporting platform out, and also drives the pulling member to pull the second container to the second supporting platform. The elevator itself can realize the loading and unloading of the container, and there is no need to perform this operation through a buffer tower. Therefore, it can effectively save space occupancy and improve the operating efficiency of the elevator.

According to another aspect of the present application, a warehousing system is also provided, which includes a robot, a conveyor line assembly, a processing station and an elevator in any of the above embodiments. At least two storage layers are arranged on the robot along the lifting direction. The robot is used to move to the side of the elevator in the direction of pushing goods, so that when the transmission member moves, the pushing member pushes the first container on the first load platform to one of the two adjacent storage layers, and the pulling member pulls the second container on the other of the two adjacent storage layers to the second load platform. The conveyor line assembly is docked with the elevator, and the conveyor line assembly is used to convey the second container output from the second load platform, and the conveyor line assembly is also used to convey the first container to the first load platform. The processing station is arranged on one side of the conveyor line assembly, and the processing station is used to process the second container to form the first container.

According to another aspect of the embodiments of the present application, a warehouse system control method is also provided, which is applied to the warehouse system in any of the above embodiments, and the method includes: controlling the robot to dock with the elevator; controlling the elevator to take at least one of the second containers from one of the two adjacent storage layers of the robot and place at least one of the first containers on the other of the two adjacent storage layers of the robot; controlling the conveyor line assembly to receive the second container output from the second loading platform; controlling the conveyor line assembly to transport the second container to the processing station, so that the processing station processes the second container to form the first container; controlling the conveyor line assembly to transport the first container to the first loading platform.

In the warehouse system control method of the present application, by docking the robot with the elevator, the first container output by the conveyor line assembly can be input into the storage layer of the robot, and the second container on another storage layer of the robot can be unloaded and conveyed to the conveyor line assembly for processing. There is no need to set up a cache tower docked with the elevator, and the robot does not need to walk to the target location for loading after unloading, thereby reducing space occupancy and improving the operating efficiency of the warehouse system.

According to another aspect of the embodiment of the present application, a storage workstation is also provided, and the storage workstation includes: a discharge elevator, a loading elevator, a loading and unloading conveyor line and a processing station. The discharge elevator includes a first column, a discharge bearing platform and a pulling mechanism; the discharge bearing platform is arranged on the first column, and the discharge bearing platform is movably connected to the first column along the lifting direction; the pulling mechanism is movably arranged along the push-pull direction, and an angle is arranged between the push-pull direction and the lifting direction, and the pulling mechanism is used to pull the second container onto the discharge bearing platform. The loading elevator includes a second column, a loading bearing platform and a pushing mechanism; the loading bearing platform is arranged on the second column, and the loading bearing platform is movably connected to the second column along the lifting direction; the pushing mechanism is movably arranged along the push-pull direction, and the pushing mechanism is used to push out the first container on the loading bearing platform. The upper and lower unloading conveyor line is arranged between the unloading elevator and the loading elevator. The conveying direction of the upper and lower unloading conveyor line is arranged at an angle with the lifting direction and the pushing and pulling direction. The processing station is arranged on one side of the upper and lower unloading conveyor line. The upper and lower unloading conveyor line is used to convey the second container on the unloading platform to the processing station for processing to form a first container. The upper and lower unloading conveyor line is also used to convey the first container to the loading platform.

The storage workstation of the present application can pull the second container to the unloading carrying platform by moving the pulling mechanism on the unloading elevator, without the need to unload the second container to the carrying platform of the elevator through the unloading cache tower, which can save the occupied space of the storage workstation and improve the efficiency of unloading the second container, and push the first container on the loading carrying platform by moving the pushing mechanism of the loading elevator, without the need to cache the first container output by the conveyor line through the loading cache tower, which can reduce the occupied space of the storage workstation and improve the efficiency of loading the first container output by the loading and unloading conveyor line, thereby saving the overall occupied space of the storage workstation and improving the efficiency of the entire operation process of unloading and processing the second container and loading the processed container by the storage workstation.

According to another aspect of the present application, a warehousing system is also provided, which includes a robot and a warehousing workstation in any of the above embodiments. A storage layer is provided on the robot; the robot is used to transport the second container on the shelf to the unloading elevator through the storage layer and dock with the unloading elevator, and the pulling mechanism is used to pull the second container on the storage layer to the unloading bearing platform; the robot is also used to dock with the loading elevator, and the pushing mechanism is used to push the first container on the loading bearing platform to the storage layer, and the robot is also used to transport the first container on the loading elevator to the target location. The robot transports the second container on the shelf to the unloading elevator, and also transports the first container on the loading elevator to the target location, forming a highly automated warehousing system, improving the operating efficiency of the warehousing system, and reducing operating risks.

The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.

BRIEF DESCRIPTION OF THE DRAWINGS

By reading the detailed description of the preferred embodiment below, various other advantages and benefits will become clear to those skilled in the art. The accompanying drawings are only used to illustrate the preferred embodiment and are not to be considered as limiting the present application. Moreover, the same reference symbols are used to represent the same components throughout the drawings. In the drawings:

FIG1 shows a schematic structural diagram of a hoist provided by an embodiment of the present application;

FIG2 is a schematic diagram showing a structure in which a transmission member provided in an embodiment of the present application is arranged on a first bearing platform;

FIG3 is a schematic diagram of a top view of a transmission member and a first bearing platform provided in an embodiment of the present application;

FIG4 is a schematic diagram of a top view of a transmission member and a first bearing platform provided in an embodiment of the present application;

FIG5 is a schematic diagram showing a structure in which a transmission member provided in an embodiment of the present application is arranged on a second bearing platform;

FIG6 is a schematic structural diagram of the main structure of a hoist provided in an embodiment of the present application;

FIG7 shows a schematic structural diagram of a hoist provided by another embodiment of the present application;

FIG8 shows a schematic structural diagram of a hoist provided by another embodiment of the present application;

FIG9 shows a schematic structural diagram of a hoist provided by another embodiment of the present application;

FIG10 shows a schematic structural diagram of a hoist provided by another embodiment of the present application;

FIG11 is a schematic structural diagram of a hoist provided by another embodiment of the present application;

FIG12 is a schematic structural diagram of a hoist provided by another embodiment of the present application;

FIG13 is a schematic structural diagram of a hoist provided by another embodiment of the present application;

FIG14 is a schematic diagram showing the structure of a push-pull container of a push-pull mechanism of a lift provided by an embodiment of the present application;

FIG15 is a schematic diagram showing a structure in which a pulling member provided by an embodiment of the present application is rotated to be parallel to a push-pull direction;

FIG16 is a schematic structural diagram showing a pulling member provided by an embodiment of the present application rotated to be parallel to the push-pull direction;

FIG17 shows a front view of a storage system provided by an embodiment of the present application;

FIG18 shows a top view of a storage system provided by an embodiment of the present application;

FIG19 shows a left view of a storage system provided by an embodiment of the present application;

FIG20 shows a left view of a storage system provided by another embodiment of the present application;

FIG21 shows a left view of a storage system provided by another embodiment of the present application;

FIG. 22 shows a left view of a storage system provided by another embodiment of the present application.

FIG23 shows a left view of a storage system provided by another embodiment of the present application;

FIG24 shows a top view of a storage system provided by another embodiment of the present application;

FIG25 is a schematic structural diagram of a lifting and transferring platform of a roller elevator provided in another embodiment of the present application;

FIG26 shows a schematic structural diagram of a storage system provided by another embodiment of the present application;

FIG27 is a flowchart of a storage system control method provided by an embodiment of the present application;

FIG28 shows a flow chart of sub-steps of steps S330, S340 and S350 in FIG27;

FIG29 is a flowchart of a storage system control method provided by another embodiment of the present application;

FIG30 shows a top view of a storage workstation provided by an embodiment of the present invention;

FIG31 shows a front view of a storage workstation provided by an embodiment of the present invention;

FIG32 shows a left side view of a storage workstation provided by an embodiment of the present invention;

FIG33 shows a right side view of a storage workstation provided by an embodiment of the present invention;

FIG34 shows a left side view of a storage workstation provided by another embodiment of the present invention;

FIG35 is a schematic structural diagram of a discharge elevator provided by an embodiment of the present invention;

FIG36 shows a schematic structural diagram of a discharge elevator provided by another embodiment of the present invention;

FIG37 shows a left side view of a storage workstation provided by another embodiment of the present invention;

FIG38 is a schematic structural diagram showing a first pulling member provided by an embodiment of the present application rotated to be parallel to the push-pull direction;

FIG39 is a schematic structural diagram showing a first pulling member provided by another embodiment of the present application rotated to be parallel to the push-pull direction;

FIG40 is a schematic structural diagram of a discharge loading platform on a discharge elevator provided by an embodiment of the present invention;

FIG41 is a schematic structural diagram showing a sixth sliding portion provided in an embodiment of the present application being sleeved on a third bearing rod along a direction of pulling goods;

FIG42 shows a schematic structural diagram of a discharge elevator provided in an embodiment of the present application;

FIG43 is a schematic structural diagram of a discharge loading platform on a discharge elevator provided by an embodiment of the present invention; and

FIG. 44 shows a schematic structural diagram of a pushing mechanism provided in an embodiment of the present application being sleeved on a fourth bearing rod along the direction of pulling goods.

The reference numerals in the specific implementation manner are as follows:

100. Hoist;

110, main structure; 111, column; 112, first bearing platform; 112a, opening; 1121, first connecting member; 11211, first connecting plate; 11212, second connecting plate; 1122, first bearing rod; 113, second bearing platform; 1131, second connecting member; 1132, second bearing rod; 11311, third connecting plate; 11312, fourth connecting plate;

120, push-pull mechanism; 121, transmission member; 1211, driving wheel; 1212, driven wheel; 1213, flexible transmission member; 1214, first sliding member; 1216, second sliding member; 12161, first sliding part; 12162, second sliding part; 12163, third sliding part; 1215, third sliding member; 12151, fourth sliding part; 12152, fifth sliding part; 122, pushing member; 123, pulling member; 123a, second container;

130. Lifting mechanism;

200. Warehousing system;

210, robot; 211, storage layer; 2111, first storage layer; 2112, second storage layer; 2116, sixth storage layer; 2117, seventh storage layer;

220, conveyor line assembly; 220a, input end of conveyor line assembly; 220b, output end of conveyor line assembly; 221, first conveyor line; 2211, input end of first conveyor line; 2212, output end of first conveyor line; 222, second conveyor line; 2221, output end of second conveyor line; 2222, input end of second conveyor line;

230. Processing station;

240, container transfer device; 241, roller elevator; 2411, lifting transfer platform; 2412, lifting column; 24111, roller;

250. Shelves;

500, Warehousing workstation;

510. Unloading elevator;

511, first pillar;

512, unloading bearing platform; 512a, first opening; 5121, third connecting member; 5122, third bearing rod;

513, pulling mechanism; 5131, fourth sliding member; 51311, sixth sliding portion; 51312, seventh sliding portion; 51312a, free end; 51313, first pulling member;

520, feeding elevator;

521, second column;

522, loading platform; 522a, second opening; 5221, fourth connecting member; 5222, fourth bearing rod;

523, a pushing mechanism; 5231, a first pushing member; 5232, a fifth sliding member;

530, loading and unloading conveyor line;

540. Processing station;

550. Robot; 551. Storage layer; 551a. Second container.

Detailed ways

The following embodiments of the technical solution of the present application will be described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

In the description of the embodiments of the present application, the term "and/or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and/or B can represent: A exists, A and B exist at the same time, and B exists. In addition, the character "/" in this article generally indicates that the associated objects before and after are in an "or" relationship.

In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

At present, elevators play an important role in storage systems. However, in the process of inputting containers from the robot to the conveyor line and outputting processed containers from the conveyor line to the robot, the storage system needs both a discharge buffer tower and a loading buffer tower, and the robot needs to walk to the loading buffer tower to load materials after unloading from the discharge buffer tower, which leads to the container The transfer requires a large space and the operation efficiency is low.

Based on the above problems, the present application proposes a lifting machine, by arranging a pushing member and a pulling member on the lifting machine, and the pushing member and the pulling member are driven by the transmission member to move, so that the lifting machine can not only push out the first container on the first load platform, but also pull the second container to the second load platform. When the lifting machine is operating, the picking up and placing of the containers on it no longer requires a buffer tower. The lifting machine can directly connect to the robot to pick up and place the containers, thereby reducing space occupancy and improving the operating efficiency of the lifting machine.

Please refer to FIG. 1, which shows a schematic diagram of the structure of a lift provided by an embodiment of the present application. According to one aspect of the present application, the present application provides a lift 100. The lift 100 includes a main structure 110 and a push-pull mechanism 120. The main structure 110 includes a column 111, a first bearing platform 112 and a second bearing platform 113. The first bearing platform 112 and the second bearing platform 113 are arranged on the column 111 along the lifting direction Z, and the first bearing platform 112 and the second bearing platform 113 are both movably connected to the column 111 along the lifting direction Z. The push-pull mechanism 120 includes a transmission member 121, a pushing member 122 and a pulling member 123. The transmission member 121 is movably arranged on the main structure 110 along the push-pull direction X, and the push-pull direction X is set at an angle with the lifting direction Z. For example, the push-pull direction X is perpendicular to the lifting direction Z, and the push-pull direction X includes a pushing direction X1 and a pulling direction X2. The transmission member 121 is connected to the pushing member 122 and the pulling member 123 respectively, and in the initial state, the pushing member 122 is located on the side of the pulling member 123 in the pulling direction X2. The transmission member 121 is used to drive the pushing member 122 to move along the pushing direction X1 so that the pushing member 122 pushes the first container on the first supporting platform 112. The transmission member 121 is also used to drive the pulling member 123 to move in the pulling direction X2 so that the pulling member 123 pulls the second container onto the second supporting platform 113.

