Lift, warehousing system, warehousing system control method and warehousing workstation

Abstract

The embodiment of the present application relates to the technical field of logistics warehousing, and discloses a hoist and a warehousing system. The hoist includes a main body structure and a push-pull mechanism. The main body 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. The push-pull mechanism includes a transmission member, a pushing member, and a pulling member. The transmission member is movably arranged on the main body structure along the push-pull direction. The transmission member is respectively connected to the pushing member and the pulling member, and the pushing member is located on one side of the pulling member facing the cargo pulling direction. The transmission member is used to drive the pushing member to move along the cargo pushing direction, so that the pushing member pushes out the first container on the first bearing platform. The transmission member is also used to drive the pulling member to move in the cargo pulling direction, so that the pulling member pulls the second container onto the second bearing platform. By the above method, the embodiment of the present application solves the problems of large space occupation and low efficiency when the hoist transfers containers.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of logistics warehousing, and particularly to a hoist, a warehousing system, a warehousing system control method, and a warehousing workstation. Background Art

[0002] Currently, in a warehousing system, a hoist is used to lift a container to a corresponding height. The warehousing system generally includes a discharging machine, a loading machine, and a conveyor line. The discharging machine includes a discharging buffer tower and a discharging hoist, and the loading machine includes a loading buffer tower and a loading hoist. A robot equipped with a container first transports the container to the discharging buffer tower, and then the discharging buffer tower transports the container to the discharging hoist. After the discharging hoist places the container on the conveyor line for corresponding processing, the conveyor line transports the container to the loading hoist, and then the loading buffer tower transports the container on the loading hoist, and then the robot transports the container away from the loading buffer tower.

[0003] Since the container needs to pass through the buffer tower to be input to or unloaded from the hoist, the transfer of the container requires a large amount of space and has low operation efficiency. Summary of the Invention

[0004] In view of the above problems, the embodiments of the present application provide a hoist, a warehousing system, a warehousing system control method, and a warehousing workstation, which are used to solve the problems of large space occupation and low efficiency when the hoist transfers containers.

[0005] According to one aspect of the embodiments of the present application, the present application provides a hoist. The hoist includes a main body structure and a pushing and pulling mechanism. The main body 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 both the first bearing platform and the second bearing platform are movably connected to the column along the lifting direction. The pushing and pulling mechanism includes a transmission member, a pushing member, and a pulling member. The transmission member is movably arranged on the main body structure along the pushing and pulling direction, and an included angle is provided between the pushing and pulling direction and the lifting direction. The pushing and pulling direction includes a goods pushing direction and a goods pulling direction. The transmission member is respectively connected to the pushing member and the pulling member, and in the initial state, the pushing member is located on the side of the pulling member facing the goods pulling direction. The transmission member is used to drive the pushing member to move along the goods pushing direction, so that the pushing member pushes out the first container on the first bearing platform, and the