The first container and the second container are material boxes containing goods, which may be plastic boxes, paper boxes, wooden boxes, etc., and the present application embodiment does not specifically limit this. The initial state refers to the state when the pusher 122 is at the starting position for pushing out the first container.

The pusher 122 is used to push the first container on the first loading platform 112. The puller 123 is used to pull the second container onto the second loading platform 113. The pusher 122 and the puller 123 can be plate-shaped as shown in FIG1, or can be rod-shaped, block-shaped, etc.

The transmission member 121 of the push-pull mechanism 120 of the elevator 100 is movably arranged on the main structure 110 of the elevator 100 along the push-pull direction X, and the transmission member 121 drives the pushing member 122 to move along the pushing direction X1, so that the pushing member 122 pushes out the first container on the first load platform 112, and the transmission member 121 drives the pulling member 123 to move in the pulling direction X2, so that the pulling member 123 pulls the second container onto the second load platform 113. That is to say, the pushing member 122 of the push-pull mechanism 120 on the same elevator 100 can push out the first container on the first load platform 112, and the pulling member 123 can pull the second container onto the second load platform 113.

The pusher 122 and the puller 123 are connected to the transmission member 121 respectively, and the pusher 122 is located on the side of the puller 123 facing the pulling direction X2, so that when the transmission member 121 moves along the push-pull direction X, the pusher 122 and the puller 123 move with the transmission member 121, so that the pusher 122 pushes out the first container on the first loading platform 112, and the puller 123 pulls the second container onto the second loading platform 113. Specifically, when the transmission member 121 moves, the action of the pusher 122 pushing the first container and the action of the puller 123 pulling the second container can be performed simultaneously, or the pusher 122 can first push out the first container, and then the puller 123 pulls the second container to the second loading platform 113.

In the elevator 100 provided in the embodiment of the present application, a transmission member 121 is arranged on the main structure 110, and a pushing member 122 and a pulling member 123 are connected to the transmission member 121. When the transmission member 121 moves, it drives the pushing member 122 to push the first container of the first supporting platform 112, and also drives the pulling member 123 to pull the second container onto the second supporting platform 113. In this way, the elevator 100 itself can realize the loading and unloading of the container, and there is no need to perform this operation through a buffer tower. Therefore, it can effectively save space occupancy and improve the operating efficiency of the elevator 100.

Please refer to FIG. 2, which shows a schematic diagram of a structure in which a transmission member provided by an embodiment of the present application is arranged on a first bearing platform. In an optional embodiment, the lifting direction Z includes an ascending direction Z1 and a descending direction Z2. The first bearing platform 112 is arranged on the side of the second bearing platform 113 facing the ascending direction Z1. The transmission member 121 includes a driving wheel 1211, a driven wheel 1212 and a flexible transmission member 1213. The driving wheel 1211 and the driven wheel 1212 are rotatably arranged on the first bearing platform 112, and The driving wheel 1211 and the driven wheel 1212 are arranged in a row along the push-pull direction X, and the flexible transmission member 1213 is sleeved on the driving wheel 1211 and the driven wheel 1212. The pushing member 122 and the pulling member 123 are respectively arranged on both sides of the flexible transmission member 1213 along the lifting direction Z. The pushing member 122 is arranged on the side of the flexible transmission member 1213 facing the lifting direction Z1 and protrudes from the upper surface of the first bearing platform 112, and the pulling member 123 is arranged on the side of the flexible transmission member 1213 facing the descending direction Z2 and protrudes from the lower surface of the first bearing platform 112. The driving wheel 1211 is used to drive the flexible transmission member 1213 to move, so that the pushing member 122 and the pulling member 123 simultaneously push the first container and pull the second container, and the pushing member 122 moves in the pushing direction X1, and the pulling member 123 moves in the pulling direction X2.

The flexible transmission member 1213 may specifically be a synchronous belt or a transmission chain.

When the pushing member 122 is at the extreme position in the X2 direction, the pulling member 123 exceeds the second loading platform 113 by a certain length in the X1 direction, so that it can dock with the container and pull the container onto the second loading platform 113 .

Please refer to Figures 3 and 4, which show a schematic diagram of the top view of the transmission member and the first supporting platform provided in an embodiment of the present application. The driving wheel 1211 and the driven wheel 1212 are rotatably arranged on the first supporting platform 112. The first supporting platform 112 may be provided with an opening 112a as shown in Figure 3, and the driving wheel and the driven wheel are located in the opening 112a. The driving wheel 1211 and the driven wheel 1212 are fixed to the first supporting platform 112 through a rotating shaft. The driving wheel 1211 and the driven wheel 1212 may be located on the side of the first supporting platform 112 as shown in Figure 4, and are fixed to the first supporting platform 112 through a rotating shaft.

The driving wheel 1211 drives the driven wheel 1212 to rotate through the flexible transmission member 1213. The driving wheel 1211 and the driven wheel 1212 are arranged along the push-pull direction X. The driving wheel 1211 can be located on the side of the pulling direction X2 as shown in FIG. 2, and the driven wheel 1212 can be located on the side of the pushing direction X1, or the driving wheel 1211 can be located on the side of the pushing direction X1, and the driven wheel 1212 can be located on the side of the pulling direction X2.

The pushing member 122 is arranged on the side of the transmission belt 1213 toward the ascending direction Z1 and protrudes from the upper surface of the first supporting platform 112. One end of the pushing member 122 can be fixedly connected to the side of the transmission belt 1213 toward the ascending direction Z1, and the other end of the pushing member 122 extends toward the ascending direction Z1 and protrudes from the upper surface of the first supporting platform 112. In this way, the connection structure between the pushing member 122 and the transmission belt 1213 is simple and low in cost. When the transmission belt 1213 moves, the pushing member 122 moves along the pushing direction X1 to push out the first container, and the operation is convenient and quick.

Please continue to refer to Figure 2. Specifically, when the driving wheel 1211 rotates, it drives the transmission belt 1213 to move. The upper part of the transmission belt 1213 moves toward the pushing direction X1 and drives the pushing member 122 to move accordingly. The lower part of the transmission belt 1213 moves toward the pulling direction X2 and drives the pulling member 123 to move accordingly, so that the pushing member 122 pushes out the first container on the first load platform 112 and the pulling member 123 pulls the second container onto the second load platform 113 at the same time.

By arranging the pushing member 122 on the side of the flexible transmission member 1213 facing the ascending direction Z1 and protruding from the upper surface of the first supporting platform 112, and arranging the pulling member 123 on the side of the flexible transmission member 1213 facing the descending direction Z2 and protruding from the lower surface of the first supporting platform 112, the flexible transmission member 1213 drives the pushing member 122 and the pulling member 123 to push the first container and pull the second container respectively at the same time, that is, the unloading action and the loading action on the elevator 100 are carried out at the same time, thereby further saving the time required for loading and unloading of the elevator 100 and improving the working efficiency.

Please refer to FIG. 5, which shows a schematic diagram of a structure in which a transmission member provided by another embodiment of the present application is arranged on a second bearing platform. In an optional embodiment, the lifting direction Z includes an ascending direction Z1 and a descending direction Z2. The first bearing platform 112 is arranged on the side of the second bearing platform 113 facing the descending direction Z2. The transmission member 121 includes a driving wheel 1211, a driven wheel 1212 and a flexible transmission member 1213. The driving wheel 1211 and the driven wheel 1212 are rotatably arranged on the second bearing platform 113, and the driving wheel 1211 and the driven wheel 1212 are arranged in a push-pull direction X, and the flexible transmission member 1213 is sleeved on the driving wheel 1211 and the driven wheel 1212. The pushing member 122 and the pulling member 123 are respectively arranged on both sides of the flexible transmission member 1213 along the lifting direction Z. The pusher 122 is disposed on the side of the flexible transmission member 1213 facing the descending direction Z2 and protruding from the lower surface of the second bearing platform 113. The puller 123 is disposed on the side of the flexible transmission member 1213 facing the ascending direction Z1 and protruding from the upper surface of the second bearing platform 113. The driving wheel 1211 is used to drive the flexible transmission member 1213 to move, so that the pusher 122 and the puller 123 simultaneously push the first container and pull the second container, and the pusher 122 moves in the pushing direction X1, and the puller 123 moves in the pushing direction X2. The movable member 123 moves in the cargo pulling direction X2.

By arranging the pushing member 122 on the side of the flexible transmission member 1213 facing the descending direction Z1 and protruding from the lower surface of the second support platform 113, and arranging the pulling member 123 on the side of the flexible transmission member 1213 facing the ascending direction Z1 and protruding from the upper surface of the second support platform 113, the flexible transmission member 1213 drives the pushing member 122 and the pulling member 123 to push the first container and pull the second container respectively at the same time, that is, the unloading action and the loading action on the elevator 100 are carried out at the same time, thereby further saving the time required for loading and unloading of the elevator 100 and improving the working efficiency.

Please refer to FIG. 6 and FIG. 7. FIG. 6 shows a schematic diagram of the main structure of the elevator provided in one embodiment of the present application, and FIG. 7 shows a schematic diagram of the structure of the elevator provided in another embodiment of the present application. In an optional embodiment, the lifting direction Z includes an ascending direction Z1 and a descending direction Z2; the first bearing platform 112 is located on the side of the second bearing platform 113 facing the ascending direction Z1. The transmission member 121 includes a first sliding member 1214 slidingly arranged on the first bearing platform 112 along the push-pull direction X, and the pushing member 122 and the pulling member 123 are respectively arranged at both ends of the first sliding member 1214 along the push-pull direction X, and the pushing member 122 protrudes from the upper surface of the first bearing platform 112, and the pulling member 123 protrudes from the lower surface of the first bearing platform 112. The first sliding member 1214 is used to drive the pushing member 122 to move in the pushing direction X1, so that the pushing member 122 pushes out the first container on the first bearing platform 112, and then drives the pulling member 123 to move in the pulling direction X2, so that the pulling member 123 pulls the second container onto the second bearing platform 113.

Please refer to FIG. 6 and FIG. 7 . Specifically, the first sliding member 1214 is slidably disposed on the first bearing platform 112. The lower surface of the first bearing platform 112 may be provided with a slide rail, and the first sliding member 1214 is slidably connected to the first bearing platform 112 via the slide rail. The pushing member 122 is connected to one end of the first sliding member 1214 facing the pulling direction X2. The pushing member 122 passes through the opening on the first bearing platform 112 and protrudes from the upper surface of the first bearing platform 112. The pulling member 123 is connected to one end of the first sliding member 1214 facing the pushing direction X1 and protrudes from the lower surface of the first bearing platform 112. When the first sliding member 1214 moves in the pushing direction X1, the first sliding member 1214 drives the pushing member 122 and the pulling member 123 to move in the pushing direction X1, so that the pushing member 122 pushes out the first container on the first supporting platform 112, and the pulling member 123 moves to the position of pulling the second container. Then the first sliding member 1214 moves in the pulling direction X2, and the first sliding member 1214 drives the pulling member 123 and the pushing member 122 to move in the pulling direction X2. The pulling member 123 pulls the second container onto the second supporting platform 113, and the pushing member 122 returns to the initial position of pushing the container.

Please refer to Figures 6 and 8. Figure 8 shows a structural schematic diagram of the elevator provided by another embodiment of the present application. As shown in the figure, the first sliding member 1214 is slidably connected to the first load-bearing platform 112 through a slide rail, the slide rail is located on the inner wall of the opening on the first load-bearing platform 112, and the first sliding member 1214 extends from the first load-bearing platform 112 in the pushing direction X1.

By setting the first support platform 112 on the side of the second support platform 113 in the ascending direction Z1, and sliding the first sliding member 1214 on the first support platform 112 along the push-pull direction X, the first sliding member 1214 can push out the first container on the first support platform 112 in the process of reciprocating in the pushing direction X1 and the pulling direction X2 in turn, and the pushing member 122 can pull the second container onto the second support platform 113. The first sliding member 1214 drives the pushing member 122 and the pulling member 123 to move back and forth to take and unload the container. The overall structure is simple and the number of components is small, which is conducive to cost saving and facilitates the overall assembly of the lifting machine 100.

Please refer to FIG. 9, which shows a schematic diagram of the structure of the elevator provided by another embodiment of the present application. In an optional embodiment, the lifting direction Z includes an ascending direction Z1 and a descending direction Z2; the first bearing platform 112 is located on the side of the second bearing platform 113 facing the descending direction Z2. The transmission member 121 includes a first sliding member 1214 slidingly arranged on the second bearing platform 113 along the push-pull direction X, and the pushing member 122 and the pulling member 123 are respectively arranged at both ends of the first sliding member 1214 along the push-pull direction X, and the pushing member 122 protrudes from the lower surface of the second bearing platform 113, and the pulling member 123 protrudes from the upper surface of the second bearing platform 113. The first sliding member 1214 is used to drive the pushing member 122 to move in the pushing direction X1, so that the pushing member 122 pushes out the first container on the first bearing platform 112, and then drives the pulling member 123 to move in the pulling direction X2, so that the pulling member 123 pulls the second container onto the second bearing platform 113.

By arranging the first loading platform 112 on the side of the second loading platform 113 facing the descending direction Z2, and The member 1214 is slidably arranged on the second supporting platform 113 along the push-pull direction X, so that when the first sliding member 1214 moves back and forth in the pushing direction X1 and the pulling direction X2 in sequence, the pushing member 122 can push out the first container on the first supporting platform 112, and the pulling member 123 pulls the second container onto the second supporting platform 113. The first sliding member 1214 drives the pushing member 122 and the pulling member 123 to move back and forth to take and unload the container. The overall structure is simple and the number of components is small, which is conducive to cost saving and facilitates the overall assembly of the lifting machine 100.

Please refer to Figures 1 and 6 again. In an optional embodiment, the first carrying platform 112 includes a first connecting member 1121 and a plurality of first carrying rods 1122. The plurality of first carrying rods 1122 are movably connected to the column 111 through the first connecting member 1121. The first carrying rods 1122 are extended along the push-pull direction X, and the plurality of first carrying rods 1122 are arranged along the conveying direction Y. An angle is set between the conveying direction Y and the push-pull direction X and the lifting direction Z. Exemplarily, the conveying direction Y is perpendicular to the push-pull direction X and the lifting direction Z. The first sliding member 1214 drives the pushing member 122 to slide along the push-pull direction X relative to the first carrying rod 1122.

The conveying direction Y may be the first conveying direction Y1 as shown in FIG. 6 , or may be the second conveying direction Y2 .

The first sliding member 1214 can drive the pushing member 122 to slide relative to the first bearing rod 1122 along the push-pull direction X. The pushing member 122 can be sleeved on at least one first bearing rod 1122, and the first sliding member 1214 drives the pushing member 122 to slide relative to the first bearing rod 1122 when it moves. Alternatively, the first sliding member 1214 is slidably connected to the first bearing rod 1122 through a guide rail on the first bearing rod 1122, and the first sliding member 1214 drives the pushing member 122 to slide relative to the first bearing rod 1122 when it slides. The pushing member 122 can slide relative to the first bearing rod 1122 along the push-pull direction X, so that when the first sliding member 1214 moves toward the pushing direction X1, it drives the pushing member 122 to slide relative to the first bearing rod 1122 and pushes out the first container.

By movably connecting multiple first bearing rods 1122 of the first bearing platform 112 to the column 111 through the first connecting member 1121, the first bearing rod 1122 is extended along the push-pull direction X, and the multiple first bearing rods 1122 are arranged along the conveying direction Y, so that the first sliding member 1214 can drive the pushing member 122 to slide relative to the first bearing rod 1122, and the pushing member 122 can push the first container when moving along the first bearing rod 1122, thereby ensuring the stability of the overall structure of the pushing member 122, the pulling member 123 and the first sliding member 1214 when pushing the container.

Please refer to Figure 6 again. In an optional embodiment, the first connecting member 1121 includes a first connecting plate 11211 and a second connecting plate 11212. Both ends of the plurality of first bearing rods 1122 are rotatably connected to the first connecting plate 11211 and the second connecting plate 11212 respectively. The first bearing rods 1122 are used to receive the first container when rotating.

When the elevator 100 is used in a storage system, it needs to receive containers conveyed by a conveyor line or convey containers to a conveyor line. Considering that when the carrier receives containers conveyed by a conveyor line, the container may not be centered on the carrier and may fall. Based on this, after the conveyor line conveys the first container to the edge position on the first carrier 112 along the first conveying direction Y1, the first bearing rods 1122 of the first carrier 112 rotate to move the first container to the middle position of the first carrier 112.

The two ends of the plurality of first bearing rods 1122 are rotatably connected to the first connecting plate 11211 and the second connecting plate of the first connecting member 1121, respectively, so that the first bearing rods 1122 are reliably supported and the stability of their rotation is ensured. In addition, the first bearing rods 1122 are rotatably arranged to move the first container transported to the first carrying platform 112 to the middle position of the first carrying platform 112, so as to ensure the stability of the container transportation and prevent the occurrence of operational risks such as the container falling.

Please refer to FIG. 6 again. In an optional embodiment, the column 111 is located on a side of the first connecting member 1121 away from the first bearing rod 1122 .

By arranging the column 111 on the side of the first connecting member 1121 away from the first carrying rod 1122, it is convenient to arrange conveying lines on both sides of the first carrying rod 1122 along the conveying direction Y to realize container transportation between the first carrying platform 112 and the conveying lines.

Please refer to Figures 10 and 11. Figure 10 shows a schematic diagram of the structure of a hoist provided by another embodiment of the present application. 11 shows a schematic diagram of the structure of a hoist provided by another embodiment of the present application. In an optional embodiment, the lifting direction Z includes an ascending direction Z1 and a descending direction Z2; the first bearing platform 112 is located on the side of the second bearing platform 113 facing the ascending direction Z1. The transmission member 121 includes a second sliding member 1216 slidably arranged on the main structure 110 along the push-pull direction X. The second sliding member 1216 has a first sliding portion 12161, a second sliding portion 12162 and a third sliding portion 12163, the first sliding portion 12161, the second sliding portion 12162 and the third sliding portion 12163 slide synchronously, the first sliding portion 12161 is located on the side of the first bearing platform 112 facing the ascending direction Z1, the third sliding portion 12163 is located on the side of the first bearing platform 112 facing the descending direction Z2, the second sliding portion 12162 is extended along the lifting direction Z, and the two ends of the second sliding portion 12162 are respectively fixedly connected to one end of the first sliding portion 12161 facing the pulling direction X2 and one end of the third sliding portion 12163 facing the pulling direction X2. The pushing member 122 is connected to the other end of the first sliding portion 12161, the pulling member 123 is connected to the other end of the third sliding portion 12163, and the pulling member 123 is located between the first bearing platform 112 and the second bearing platform 113. The second sliding member 1216 is used to drive the pushing member 122 to move in the pushing direction X1 so that the pushing member 122 pushes out the first container on the first loading platform 112 , and then drives the pulling member 123 to move in the pulling direction X2 so that the pulling member 123 pulls the second container onto the second loading platform 113 .

Specifically, as shown in FIG. 10 , the first sliding part 12161 can be movably connected to the column 111 through a guide rail, and the third sliding part 12163 can be slidably connected to the first bearing platform 112 through a guide rail on the first bearing platform 112. The first sliding part 12161 and the third sliding part 12163 extend along the push-pull direction X, and one end of the first sliding part 12161 and one end of the third sliding part 12163 extend to the side of the column 111 away from the first bearing platform 112. The second sliding part 12162 extends along the lifting direction Z and is located on the side of the first column 111 away from the first bearing platform 112. The two ends of the second sliding part 12162 are respectively connected to one end of the first sliding part 12161 facing the pulling direction X2 and one end of the third sliding part 12163 facing the pulling direction X2. The pusher 122 is connected to the other end of the first sliding portion 12161, the puller 123 is connected to the other end of the third sliding portion 12163, and the puller 123 is located between the first loading platform 112 and the second loading platform 113. When the first sliding portion 12161, the second sliding portion 12162, and the third sliding portion 12163 move back and forth in the pushing direction X1 and the pulling direction X2 in sequence, the pusher 122 is first driven to push out the first container on the first loading platform 112, and then the puller 123 is driven to pull the second container onto the second loading platform 113.

The second sliding portion 12162 may be located on the side of the column 111 away from the first loading platform 112 as shown in FIG11. The second sliding portion 12162 may also pass through the first loading platform 112 through the opening 112a as shown in FIG6, so that the second sliding portion 12162 may be located on the side of the column 111 facing the first loading platform 112.

The third sliding portion 12163 can be located below the first supporting platform 112 as shown in Figure 10, and be slidably connected to the first supporting platform 112 through a guide rail, or it can pass through the second supporting platform 113 through an opening on the second supporting platform 113 as shown in Figure 11, and be slidably connected to the second supporting platform 113 through a guide rail.

The pushing member 122 may be located below the first sliding portion 12161 as shown in FIG. 10 , or may be located above the first sliding portion 12161 as shown in FIG. 11 , or may be parallel to the first sliding portion 12161 .

By sliding the second sliding member 1216 along the push-pull direction X on the main structure 110, when the second sliding member 1216 moves in the pushing direction X1, it drives the pushing member 122 to move and pushes out the first container. When the second sliding member 1216 moves in the pulling direction X2, it drives the pulling member 123 to move and pulls the second container onto the second supporting platform 113. Convenient loading and unloading of containers can also be achieved.

Please refer to Figures 12 and 13. Figure 12 shows a schematic diagram of the structure of a lift provided by another embodiment of the present application. Figure 13 shows a schematic diagram of the structure of a lift provided by another embodiment of the present application. In an optional embodiment, the lifting direction Z includes an ascending direction Z1 and a descending direction Z2; the first bearing platform 112 is located on the side of the second bearing platform 113 facing the descending direction Z2. The transmission member 121 includes a third sliding member 1215 slidably arranged on the main structure 110 along the push-pull direction X. The third sliding member 1215 has a fourth sliding portion 12151 and a fifth sliding portion 12152. The fourth sliding portion 12151 is extended along the push-pull direction X and is located above the second bearing platform 113. The fifth sliding portion 12152 is extended along the lifting direction Z. One end of the fifth sliding portion 12152 facing the ascending direction Z1 is connected to one end of the fourth sliding portion 12151 facing the pulling direction X2. Push The moving member 122 is connected to the other end of the fifth sliding portion 12152. The pushing member 122 is located between the first loading platform 112 and the second loading platform 113. The pulling member 123 is connected to the other end of the fourth sliding portion 12151. The third sliding member 1215 is used to drive the pushing member 122 to move in the pushing direction X1, so that the pushing member 122 pushes out the first container on the first loading platform 112, and then drives the pulling member 123 to move in the pulling direction X2, so that the pulling member 123 pulls the second container onto the second loading platform 113.

Specifically, as shown in FIG. 12 , the fourth sliding part 12151 can be movably connected to the column 111 through a guide rail, and the fourth sliding part 12151 extends along the push-pull direction X, and one end of the fourth sliding part 12151 extends to the side of the column 111 away from the first bearing platform 112. The fifth sliding part 12152 extends along the lifting direction Z and is located on the side of the first column 111 away from the first bearing platform 112, and one end of the fifth sliding part 12152 facing the lifting direction Z1 is connected to one end of the fourth sliding part 12151 facing the pulling direction X2. The pushing member 122 is located between the first bearing platform 112 and the second bearing platform 113, and the pushing member 122 is connected to the other end of the fifth sliding part 12152 through a connecting portion. When the fourth sliding part 12151 and the fifth sliding part 12152 move back and forth in the pushing direction X1 and the pulling direction X2 respectively, they first drive the pushing member 122 to push out the first container on the first loading platform 112, and then drive the pulling member 123 to pull the second container onto the second loading platform 113.

Specifically, as shown in FIG. 1 and FIG. 13 , the fourth sliding part 12151 and the fifth sliding part 12152 may also be both located on the side of the column 111 facing the second bearing platform 113, and the fourth sliding part 12151 is movably connected to the second bearing platform 113 via a guide rail located above the second bearing platform 113. The fifth sliding part 12152 passes through the second bearing platform 113 and extends between the second bearing platform 113 and the first bearing platform 112 along the lifting direction Z, and the pushing member 122 is connected to one end of the fifth sliding part 12152 located between the second bearing platform 113 and the first bearing platform 112. In this embodiment, the fourth sliding part 12151 and the fifth sliding part 12152 drive the pushing member 122 and the pulling member 123 to unload and load the container in the same manner as the embodiment shown in FIG. 12 , and no further details are given here.

By sliding the third sliding member 1215 along the push-pull direction X on the main structure 110, when the third sliding member 1215 moves in the pushing direction X1, it drives the pushing member 122 to move and pushes out the first container. When the third sliding member 1215 moves in the pulling direction X2, it drives the pulling member 123 to move and pulls the second container onto the second supporting platform 113. Convenient loading and unloading of containers can also be achieved.

In an optional embodiment, the transmission member 121 includes a first transmission member and a second transmission member, the first transmission member and the second transmission member move independently, the first transmission member is connected to the pushing member 122, and the second transmission member is connected to the pulling member 123.

The first transmission member and the second transmission member can be the transmission mechanism composed of the driving wheel 1211, the driven wheel 1212 and the flexible transmission member 1213 in the above-mentioned embodiment, or can be the first sliding member 1214, the second sliding member 1216 or the third sliding member 1215 in the above-mentioned embodiment, and the first transmission member and the second transmission member can be the same structure, or can be two different structures in the above-mentioned embodiments.

By making the first transmission member and the second transmission member move independently, the pushing action of the pushing member 122 connected to the first transmission member and the pulling action of the pulling member 123 connected to the second transmission member are independent. When the first transmission member fails, it will not affect the action of the second transmission member driving the pulling member 123 to pull the goods. When the second transmission member fails, it will not affect the action of the first transmission member driving the pushing member 122 to push the goods.

Please refer to Figures 14 to 16. Figure 14 shows a structural schematic diagram of a push-pull container of a push-pull mechanism 120 of a lift provided in an embodiment of the present application. Figures 15 and 16 show a structural schematic diagram of a pulling member 123 provided in an embodiment of the present application rotated to be parallel to a push-pull direction X. In an optional embodiment, the pulling member 123 can be rotatably connected to a transmission member 121. The pulling member 123 is used to rotate to be parallel to the push-pull direction X to avoid the second container when the transmission member 121 moves in a pushing direction X1 relative to the second container, and to rotate toward the second container side to pull the second container when the transmission member 121 moves in a pulling direction X2. Exemplarily, the transmission member 121 rotates to be perpendicular to the push-pull direction X to pull the second container onto the second supporting platform 113.

Please continue to refer to FIG. 14 . Considering that when the transmission member 121 moves in the pushing direction X1 , the pulling member 123 will hit the second container 123 a on the robot 210 , causing the pulling member 123 to be unable to move forward, thereby affecting the movement of the transmission member 121 . Based on this, the pulling member 123 is rotatably connected to the transmission member 121, so that when the transmission member 121 moves in the pushing direction X1, the pulling member 123 can be rotated to a position parallel to the pushing and pulling direction X as shown in Figure 15 or Figure 16 to avoid the second container.

The pulling member 123 is rotatably connected to the transmission member 121, so that when the transmission member 121 moves in the pushing direction X1, the pulling member 123 avoids the second container by rotating to be parallel to the pushing and pulling direction X, so as to avoid colliding with the second container and causing the container to fall. When the transmission member 121 moves in the pulling direction X2 and needs to pull goods, the pulling member 123 rotates toward the second container side, illustratively, rotates to be perpendicular to the pushing and pulling direction X, thereby achieving normal pulling of the second container.

Please refer to FIG. 6 again. In an optional embodiment, the second carrying platform 113 includes a second connecting member 1131 and a plurality of second carrying rods 1132. The plurality of second carrying rods 1132 are movably connected to the column 111 through the second connecting member 1131. The second carrying rods 1132 are extended along the push-pull direction X, and the plurality of second carrying rods 1132 are arranged along the conveying direction Y. The conveying direction Y is provided with an angle with the push-pull direction X and the lifting direction Z. Exemplarily, the conveying direction Y is perpendicular to the push-pull direction X and the lifting direction Z. The second connecting member 1131 includes a third connecting plate 11311 and a fourth connecting plate 11312. The two ends of the plurality of second carrying rods 1132 are rotatably connected to the third connecting plate 11311 and the fourth connecting plate 11312, respectively. The second carrying rods 1132 are used to output the second container along the conveying direction Y when rotating.

The second bearing rods 1132 of the second bearing platform 113 are movably connected to the column 111 through the second connecting member 1131, so that the second bearing rods 1132 can move along the lifting direction Z to achieve the lifting operation of the second container. The two ends of the second bearing rods 1132 are rotatably connected to the third connecting plate 11311 and the fourth connecting plate 11312 respectively, so that the second bearing rods 1132 can output the second container along the conveying direction Y when rotating, so as to achieve the unloading operation of the container in the storage system.

Please refer to Figure 6 again. In an optional embodiment, the elevator 100 also includes a lifting mechanism 130. The first load platform 112 and the second load platform 113 are both movably connected to the column 111 through the lifting mechanism 130. The lifting mechanism 130 is used to drive the first load platform 112 and the second load platform 113 to move synchronously.

The first load platform 112 and the second load platform 113 are movably connected to the column 111 through the lifting mechanism 130, so that when the lifting mechanism 130 moves along the lifting direction Z, the first load platform 112 and the second load platform 113 are driven to move synchronously along the lifting direction Z. This method has a simple structure and can ensure that the distance between the first load platform and the second load platform is fixed, ensuring that the relative position between the pushing member and the pulling member and the container is accurate and reliable when pushing and pulling goods.

In addition, when the lifting mechanism 130 drives the first load platform 112 and the second load platform 113 to move synchronously along the lifting direction Z, the push-pull mechanism 120 disposed on the first load platform 112 or the second load platform 113 moves synchronously along the lifting direction Z with the first load platform 112 or the second load platform 113.

According to another aspect of the embodiment of the present application, a storage system is also provided. For details, please refer to Figures 17 to 19. Figure 17 shows a front view of the storage system provided by an embodiment of the present application, Figure 18 shows a top view of the storage system provided by an embodiment of the present application, and Figure 19 shows a left view of the storage system provided by an embodiment of the present application. As shown in the figure, the storage system 200 includes a robot 210, a conveyor line assembly 220, a processing station 230, and an elevator 100 in any of the above embodiments. At least two storage layers 211 are arranged along the lifting direction Z on the robot 210. The robot 210 is used to move to the side of the elevator 100 facing the pushing direction X1, so that when the transmission member 121 moves, the pusher 122 pushes the first container on the first load platform 112 to one of the two adjacent storage layers 211, and the puller 123 pulls the second container on the other of the two adjacent storage layers 211 to the second load platform 113. The conveyor line assembly 220 is docked with the elevator 100, and the conveyor line assembly 220 is used to convey the second container output from the second loading platform 113. The conveyor line assembly 220 is also used to convey the first container to the first loading platform 112. The processing station 230 is set on one side of the conveyor line assembly 220, and the processing station 230 is used to process the second container to form the first container.

Specifically, as shown in FIG19 , after the robot 210 loads the second container from the warehouse, it walks to the elevator 100 and docks with the elevator 100. At this time, there is no container on the seventh storage layer 2117 of the robot 210, and the second container is loaded on the remaining six storage layers 211. The first loading platform 112 and the second loading platform 113 rise to the height of the seventh storage layer 2117 and the sixth storage layer 2116 as shown in FIG19 , respectively. At this time, there is the first container on the first loading platform 112, and the second storage layer 2112 There is no container on the first platform 112. As shown in FIG14, when the transmission member 121 moves in the pushing direction X1, the pulling member 123 will hit the second container 123a. To avoid the second container 123a on the sixth storage layer 2116 of the robot 210, the pulling member 123 rotates to be horizontal with the pushing and pulling direction X as shown in FIG15. As shown in FIG20, the pushing member 122 pushes the first container on the first loading platform 112 to the seventh storage layer 2117, and the pulling member 123 moves to the position of pulling the second container on the sixth storage layer 2116. Then, as shown in FIG21, when the transmission member 121 moves in the pulling direction X2, the pulling member 123 pulls the second container on the sixth storage layer 2116 and pulls it onto the second loading platform 113. As shown in FIG. 22 , the first carrier 112 and the second carrier 113 are lowered to the height of the conveyor line assembly 220, the second container on the second carrier 113 is output to the conveyor line assembly 220, the first carrier 112 receives another first container output by the conveyor line assembly 220, and the second container is processed by the processing station 230 disposed on one side of the conveyor line assembly 220 to form a first container. Then, the first carrier 112 and the second carrier 113 are respectively raised to the height of the sixth storage layer 2116 and the fifth storage layer 211, the pusher 122 pushes the other first container on the first carrier 112 to the sixth storage layer 2116, and the puller 123 pulls the second container on the fifth storage layer 211 to the second carrier 113.

The elevator 100 pushes the first container outputted from the conveyor assembly 220 to one of the two adjacent storage layers 211 on the robot 210 in a cyclic manner, and outputs the second container on the other storage layer 211 of the two adjacent storage layers 211 to the conveyor assembly 220, until the first carrier 112 and the second carrier 113 are lifted to the height of the second storage layer 2112 and the storage layer 211 as shown in FIG. 23, the pusher 122 pushes the first container on the first carrier 112 to the second storage layer 211, and the puller 123 pulls the second container on the first storage layer 2111 to the second carrier 113. At this time, the second containers on the six storage layers 211 of the robot 210 have been unloaded, and the elevator 100 has pushed the six first containers to the corresponding storage layers 211 of the robot 210, and then the robot 210 leaves, and the next robot 210 arrives at the elevator 100 and docks with the elevator 100 to perform the above-mentioned container replacement with the elevator 100.

The second carrying platform 113 outputs the second container by rotating the second carrying rod 1132 on the second carrying platform 113 to convey the second container along the conveying direction Y to the conveyor line assembly 220 , or by a robotic arm transferring the second container to the conveyor line assembly 220 .

The conveyor line assembly 220 conveys the first container to the first loading platform 112 in such a way that the height of the first loading platform 112 is slightly lower than the output end 2221 of the second conveyor line, and the first container is directly conveyed from the conveyor line assembly 220 to the first loading platform 112, or when the conveyor line assembly 220 conveys the first container close to the first loading platform 112, the robot transfers the first container to the first loading platform 112. The conveyor line assembly 220 conveys the second container output from the second loading platform 113 in such a way that the robot transfers the second container to the conveyor line assembly 220.

Specifically, the height between the first load platform 112 and the second load platform 113 on the column 111 can be set to be the same as the height between two adjacent storage layers 211, so that the first load platform 112 and the second load platform 113 can be docked with the two storage layers 211 at the same time, and the push-pull mechanism 120 can push the first container on the first load platform 112 to the storage layer 211, and can also pull the second container on another storage layer 211 in the adjacent storage layers 211 to the second load platform 113.

The processing station 230 may process the second container in the following ways: the processing station may pick, count, replenish, etc. the goods in the second container.

Please refer to FIG. 24, which shows a top view of a storage system provided by another embodiment of the present application, wherein the input end 220a of the conveyor line assembly and the output end 220b of the conveyor line assembly are respectively located on both sides of the elevator 100, the input end 220a of the conveyor line assembly is docked with the second load platform 113, and the output end 220b of the conveyor line assembly is docked with the first load platform 112. The processing station 230 is arranged on one side of the conveyor line assembly 220. Specifically, the second container on the second load platform 113 is transported from the input end 220a of the conveyor line assembly to the processing station 230 for processing, and the processed second container forms the first container, and the conveyor line assembly 220 transports the first container to the first load platform 112.

The storage system 200 of the present application can realize the replacement between the first container on the conveyor line assembly 220 and the second container on the robot 210 through the same elevator 100, thereby improving the working efficiency of the storage system 200 and reducing costs. Specifically, the second container on the robot 210 is unloaded and the first container output by the conveyor line assembly 220 is input to the robot 210. The same elevator 100 is used for the operation, and the robot 210 does not need to unload the entire second container and then walk to another elevator 100 for loading. Therefore, the warehousing system 200 of the present application can improve the efficiency of unloading the second container from the robot 210 and inputting the first container into the robot 210, thereby reducing the number of required elevators 100 and reducing costs.

Please refer to Figure 19 again. In an optional embodiment, the elevator 100 is used to sequentially place the first container downward and remove the second container from the highest storage layer 211 on the robot 210, or to sequentially place the first container upward and remove the second container from the lowest point on the robot 210.

The lift 100 takes down the first container on the storage layer 211 of the robot 210 from high to low or from low to high and puts the second container on the storage layer 211, so as to take down and put in the containers in an orderly manner, thereby improving the efficiency of taking and putting in the containers.

Please refer to Figure 17 again. In an optional embodiment, the conveyor line assembly 220 includes a first conveyor line 221 and a second conveyor line 222. The input end 2211 of the first conveyor line is arranged toward the elevator 100, and the first conveyor line 221 is used to receive the second container output from the second carrier 113. The processing station 230 is arranged on one side of the first conveyor line 221, and the first conveyor line 221 is also used to convey the second container to the processing station 230, so that the processing station 230 processes the second container to form the first container; or, the processing station 230 is arranged on one side of the second conveyor line 222, and the first conveyor line 221 is also used to convey the second container to the second conveyor line 222, and the second conveyor line 222 is used to convey the second container to the processing station 230, so that the processing station 230 processes the second container to form the first container. The output end 2221 of the second conveyor line is arranged toward the elevator 100, and the second conveyor line 222 is also used to convey the first container to the first carrier 112.

Please continue to refer to Figure 17. Specifically, the first conveyor line 221 is located on the side of the second conveyor line 222 in the descending direction Z2, and the second carrier 113 is located on the side of the first carrier 112 in the descending direction Z2. When the second carrier 113 is raised or lowered to the height of the first conveyor line 221, the second container on the second carrier 113 is conveyed to the first conveyor line 221. When the processing station 230 is arranged on one side of the first conveyor line 221, the processing station 230 processes the second container to form the first container. The first conveyor line 221 conveys the first container to the output end 2212 of the first conveyor line, and the first container can be transferred to the input end 2222 of the second conveyor line by a robot arm. The first container is conveyed to the output end 2221 of the second conveyor line via the second conveyor line 222, and the output end 2221 of the second conveyor line outputs the first container to the first carrier 112.

The processing station 230 may also be disposed on one side of the second conveyor line 222. In this case, the processing station 230 processes the second container conveyed from the first conveyor line 221 to the second conveyor line 222, and the processed second container becomes the first container.

The second container outputted from the second loading platform 113 is transported by the first conveyor line 221 , and the first container is outputted to the first loading platform 112 by the second conveyor line 222 , so that the capacity of the conveyor line assembly 220 to transport containers can be improved.

Please refer to Figures 17 and 18 again. In an optional embodiment, the first conveyor line 221 and the second conveyor line 222 are arranged along the lifting direction Z, and the first conveyor line 221 and the second conveyor line 222 are located on the same side of the main structure 110.

Please continue to refer to Figure 17. The first conveyor line 221 and the second conveyor line 222 are arranged along the lifting direction Z. The first conveyor line 221 can be located on the side of the second conveyor line 222 facing the descending direction Z2 as shown in Figure 17, or the first conveyor line 221 can be located on the side of the second conveyor line 222 facing the ascending direction Z1.

The first conveyor line 221 and the second conveyor line 222 are arranged along the lifting direction Z, and the first conveyor line 221 and the second conveyor line 222 are arranged on the same side of the main structure 110, which reduces the floor space of the conveyor line assembly 220 and improves the space utilization rate of the storage system 200.

Please refer to Figures 17 and 18 again. In an optional embodiment, the storage system 200 further includes a container transfer device 240. The container transfer device 240 is disposed between the output end 2212 of the first conveyor line and the input end 2222 of the second conveyor line. The container transfer device 240 is used to transfer the first container or the second container output from the output end 2212 of the first conveyor line to the input end 2222 of the second conveyor line.

The container transfer device 240 is used to transfer the second container outputted from the output end 2212 of the first conveyor line to the input end 2222 of the second conveyor line. For example, the container transfer device 240 may be the robot arm in the above scheme. Specifically, the first conveyor line 221 outputs the second container to the output end 2212 of the first conveyor line, and the robot arm transfers the output end 2212 of the first conveyor line to the second conveyor line. The first container or the second container on the first conveyor line 221 is transferred to the input end 2222 of the second conveyor line, so that the first container or the second container on the first conveyor line 221 is automatically transferred to the second conveyor line 222, reducing labor.

Since the warehousing system 200 includes a robot 210, a conveyor line assembly 220, and containers, etc., the working environment is complex. Therefore, by setting up a container transfer device 240 to automatically transfer the first container or the second container output from the output end 2212 of the first conveyor line to the input end 2222 of the second conveyor line, the safety of the operation can be improved.

Please refer to FIG. 17 and FIG. 25, FIG. 25 shows a schematic diagram of the structure of the lifting transfer platform of the roller elevator provided in another embodiment of the present application. In an optional embodiment, the container transfer device 240 includes a roller elevator 241, and the roller elevator 241 includes a lifting transfer platform 2411 and a lifting column 2412. The lifting transfer platform 2411 is connected to the lifting column 2412 along the lifting direction Z. The roller 24111 is rotatably arranged on the lifting transfer platform 2411. The output end 2212 of the first conveyor line and the input end 2222 of the second conveyor line are both arranged toward the lifting transfer platform 2411. The roller 24111 is used to receive the first container or the second container when the lifting transfer platform 2411 is lifted along the lifting direction Z to a position opposite to the output end 2212 of the first conveyor line, and is used to transfer the first container or the second container to the input end 2222 of the second conveyor line when the lifting platform is lifted along the lifting direction Z to a position opposite to the second conveyor line 222.

Specifically, when the second container on the first conveyor line 221 is conveyed to the output end 2212 of the first conveyor line, the lifting and transfer platform 2411 is lifted to a position opposite to the output end 2212 of the first conveyor line, and the output end 2212 of the first conveyor line conveys the second container to the lifting and transfer platform 2411. When the lifting and transfer platform 2411 rises to a position opposite to the input end 2222 of the second conveyor line, the roller 24111 rotates and conveys the first container or the second container along the first conveying direction Y1 to the input end 2222 of the second conveyor line, and the second conveyor line 222 conveys the first container or the second container along the first conveying direction Y1 to the first load platform 112.

The lifting and lowering of the lifting transfer platform 2411 of the roller elevator 241 realizes the transfer of the first container or the second container from the first conveyor line 221 to the second conveyor line 222, thereby improving the container transfer efficiency.

Please refer to Figures 19 and 26 again. Figure 26 shows a structural schematic diagram of a warehousing system provided by another embodiment of the present application. In an optional embodiment, the warehousing system 200 also includes a shelf 250, and the robot 210 is used to transport the second container on the shelf 250 to the elevator 100. The robot 210 is also used to transport the first container on the elevator 100 to the target location.

The robot 210 transports the second container on the shelf 250 to the elevator 100, and also transports the first container on the elevator 100 to the target location, forming a fully automated storage system 200, improving the operating efficiency of the storage system 200, and reducing operating risks.

According to another aspect of the embodiment of the present application, a storage system control method is also provided. For details, please refer to FIG. 27, which shows a flow chart of the storage system control method provided by an embodiment of the present application. The method is executed by a computing device. The computing device may be, for example, a controller, a computer, a server, etc. The storage system control method is applied to the storage system in any of the above embodiments. As shown in FIG. 26, the storage system control method includes:

S310: Control the robot to dock with the elevator.

Before this step, it can be detected whether the robot has reached the predetermined position; if the robot has not reached the predetermined position, the robot is controlled to walk to the elevator and dock with the elevator.

S320: Control the lifting machine to take at least one second container from one of two adjacent storage layers of the robot and place at least one first container on the other of two adjacent storage layers of the robot.

S330: Control the conveyor line assembly to receive the second container output from the second loading platform.

Before this step, the second container can be output to the input end of the conveyor line assembly by controlling the rotation of the rollers on the second carrier, or the second container on the second carrier can be transferred to the input end of the conveyor line assembly by controlling the robot arm.

S340: Control the conveyor line assembly to convey the second container to the processing station, so that the processing station processes the second container to form a first container.

In this step, when the second container arrives at the processing station, the conveyor line assembly can be controlled to pause, and the second container is processed by a robot arm or a staff member to form a first container. The second container can be transferred from the conveyor line assembly to the processing station for processing by a transfer mechanism.

S350: Control the conveyor line assembly to convey the first container to the first loading platform.

Before this step, the first loading platform can be controlled to rise or fall to a position slightly lower than the output end of the conveyor line assembly so that the conveyor line assembly can convey the first container to the first loading platform. Alternatively, the first container at the output end of the conveyor line assembly can be transferred to the first loading platform by controlling the robot arm.

In an optional embodiment, the above S320 includes: controlling the transmission member to move in the pushing and pulling direction, driving the pushing member to move in the pushing direction, so that the pushing member pushes at least one first container on the first load platform to one of the two adjacent storage layers, and driving the pulling member to move in the pulling direction, so that the pulling member pulls at least one second container on the other layer of the two adjacent storage layers to the second load platform.

By controlling the movement of the transmission parts on the same elevator, the first container output by the conveyor line assembly can be input to the storage layer of the robot, and the second container on another storage layer of the robot can be unloaded and transported to the conveyor line assembly for processing, thereby improving the efficiency of container unloading and loading.

Please refer to Figure 28, which shows a flow chart of sub-steps of the above steps S330, S340 and S350. In an optional embodiment, the conveyor line assembly includes a first conveyor line and a second conveyor line;

The above-mentioned S330 includes:

S331: Control the first conveying line to convey the second container output from the second carrying platform.

The above-mentioned S340 comprises:

S341: Control the first conveyor line to convey the second container to the processing station so that the processing station processes the second container to form the first container, and control the first conveyor line to convey the first container to the second conveyor line; or, control the first conveyor line to convey the second container to the second conveyor line, and control the second conveyor line to convey the second container to the processing station so that the processing station processes the second container to form the first container.

In this step, if the processing station is set on one side of the first conveyor line, the first conveyor line is controlled to convey the second container to the processing station, so that the processing station processes the second container to form the first container, and the first conveyor line is controlled to convey the first container to the second conveyor line; if the processing station is set on one side of the second conveyor line, the first conveyor line is controlled to convey the second container to the second conveyor line, and the second conveyor line is controlled to convey the second container to the processing station, so that the processing station processes the second container to form the first container.

The above-mentioned S350 includes:

S351: Control the second conveying line to convey the first container to the first loading platform.

By setting up two conveyor line assemblies, namely the first conveyor line and the second conveyor line, the first conveyor line is connected to the second loading platform to convey the second container output from the second loading platform, and the second conveyor line is connected to the first loading platform to convey the first container to the first loading platform, so that each loading platform corresponds to each conveyor line one by one, the division of labor is clear, and the efficiency of container transportation is improved.

In an optional embodiment, the storage system further includes a container transfer device;

The above step S341 includes:

The container transfer device is controlled to transfer the first container output from the output end of the first conveyor line to the input end of the second conveyor line; or, the container transfer device is controlled to transfer the second container output from the output end of the first conveyor line to the input end of the second conveyor line.

In this step, specifically, the first container or the second container output by the first conveyor line is received by the lifting platform, and then the lifting platform is controlled to rise to a height corresponding to the output end of the second conveyor line, and the rollers on the lifting platform are controlled to rotate to transfer the first container or the second container to the second conveyor line.

The container transfer device is controlled to transfer the first container or the second container output from the output end of the first conveyor line to the input end of the second conveyor line, so that the first container output from the elevator passes through the first conveyor line, the processing station, the container transfer device and the second conveyor line and flows back to the elevator and is loaded onto the robot by the elevator, forming a complete automated operation, thereby improving the safety of the operation.

Please refer to Figure 29, which shows a flow chart of a storage system control method provided by another embodiment of the present application. In an optional embodiment, the storage system includes a shelf;

The above S310 and before include:

S360: Control the robot to move the second container on the shelf to the elevator.

After the above S320, including:

S370: Control the robot to move the first container to the target location.

After step S320, if all the second containers on the storage layer of the robot have been unloaded and the first container on the first loading platform of the elevator has been placed on the storage layer, step S370 is executed.

After step S370, another robot can be controlled to carry the second container on the shelf to the elevator, and then the robot can be controlled to dock with the elevator to achieve a cycle of taking and putting in containers between the elevator and the robot.

The robot is controlled to move the second container on the shelf to the elevator, and the robot is controlled to move the first container to the target location, so that the storage system forms a fully automated transfer storage system, improves the operation efficiency of the storage system, and reduces operation risks.

Based on the above problems, the present application proposes an elevator, which arranges a pulling mechanism on the unloading support platform so that the unloading elevator can unload the second container, and arranges a pushing mechanism on the loading elevator so that the pushing mechanism can load the first container, so that the elevator itself can realize the loading and unloading of the container, and there is no need to perform this operation through a buffer tower, thereby effectively saving space occupancy and improving the operating efficiency of the elevator.

Please refer to Figures 30 to 33. Figure 30 shows a top view of a storage workstation provided by an embodiment of the present invention, Figure 31 shows a front view of a storage workstation provided by an embodiment of the present invention, Figure 32 shows a left view of a storage workstation provided by an embodiment of the present invention, and Figure 33 shows a right view of a storage workstation provided by an embodiment of the present invention. According to one aspect of the present application, a storage workstation 500 is provided, and the storage workstation 500 includes a discharge elevator 510, a loading elevator 520, an upper discharge conveyor line 530, and a processing station 540. The discharge elevator 510 includes a first column 511, a discharge bearing platform 512, and a pulling mechanism 513. The discharge bearing platform 512 is arranged on the first column 511, and the discharge bearing platform 512 is movably connected to the first column 511 along the lifting direction Z. The pulling mechanism 513 is movably arranged along the push-pull direction X, and an angle is arranged between the push-pull direction X and the lifting direction Z. For example, the push-pull direction X is arranged perpendicular to the lifting direction Z, and the pulling mechanism 513 is used to pull the second container onto the unloading platform 512. The loading elevator 520 includes a second column 521, a loading platform 522 and a pushing mechanism 523. The loading platform 522 is arranged on the second column 521, and the loading platform 522 is movably connected to the second column 521 along the lifting direction Z. The pushing mechanism 523 is movably arranged along the push-pull direction X, and the pushing mechanism 523 is used to push out the first container on the loading platform 522. The upper and lower material conveyor line 530 is arranged between the unloading elevator 510 and the loading elevator 520. The conveying direction Y of the upper and lower material conveyor line 530 is arranged at an angle with the lifting direction Z and the push-pull direction X. For example, the conveying direction Y of the upper and lower material conveyor line 530 is perpendicular to the lifting direction Z and the push-pull direction X. The processing station 540 is disposed on one side of the upper unloading conveyor line 530. The upper unloading conveyor line 530 is used to convey the second container on the unloading platform 512 to the processing station 540 for processing to form a first container, and the upper unloading conveyor line 530 is also used to convey the first container to the loading platform 522.

The first container and the second container are material boxes containing goods, which may be plastic boxes, cartons, wooden boxes, etc., and the present application embodiment does not specifically limit this. The processing station 540 may process the second container in the following manner: the processing station 540 may pick, inventory, replenish, etc. the goods in the second container. After the processing station 540 processes the second container, the second container becomes the first container.

First, the unloading platform 512 rises in the ascending direction Z1 to the corresponding height of the second container as shown in FIG. 32, and the pulling mechanism 513 on the elevator moves in the direction of the arrow in the figure to pull the second container on the platform to the unloading platform 512 of the elevator, thereby improving the efficiency of unloading the second container. The unloading platform 512 descends in the descending direction Z2 to the height of the upper unloading conveyor line 530, and the second container on the unloading platform 512 can be transferred to the upper unloading conveyor line 530 by the robot arm.

Secondly, the upper and lower unloading conveyor line 530 conveys the second container in the conveying direction Y as shown in Figure 31 to the processing station 540 on one side of the upper and lower unloading conveyor line 530. The processing station 540 performs processing such as disassembly or inventory on the second container to form the second container into a first container. The upper and lower unloading conveyor line 530 conveys the first container in the conveying direction Y to the loading elevator 520. The unloading support platform 512 of the loading elevator 520 descends along the lifting direction Z to the height of the upper and lower unloading conveyor line 530 to receive the first container output by the upper and lower unloading conveyor line 530.

Finally, the loading platform 522 rises along the lifting direction Z to the height shown in Figure 33, and the pushing mechanism 523 on the elevator moves in the direction of the arrow in the figure to push out the first container on the loading platform 522, completing the entire process of container processing at the storage workstation 500 and improving the efficiency of container loading.

The storage workstation 500 of the present application can pull the second container to the unloading platform 512 by moving the pulling mechanism 513 on the unloading elevator 510, without the need to unload the second container to the elevator's platform through the unloading cache tower, which can save the occupied space of the storage workstation 500 and improve the efficiency of unloading the second container, and push the first container on the loading platform 522 by moving the pushing mechanism 523 of the loading elevator 520, without the need to cache the first container output by the conveyor line through the loading cache tower, which can reduce the occupied space of the storage workstation 500 and improve the efficiency of loading the first container output by the unloading conveyor line 530, thereby saving the overall occupied space of the storage workstation 500 and improving the efficiency of the entire operation process of the storage workstation 500 to unload and process the second container and load the processed container.

Please refer to FIG. 32 and FIG. 33 again. In an optional embodiment, the unloading platform 512 has at least two layers, and the at least two layers of unloading platforms 512 are arranged on the first column 511 along the lifting direction Z. There are at least two pulling mechanisms 513, and the at least two pulling mechanisms 513 are arranged along the lifting direction Z. The at least two pulling mechanisms 513 are used to pull at least two layers of second containers onto the at least two layers of unloading platforms 512 at the same time. There are at least two pushing mechanisms 523, and the at least two pushing mechanisms 523 are arranged along the lifting direction Z. The at least two pushing mechanisms 523 are used to push out at least two layers of first containers on the at least two layers of loading platforms 522 at the same time. The upper unloading conveyor line 530 is used to convey the second containers on the at least two layers of unloading platforms 512 to the processing station 540 for processing to form first containers. The upper unloading conveyor line 530 is also used to convey the first containers processed by the processing station 540 to the at least two layers of loading platforms 522.

The upper unloading conveyor line 530 can be set as one as shown in FIG. 31, and at least two layers of unloading platforms 512 are sequentially raised and lowered to the height of the upper unloading conveyor line 530, so that the second containers thereon are sequentially input to the upper unloading conveyor line 530. The upper unloading conveyor line 530 can also be set as at least two as shown in FIG. 32 or FIG. 33, and at least two upper unloading conveyor lines 530 are arranged along the lifting direction Z, and at least two layers of unloading platforms 512 are simultaneously raised and lowered to the height of the upper unloading conveyor line 530, so that the second containers on at least two layers of unloading platforms 512 are simultaneously pushed out to at least two layers of upper unloading conveyor lines 530, further improving the efficiency of inputting the second containers to the upper unloading conveyor line 530. Similarly, the upper unloading conveyor line 530 is set as at least two, which can further improve the efficiency of inputting the first container on the upper unloading conveyor line 530 to the loading platform 522.

The unloading elevator 510 may also include a first lifting mechanism, and at least two unloading platforms 512 are movably connected to the first column 511 through the first lifting mechanism, and the first lifting mechanism is used to drive the at least two unloading platforms 512 to move synchronously. This method has a simple structure and can ensure that the distance between the unloading platforms 512 is fixed, ensuring that the relative position between the at least two first pulling members 51313 and the second container is accurate and reliable when pushing and pulling goods.

Similarly, the loading elevator 520 may also include a second lifting mechanism, and at least two loading platforms 522 are movably connected to the first column 511 through the second lifting mechanism, and the second lifting mechanism is used to drive the loading platforms 522 to move synchronously.

By moving at least two pulling mechanisms 513 on the unloading elevator 510, at least two layers of second containers can be pulled onto at least two layers of unloading platforms 512 at the same time, thereby improving the efficiency of unloading the second containers, and by moving the pushing mechanism 523 of the loading elevator 520, at least two layers of first containers on the loading platforms 522 can be pushed out at the same time, thereby improving the efficiency of loading the first containers output by the upper and lower unloading conveyor line 530, thereby improving the efficiency of the entire operation process of the storage workstation 500 to unload and process the second containers and load the processed containers.

Please refer to FIG. 32 again. In an optional embodiment, the number of layers of the loading platform 522 and/or the number of layers of the unloading platform 512 are both two.

Accordingly, two loading and unloading conveyor lines 530 may be provided, and the two loading and unloading conveyor lines 530 are arranged along the lifting direction Z. In this way, the two-layer loading platforms 522 can be moved to dock with one of the loading and unloading conveyor lines 530, respectively, and then the second containers on the two-layer loading platforms 522 can be simultaneously input to the two-layer loading and unloading conveyor lines 530, thereby improving the efficiency of inputting the second containers on the two-layer unloading platforms 512 to the loading and unloading conveyor lines 530. Similarly, the efficiency of inputting the first containers on the loading and unloading conveyor lines 530 to the two-layer loading platforms 522 can also be improved.

By setting the number of layers of the loading platform 522 and/or the number of layers of the loading platform 522 to two, the speed at which the unloading platform 512 of the unloading elevator 510 unloads the second container from the robot can be moderate, and the number of second containers input to the loading conveyor line is moderate, so that the operators of the processing station 540 will not be unable to process all the containers while maintaining a high operating efficiency, and the situation where the second containers flow to the downstream output without being processed can also be reduced.

Please refer to FIG. 32 again. In an optional embodiment, the push-pull direction X includes a pushing direction X1 and a pulling direction X2. The pulling mechanism 513 includes a fourth sliding member 5131 and at least two first pulling members 51313. The fourth sliding member 5131 is movably arranged along the push-pull direction X. The fourth sliding member 5131 includes a sixth sliding portion 51311 extending along the lifting direction Z and at least two seventh sliding portions 51312 extending along the push-pull direction X. The at least two seventh sliding portions 51312 are arranged along the lifting direction Z and connected to the sixth sliding portion 51311. Each of the seventh sliding portions 51312 has a free end 51312a at one end facing the pushing direction X1. Each first pulling member 51313 is respectively arranged on one of the free ends 51312a, so that when the fourth sliding member 5131 moves toward the pulling direction X2, the at least two first pulling members 51313 simultaneously pull at least two layers of second containers onto at least two layers of unloading platforms 512.

Specifically, as shown in Figure 32, the sixth sliding portion 51311 of the fourth sliding member 5131 can be located on the side of the first column 511 facing the unloading platform 512, at least two seventh sliding portions 51312 of the fourth sliding member 5131 are extended along the pushing and pulling direction X, at least two seventh sliding portions 51312 are arranged along the lifting direction Z and are connected to the fourth sliding member 5131, the seventh sliding portion 51312 is movably connected to the unloading platform 512 through a slide rail, at least two first pulling members 51313 are located on the side of the first column 511 facing the unloading platform 512, and each pulling member is connected to a free end 51312a of the seventh sliding portion 51312 facing the pushing direction X1. When the fourth sliding member 5131 moves in the pulling direction X2, it drives at least two first pulling members 51313 to move in the pulling direction X2 to the position shown in Figure 34, so that at least two first pulling members 51313 simultaneously pull at least two layers of second containers onto at least two layers of unloading platforms 512.

As shown in FIG35, the sixth sliding portion 51311 of the fourth sliding member 5131 can also extend along the lifting direction Z and be located on the side of the first column 511 away from the unloading platform 512, and the seventh sliding portion 51312 can be movably connected to the first column 511. When the fourth sliding member 5131 moves in the pulling direction X2, it drives at least two first pulling members 51313 to move in the pulling direction X2 to the position shown in FIG36, so that the first pulling members 51313 pull at least two layers of second containers onto at least two layers of unloading platforms 512 at the same time.

The first pulling member 51313 may be disposed on the free end 51312a in a manner that the first pulling member 51313 and the free end 51312a are rotatably connected or fixedly connected.

At least two seventh sliding parts 51312 arranged along the lifting direction Z are extended along the pushing and pulling direction X and connected to the sixth sliding part 51311. Each first pulling member 51313 can be connected to the free end 51312a of the seventh sliding part 51312 facing the pushing direction X1, so that the fourth sliding part 5131 moves and at the same time drives each first pulling member 51313 to move, so as to pull at least two layers of second containers onto the unloading platform 512 at the same time. The method of connecting the first pulling member 51313 to the fourth sliding member 5131 is simple, and the method of driving the first pulling member 51313 to move by the fourth sliding member 5131 is also simple, which can reduce costs.

When the first pulling member 51313 is located at the position shown in FIG37 , the first pulling member 51313 needs to move toward the pushing direction X1 shown by the arrow in the figure to the position of pulling the second container. At this time, the first pulling member 51313 will touch the second container 551a on the robot during the movement, and therefore cannot continue to move forward, thereby affecting the movement of the fourth sliding member 5131.

Based on the above problems, please refer to FIG. 38 and FIG. 39. FIG. 38 shows a schematic diagram of a structure in which a first pulling member provided by an embodiment of the present application is rotated to be parallel to the push-pull direction, and FIG. 39 shows a schematic diagram of a structure in which a first pulling member provided by another embodiment of the present application is rotated to be parallel to the push-pull direction. In an optional embodiment, at least two first pulling members 51313 are both rotatably connected to the free end 51312a. The first pulling member 51313 is used to rotate to be parallel to the push-pull direction X to avoid the second container when the fourth sliding member 5131 moves in the pushing direction X1, and rotate toward the second container side when the fourth sliding member 5131 moves in the pulling direction X2. Exemplarily, it rotates to be perpendicular to the push-pull direction X to pull the second container and pull the second container onto the unloading bearing platform 512.

The first pulling member 51313 is rotatably connected to the free end 51312a of the seventh sliding portion 51312, so that when the fourth sliding member 5131 moves in the pushing direction X1, the first pulling member 51313 can be rotated to a position parallel to the pushing and pulling direction X as shown in Figure 38 or Figure 39 to avoid the second container.

The first pulling member 51313 is rotatably connected to the free end 51312a of the seventh sliding portion 51312, so that when the free end 51312a of the seventh sliding portion 51312 moves in the pushing direction X1, the first pulling member 51313 avoids the second container by rotating to be parallel to the pushing and pulling direction X, so as to avoid colliding with the second container and causing the container to fall; when the free end 51312a of the seventh sliding portion 51312 moves in the pulling direction X2 to pull the goods, the first pulling member 51313 rotates toward the second container side, exemplarily, rotates to be perpendicular to the pushing and pulling direction X, thereby achieving normal pulling of the second container.

Please refer to Figures 32, 40 and 41. Figure 40 shows a schematic structural diagram of an unloading support platform on a unloading elevator provided in an embodiment of the present application. Figure 41 shows a schematic structural diagram of the sixth sliding portion provided in an embodiment of the present application being sleeved on the third bearing rod along the pulling direction. In an optional embodiment, each layer of the unloading support platform 512 includes a third connecting member 5121 and at least two third bearing rods 5122. Each third bearing rod 5122 is connected to the first column 511 through the third connecting member 5121. The third bearing rod 5122 extends along the push-pull direction X, and at least two third bearing rods 5122 are arranged along the conveying direction Y. The sixth sliding portion 51311 is sleeved on at least one third bearing rod 5122 on each layer of the unloading support platform 512, so that the sixth sliding portion 51311 can slide relative to the third bearing rod 5122 along the push-pull direction X.

Regarding the manner in which the sixth sliding portion 51311 is sleeved on the third bearing rod 5122 on each layer of the unloading bearing platform 512, specifically, the sixth sliding portion 51311 is sleeved on at least one third bearing rod 5122 as shown in FIG. 40 or FIG. 41 along the pulling direction, and the sixth sliding portion 51311 extends along the lifting direction Z through the first opening 512a between two adjacent third bearing rods 5122. As shown in FIG. 32, both ends of the sixth sliding portion 51311 along the lifting direction Z are respectively connected to one seventh sliding portion 51312.

At least two third bearing rods 5122 of the unloading bearing platform 512 are movably connected to the first column 511 through the third connecting member 5121, so that the third bearing rods 5122 can move along the lifting direction Z to achieve the lifting operation of the second container. By extending the third bearing rods 5122 along the push-pull direction X, and at least two third bearing rods 5122 are arranged along the conveying direction Y, so that the sixth sliding part 51311 can be sleeved on at least one third bearing rod 5122, the position of the sixth sliding part 51311 in the lifting direction Z and the conveying direction Y can be fixed, and the sixth sliding part 51311 can move along the third bearing rod 5122. The bearing rod 5122 moves in the pulling direction X2 to enable the first pulling member 51313 to pull the second container, thereby improving the stability of the overall structure of the sixth sliding part 51311, the seventh sliding part 51312 and the first pulling member 51313 when pulling the container.

Please refer to FIG. 40 again. In an optional embodiment, the third supporting rod 5122 is rotatably connected to the third connecting member 5121 so that the third supporting rod 5122 transports the second container in the conveying direction Y to the upper unloading conveyor line 530 when rotating.

The third supporting rod 5122 is rotatably connected to the third connecting member 5121, so that when the third supporting rod 5122 is rotated, the second container can be output to the upper unloading conveyor line 530 along the conveying direction Y, thereby realizing the work of inputting the second container to the upper unloading conveyor line 530 in the storage workstation 500.

Please refer to Figure 42, which shows a schematic structural diagram of a unloading elevator provided in an embodiment of the present application. In an optional embodiment, the pushing mechanism 523 has at least two first pushing members 5231 arranged along the lifting direction Z, and the at least two first pushing members 5231 are connected to each other so that when the pushing mechanism 523 moves along the pushing and pulling direction X, the at least two first pushing members 5231 push out at least two layers of first containers at the same time.

The at least two first pushing members 5231 may be connected in such a manner that the pushing mechanism 523 extends along the lifting direction and passes through the loading platform 522, and a first pushing member 5231 is located between two adjacent loading platforms 522; or at least two first pushing members 5231 are connected by a fifth sliding member 5232 as shown in FIG. 42, and the fifth sliding member 5232 does not pass through the loading platform 522.

Specifically, in the specific embodiment shown in FIG. 42 , at least two first pushers 5231 are arranged along the lifting direction Z, and at least two first pushers 5231 can be connected by a fifth sliding member 5232, and the fifth sliding member 5232 can be arranged in the same manner as the fourth sliding member 5131. When the fifth sliding member 5232 moves in the pushing direction X1, it drives at least two first pushers 5231 to move in the pushing direction X1, and at least two first pushers 5231 can push out the containers on at least two layers of the unloading platform 512.

Further, please refer to Figure 33. In some other embodiments, each layer of the loading platform 522 includes a fourth connecting member 5221 and at least two fourth bearing rods 5222. Each fourth bearing rod 5222 is connected to the second column 521 through the fourth connecting member 5221. The fourth bearing rod 5222 extends along the push-pull direction X, and at least two fourth bearing rods 5222 are arranged along the conveying direction Y. The pushing mechanism 523 can slide along the push-pull direction X relative to the fourth bearing rod 5222.

Please refer to FIG. 43 and FIG. 44. FIG. 43 shows a schematic diagram of the structure of the loading platform of the loading elevator provided by an embodiment of the present application, and FIG. 44 shows a schematic diagram of the structure of the pushing mechanism provided by an embodiment of the present application being sleeved on the fourth bearing rod along the pulling direction. As for the mode in which the pushing mechanism 523 can slide relative to the fourth bearing rod 5222 along the pushing and pulling direction X, the pushing mechanism 523 can be sleeved on a first bearing rod as shown in FIG. 43 or FIG. 44 along the pulling direction X2, and the pushing mechanism 523 extends along the lifting direction Z through the second opening 522a between two adjacent fourth bearing rods 5222, and the two pushing mechanisms 523 are respectively located at the two ends of the pushing mechanism 523 along the lifting direction Z as shown in FIG. 33. When the pushing mechanism 523 moves along the pushing direction X1, it drives the two first pushing members 5231 to move toward the pushing direction X1, and the two first pushing members 5231 can push out the two-layer container. Regarding the mode in which the pushing mechanism 523 can slide along the push-pull direction X relative to the fourth bearing rod 5222 , the pushing mechanism 523 can also be slidably connected to the fourth bearing rod 5222 via a slide rail.

At least two fourth bearing rods 5222 are movably connected to the second column 521 through the fourth connecting member 5221, so that the fourth bearing rods 5222 can move along the lifting direction Z to achieve the lifting operation of the second container. The fourth bearing rods 5222 are extended along the push-pull direction X, and at least two fourth bearing rods 5222 are arranged along the conveying direction Y. The pushing mechanism 523 can move in the pushing direction X1 relative to the fourth bearing rod 5222. When the pushing mechanism 523 moves in the pushing direction X1, at least two first pushing members 5231 can push out at least two layers of containers at the same time, thereby improving the efficiency of pushing out the containers, and the structure of the pushing mechanism 523 is simple.

At least two first pushing members 5231 arranged along the lifting direction Z are connected so that the pushing mechanism 523 moves toward the pushing direction X1 while driving at least two first pushing members 5231 to move toward the pushing direction X1. At least two first pushing members 5231 can push out the containers on at least two supporting platforms without pushing at least two pushing members to move separately. Therefore, this method has a simple structure and is easy to operate, thereby reducing costs.

Please refer to FIG. 33 again. In an optional embodiment, the fourth supporting rod 5222 is rotatably connected to the fourth connecting member 5221 so that the fourth supporting rod 5222 receives the first container conveyed by the upper unloading conveyor line 530 when rotating.

The loading elevator 520 needs to receive the container delivered by the loading and unloading conveyor line 530. Considering that when the loading platform receives the container delivered by the conveyor line, the container may not be centered on the loading platform and may fall. Based on this, after the loading and unloading conveyor line 530 delivers the first container to the edge position on the loading loading platform 522 along the conveying direction Y, at least two loading bearing rods of the loading loading platform 522 rotate to move the first container to the middle position of the loading loading platform 522.

At least two fourth supporting rods 5222 are rotatably connected to the third connecting member 5121, so that when the fourth supporting rods 5222 are rotated, the first container transported to the loading platform 522 can be moved to the middle position of the loading platform 522, thereby ensuring the stability of container transportation and preventing operational risks such as container falling.

According to another aspect of the present application, a storage system is also provided, which includes a robot 550 and a storage workstation 500 in any of the above embodiments. Please refer to Figures 30, 32 and 33 for details. A storage layer 551 is provided on the robot 550; the robot 550 is used to transport the second container on the shelf to the unloading elevator 510 through the storage layer 551 and dock with the unloading elevator 510, and the pulling mechanism 513 is used to pull the second container on the storage layer 551 onto the unloading bearing platform 512. The robot 550 is also used to dock with the loading elevator 520, and the pushing mechanism 523 is used to push the first container on the loading bearing platform 522 onto the storage layer 551, and the robot is also used to transport the first container on the loading elevator to the target location.

The robot 550 moves the second container on the shelf to the unloading elevator 510, and also moves the first container on the loading elevator 520 to the target location, forming a highly automated warehousing system, improving the operating efficiency of the warehousing system, and reducing operating risks.

Please refer to FIG. 32 and FIG. 33 again. In an optional embodiment, the unloading platform 512 has at least two layers, and the at least two layers of unloading platforms 512 are arranged on the first column 511 along the lifting direction Z. There are at least two pulling mechanisms 513, and the at least two pulling mechanisms 513 are arranged along the lifting direction Z. The at least two pulling mechanisms 513 are used to pull at least two layers of second containers onto the at least two layers of unloading platforms 512 at the same time. There are at least two pushing mechanisms 523, and the at least two pushing mechanisms 523 are arranged along the lifting direction Z. The at least two pushing mechanisms 523 are used to push out at least two layers of first containers on the at least two layers of loading platforms 522 at the same time. The upper unloading conveyor line 530 is used to convey the second containers on the at least two layers of unloading platforms 512 to the processing station 540 for processing to form first containers. The upper unloading conveyor line 530 is also used to convey the first containers processed by the processing station 540 to the at least two layers of loading platforms 522. The storage layers 551 are at least two layers, and the at least two storage layers 551 are arranged in a row along the lifting direction Z. The robot 550 is used to carry the second container on the shelf to the unloading elevator 510 through the at least two storage layers 551 and dock with the unloading elevator 510, and the pulling mechanism 513 is used to pull the second container on the at least two storage layers 551 to the at least two unloading platforms 512 at the same time. The robot 550 is also used to dock with the loading elevator 520, and the pushing mechanism 523 is used to push the first container on the at least two loading platforms 522 to the at least two storage layers 551 of the loading elevator 520 at the same time.

The unloading platform 512 on the unloading elevator 510, the loading platform 522 on the loading elevator 520 and the storage layer 551 on the robot 550 are all set to at least two layers, further improving the operating efficiency of the warehousing system.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

A hoist, characterized in that it comprises a main structure and a push-pull mechanism;

The main structure includes a column, a first bearing platform and a second bearing platform;

The first load platform and the second load platform are arranged on the column along the lifting direction, and the first load platform and the second load platform are both movably connected to the column along the lifting direction;

The push-pull mechanism comprises a transmission member, a pushing member and a pulling member;

The transmission member is movably arranged on the main structure along a push-pull direction, an angle is arranged between the push-pull direction and the lifting direction, and the push-pull direction includes a pushing direction and a pulling direction;

The transmission member is connected to the pushing member and the pulling member respectively, and in an initial state, the pushing member is located on a side of the pulling member facing the direction of pulling goods, and the transmission member is used to drive the pushing member to move along the pushing direction so that the pushing member pushes out the first container on the first supporting platform, and the transmission member is also used to drive the pulling member to move in the pulling direction so that the pulling member pulls the second container onto the second supporting platform.
The elevator according to claim 1 is characterized in that the lifting direction includes an ascending direction and a descending direction; the first bearing platform is arranged on a side of the second bearing platform facing the ascending direction;

The transmission member includes a driving wheel, a driven wheel and a flexible transmission member, the driving wheel and the driven wheel are rotatably arranged on the first bearing platform, and the driving wheel and the driven wheel are arranged in an array along the push-pull direction, and the flexible transmission member is sleeved on the driving wheel and the driven wheel;

The pushing member is arranged on a side of the flexible transmission member facing the ascending direction and protruding from the upper surface of the first bearing platform, and the pulling member is arranged on a side of the flexible transmission member facing the descending direction and protruding from the lower surface of the first bearing platform;

The driving wheel is used to drive the flexible transmission member to move, so that the pushing member and the pulling member push the first container and pull the second container at the same time, and the pushing member moves in the pushing direction, and the pulling member moves in the pulling direction.
The elevator according to claim 1 is characterized in that the lifting direction includes an ascending direction and a descending direction; the first bearing platform is arranged on a side of the second bearing platform facing the descending direction;

The transmission member includes a driving wheel, a driven wheel and a flexible transmission member, the driving wheel and the driven wheel are rotatably arranged on the second bearing platform, and the driving wheel and the driven wheel are arranged in an array along the push-pull direction, and the flexible transmission member is sleeved on the driving wheel and the driven wheel;

The pushing member is arranged on a side of the flexible transmission member facing the descending direction and protruding from a lower surface of the second bearing platform, and the pulling member is arranged on a side of the flexible transmission member facing the ascending direction and protruding from an upper surface of the second bearing platform;

The driving wheel is used to drive the flexible transmission member to move, so that the pushing member and the pulling member push the first container and pull the second container at the same time, and the pushing member moves in the pushing direction, and the pulling member moves in the pulling direction.
The elevator according to claim 1 is characterized in that the lifting direction includes an ascending direction and a descending direction; the first bearing platform is located on a side of the second bearing platform facing the ascending direction;

The transmission member includes a first sliding member slidably arranged on the first bearing platform along the push-pull direction, the pushing member and the pulling member are respectively arranged at two ends of the first sliding member along the push-pull direction, and the pushing member protrudes from the upper surface of the first bearing platform, and the pulling member protrudes from the lower surface of the first bearing platform;

The first sliding member is used to drive the pushing member to move in the pushing direction so that the pushing member moves the first The first container on a carrying platform is pushed out, and then the pulling member is driven to move in the pulling direction, so that the pulling member pulls the second container to the second carrying platform.
The elevator according to claim 1 is characterized in that the lifting direction includes an ascending direction and a descending direction; the first bearing platform is located on the side of the second bearing platform facing the descending direction;

The transmission member includes a first sliding member slidably arranged on the second bearing platform along the push-pull direction, the pushing member and the pulling member are respectively arranged at two ends of the first sliding member along the push-pull direction, and the pushing member protrudes from the lower surface of the second bearing platform, and the pulling member protrudes from the upper surface of the second bearing platform;

The first sliding member is used to drive the pushing member to move in the pushing direction so that the pushing member pushes out the first container on the first loading platform, and then drives the pulling member to move in the pulling direction so that the pulling member pulls the second container onto the second loading platform.
The elevator according to claim 4 is characterized in that the first bearing platform includes a first connecting member and a plurality of first bearing rods, the plurality of first bearing rods are movably connected to the column through the first connecting member, the first bearing rods are extended along the push-pull direction, and the plurality of first bearing rods are arranged along the conveying direction, the conveying direction is angled with the push-pull direction and the lifting direction, and the first sliding member can drive the pushing member to slide relative to the first bearing rod along the push-pull direction.
The elevator according to claim 6 is characterized in that the first connecting member includes a first connecting plate and a second connecting plate, and the two ends of the plurality of first bearing rods are rotatably connected to the first connecting plate and the second connecting plate respectively, and the first bearing rod is used to receive the first container when rotating.
The elevator according to claim 6 is characterized in that the column is located on a side of the first connecting member facing away from the first bearing rod.
The elevator according to claim 1 is characterized in that the lifting direction includes an ascending direction and a descending direction; the first bearing platform is located on a side of the second bearing platform facing the ascending direction;

The transmission member comprises a second sliding member slidably arranged on the main structure along the push-pull direction;

The second sliding member comprises a first sliding part, a second sliding part and a third sliding part, the first sliding part, the second sliding part and the third sliding part slide synchronously, the first sliding part is located on the side of the first bearing platform facing the ascending direction, the third sliding part is located on the side of the first bearing platform facing the descending direction, the second sliding part is extended along the lifting direction, and two ends of the second sliding part are respectively fixedly connected to one end of the first sliding part facing the pulling direction and one end of the third sliding part facing the pulling direction;

The pushing member is connected to the other end of the first sliding portion, the pulling member is connected to the other end of the third sliding portion, and the pulling member is located between the first bearing platform and the second bearing platform;

The second sliding member is used to drive the pushing member to move in the pushing direction so that the pushing member pushes out the first container on the first loading platform, and then drives the pulling member to move in the pulling direction so that the pulling member pulls the second container onto the second loading platform.
The elevator according to claim 1 is characterized in that the lifting direction includes an ascending direction and a descending direction; the first bearing platform is located on the side of the second bearing platform facing the descending direction;

The transmission member includes a third sliding member slidably arranged on the main structure along the push-pull direction;

The third sliding member comprises a fourth sliding part and a fifth sliding part, the fourth sliding part and the fifth sliding part slide synchronously, the fourth sliding part extends along the push-pull direction and is located above the second bearing platform, the fifth sliding part extends along the lifting direction, and one end of the fifth sliding part facing the lifting direction is connected to one end of the fourth sliding part facing the pulling direction;

The pusher is connected to the other end of the fifth sliding part, and the pusher is located between the first bearing platform and the Between the second bearing platform, the pulling member is connected to the other end of the fourth sliding part;

The second sliding member and the third sliding member are used to drive the pushing member to move in the pushing direction so that the pushing member pushes out the first container on the first loading platform, and then drive the pulling member to move in the pulling direction so that the pulling member pulls the second container onto the second loading platform.
The elevator according to claim 1 is characterized in that the transmission member includes a first transmission member and a second transmission member, the first transmission member and the second transmission member move independently, the first transmission member is connected to the pushing member, and the second transmission member is connected to the pulling member.
The lifting machine according to any one of claims 1-11 is characterized in that the pulling member is rotatably connected to the transmission member, and the pulling member is used to rotate to be parallel to the pushing and pulling directions to avoid the second container when the transmission member moves in the pushing direction relative to the second container, and when the transmission member moves in the pulling direction, the pulling member rotates toward the second container side to pull the second container, so as to pull the second container onto the second loading platform.
The elevator according to any one of claims 1 to 11 is characterized in that the second bearing platform comprises a second connecting member and a plurality of second bearing rods, the plurality of second bearing rods are movably connected to the column through the second connecting member, the second bearing rods are extended along the push-pull direction, and the plurality of second bearing rods are arranged along the conveying direction, and the conveying direction is provided with an angle with both the push-pull direction and the lifting direction;

The second connecting member includes a third connecting plate and a fourth connecting plate, and both ends of a plurality of second bearing rods are rotatably connected to the third connecting plate and the fourth connecting plate respectively. The second bearing rods are used to output the second container along the conveying direction when rotating.
The elevator according to any one of claims 1-11 is characterized in that the elevator also includes a lifting mechanism, and the first load-bearing platform and the second load-bearing platform are both movably connected to the column through the lifting mechanism, and the lifting mechanism is used to drive the first load-bearing platform and the second load-bearing platform to move synchronously.
A storage system, characterized in that it comprises a robot, a conveyor line assembly, a processing station and the elevator described in any one of claims 1 to 11;

At least two storage layers are arranged on the robot along the lifting direction;

The robot is used to move to the side of the elevator facing the pushing direction, so that when the transmission member moves, the pushing member pushes the first container on the first load platform to one of the two adjacent storage layers, and the pulling member pulls the second container on the other of the two adjacent storage layers to the second load platform;

The conveyor line assembly is docked with the elevator, and the conveyor line assembly is used to convey the second container output from the second carrying platform, and the conveyor line assembly is also used to convey the first container to the first carrying platform;

The processing station is disposed at one side of the conveying line assembly, and the processing station is used to process the second container to form the first container.
The storage system according to claim 15 is characterized in that the elevator is used to sequentially put the first container in and take out the second container from the highest storage layer on the robot, or to sequentially put the first container in and take out the second container from the lowest point on the robot.
The warehousing system according to claim 16, characterized in that the conveyor line assembly comprises a first conveyor line and a second conveyor line;

The input end of the first conveying line is arranged toward the elevator, and the first conveying line is used to receive the second container output from the second carrying platform;

The processing station is arranged at one side of the first conveying line, and the first conveying line is also used to convey the second container to the processing station, so that the processing station processes the second container to form the first container; or, the processing station is arranged at one side of the second conveying line, and the first conveying line is also used to convey the second container to the second a conveying line, wherein the second conveying line is used to convey the second container to the processing station so that the processing station processes the second container to form the first container;

The output end of the second conveying line is arranged toward the elevator, and the second conveying line is also used for conveying the first container to the first carrying platform.
The warehousing system according to claim 17 is characterized in that the first conveying line and the second conveying line are arranged along the lifting direction, and the first conveying line and the second conveying line are located on the same side of the main structure.
The warehousing system according to claim 18 is characterized in that the warehousing system also includes a container transfer device, which is arranged between the output end of the first conveyor line and the input end of the second conveyor line, and the container transfer device is used to transfer the first container or the second container output from the output end of the first conveyor line to the input end of the second conveyor line.
The storage system according to claim 19 is characterized in that the container transfer device comprises a roller elevator, the roller elevator comprises a lifting transfer platform and a lifting column, the lifting transfer platform is movably connected to the lifting column along the lifting direction, and a roller is rotatably arranged on the lifting transfer platform;

The output end of the first conveyor line and the input end of the second conveyor line are both arranged toward the lifting transfer platform, and the roller is used to receive the first container or the second container when the lifting transfer platform is lifted along the lifting direction to a position opposite to the output end of the first conveyor line, and is used to transfer the first container or the second container to the input end of the second conveyor line when the lifting platform is lifted along the lifting direction to a position opposite to the input end of the second conveyor line.
The warehousing system according to any one of claims 15-20 is characterized in that the warehousing system also includes a shelf, the robot is used to transport the second container on the shelf to the elevator, and the robot is also used to transport the first container on the elevator to a target location.
A storage system control method, characterized in that it is applied to the storage system according to any one of claims 15 to 21, and the method comprises:

Controlling the robot to dock with the hoist;

Control the lifting machine to take at least one of the second containers from one of the two adjacent storage layers of the robot and place at least one of the first containers on the other of the two adjacent storage layers of the robot;

Controlling the conveyor line assembly to receive the second container output from the second carrying platform;

Controlling the conveying line assembly to convey the second container to the processing station, so that the processing station processes the second container to form the first container;

The conveyor line assembly is controlled to convey the first container to the first loading platform.
The storage system control method according to claim 22, characterized in that the controlling the lifting machine to take at least one of the second containers from one of the two adjacent storage layers of the robot and placing at least one of the first containers on the other of the two adjacent storage layers of the robot comprises:

Control the transmission member to move along the push-pull direction, drive the pushing member to move in the pushing direction, so that the pushing member pushes at least one of the first containers on the first load platform to one of the two adjacent storage layers, and drive the pulling member to move in the pulling direction, so that the pulling member pulls at least one of the second containers on the other of the two adjacent storage layers to the second load platform.
The storage system control method according to claim 22, characterized in that the conveyor line assembly includes a first conveyor line and a second conveyor line;

The controlling the conveyor line assembly to receive the second container output from the second carrying platform comprises:

Controlling the first conveying line to receive the second container output from the second carrying platform;

The controlling the conveying line assembly to convey the second container to the processing station so that the processing station processes the second container to form the first container comprises:

Control the first conveyor line to convey the second container to the processing station, so that the processing station processes the second container to form the first container, and control the first conveyor line to convey the first container to the second conveyor line; or control the first conveyor line to convey the second container to the second conveyor line, and control the second conveyor line to convey the second container to the processing station, so that the processing station processes the second container to form the first container;

The controlling the conveyor line assembly to convey the first container to the first loading platform comprises:

The second conveying line is controlled to convey the first container to the first carrying platform.
The storage system control method according to claim 24, characterized in that the storage system further comprises a container transfer device;

The controlling the first conveying line to convey the first container to the second conveying line comprises:

Controlling the container transfer device to transfer the first container outputted from the output end of the first conveying line to the input end of the second conveying line; or,

The controlling the first conveying line to convey the second container to the second conveying line comprises:

The container transfer device is controlled to transfer the second container output from the output end of the first conveying line to the input end of the second conveying line.
The storage system control method according to any one of claims 22 to 25, characterized in that the storage system comprises shelves;

Before controlling the robot to dock with the hoist, the method includes:

Controlling the robot to move the second container on the shelf to the elevator;

After controlling the lifting machine to take at least one of the second containers from one of the two adjacent storage layers of the robot and placing at least one of the first containers on the other of the two adjacent storage layers of the robot, the method comprises:

The robot is controlled to carry the first container to a target location.
A storage workstation, characterized in that it comprises: a discharge elevator, a loading elevator, an upper and lower material conveying line and a processing station;

The unloading elevator comprises a first column, an unloading platform and a pulling mechanism; the unloading platform is arranged on the first column, and the unloading platform is movably connected to the first column along the lifting direction; the pulling mechanism is movably arranged along the push-pull direction, an angle is arranged between the push-pull direction and the lifting direction, and the pulling mechanism is used to pull the second container onto the unloading platform;

The loading elevator comprises a second column, a loading platform and a pushing mechanism; the loading platform is arranged on the second column, and the loading platform is movably connected to the second column along the lifting direction; the pushing mechanism is movably arranged along the push-pull direction, and the pushing mechanism is used to push out the first container on the loading platform;

The upper and lower unloading conveyor line is arranged between the unloading elevator and the loading elevator, and the conveying direction of the upper and lower unloading conveyor line is arranged at an angle with the lifting direction and the pushing and pulling direction. The processing station is arranged on one side of the upper and lower unloading conveyor line. The upper and lower unloading conveyor line is used to convey the second container on the unloading carrying platform to the processing station for processing to form the first container. The upper and lower unloading conveyor line is also used to convey the first container to the loading carrying platform.
The storage workstation according to claim 27 is characterized in that the unloading platform has at least two layers, and at least two layers of the unloading platform are arranged on the first column along the lifting direction;

There are at least two pulling mechanisms, and at least two pulling mechanisms are arranged in an array along the lifting direction. The at least two pulling mechanisms are used to simultaneously pull at least two layers of the second containers onto at least two layers of the unloading bearing platforms;

There are at least two pushing mechanisms, and the at least two pushing mechanisms are arranged in an array along the lifting direction, and the at least two pushing mechanisms are used to push out at least two layers of the first containers on at least two layers of the loading platform at the same time;

The upper and lower unloading conveyor line is used to convey the second containers on at least two layers of the unloading carrying platforms to the processing station for processing to form the first containers. The upper and lower unloading conveyor line is also used to convey the first containers processed by the processing station to at least two layers of the loading carrying platforms.
The storage workstation according to claim 27 is characterized in that the number of layers of the loading platform and/or the number of layers of the unloading platform is two.
The storage workstation according to claim 28, characterized in that the push-pull direction includes a pushing direction and a pulling direction;

The pulling mechanism comprises a fourth sliding member and at least two first pulling members;

The fourth sliding member is movably arranged along the push-pull direction, and the fourth sliding member includes a sixth sliding portion extending along the lifting direction and at least two seventh sliding portions extending along the pushing-pull direction, at least two of the seventh sliding portions are arranged along the lifting direction and connected to the sixth sliding portion, and each of the seventh sliding portions has a free end at one end facing the pushing direction;

Each of the first pulling members is respectively disposed on one of the free ends, so that when the fourth sliding member moves toward the pulling direction, at least two of the first pulling members simultaneously pull at least two layers of the second containers onto at least two layers of the unloading bearing platforms.
The warehouse workstation according to claim 30 is characterized in that at least two of the first pulling members are rotatably connected to the free end, and the first pulling member is used to rotate to be parallel to the pushing and pulling direction to avoid the second container when the fourth sliding member moves in the pushing direction, and rotate toward the second container side to pull the second container when the fourth sliding member moves in the pulling direction, and pull the second container onto the unloading load platform.
The storage workstation according to claim 30 is characterized in that each layer of the unloading bearing platform includes a third connecting member and at least two third bearing rods, each of the third bearing rods is connected to the first column through the third connecting member, the third bearing rods are extended along the push-pull direction, and at least two of the third bearing rods are arranged along the conveying direction, and the sixth sliding part is sleeved on at least one of the third bearing rods on each layer of the unloading bearing platform, so that the sixth sliding part can slide relative to the third bearing rod along the push-pull direction.
The storage workstation according to claim 32 is characterized in that the third bearing rod is rotatably connected to the third connecting piece so that when the third bearing rod rotates, the second container is transported toward the conveying direction to the upper and lower unloading conveying line.
The storage workstation according to any one of claims 28-33 is characterized in that the pushing mechanism has at least two first pushing members arranged along the lifting direction, and at least two of the first pushing members are connected so that when the pushing mechanism moves along the pushing and pulling direction, at least two of the first pushing members push out at least two layers of the first containers at the same time.
The storage workstation according to claim 34 is characterized in that each layer of the loading platform includes a fourth connecting member and at least two fourth bearing rods, each of the fourth bearing rods is connected to the second column through the fourth connecting member, the fourth bearing rods are extended along the push-pull direction, and at least two of the fourth bearing rods are arranged along the conveying direction, and the pushing mechanism can slide along the push-pull direction relative to the fourth bearing rods.
The storage workstation according to claim 35 is characterized in that the fourth bearing rod is rotatably connected to the fourth connecting piece so that the fourth bearing rod receives the first container transported by the upper and lower unloading conveyor line when it rotates.
A warehousing system, characterized in that it comprises a robot and a warehousing workstation as described in any one of claims 27 to 36;

The robot is provided with a storage layer; the robot is used to transport the second container on the shelf to the unloading elevator through the storage layer and dock with the unloading elevator, and the pulling mechanism is used to pull the second container on the storage layer to the unloading load platform; the robot is also used to dock with the loading elevator, and the pushing mechanism is used to push the first container on the loading load platform to the storage layer, and the robot is also used to transport the first container on the loading elevator to the target location.
The storage system according to claim 37 is characterized in that the unloading platform has at least two layers, and at least two layers of the unloading platform are arranged on the first column along the lifting direction;

There are at least two pulling mechanisms, and at least two pulling mechanisms are arranged in an array along the lifting direction. The at least two pulling mechanisms are used to simultaneously pull at least two layers of the second containers onto at least two layers of the unloading bearing platforms;

There are at least two pushing mechanisms, and the at least two pushing mechanisms are arranged in an array along the lifting direction, and the at least two pushing mechanisms are used to push out at least two layers of the first containers on at least two layers of the loading platform at the same time;

The upper unloading conveyor line is used to convey the second containers on at least two layers of the unloading carrier to the processing station for processing to form the first container, and the upper unloading conveyor line is also used to convey the first container processed by the processing station to at least two layers of the loading carrier;

There are at least two storage layers, and at least two of the storage layers are arranged along the lifting direction; the robot is used to transport the second container on the shelf to the unloading elevator through at least two storage layers and dock with the unloading elevator, and the pulling mechanism is used to pull the second containers on at least two storage layers to at least two unloading load platforms at the same time; the robot is also used to dock with the loading elevator, and the pushing mechanism is used to push the first containers on at least two loading load platforms to at least two storage layers of the loading elevator at the same time.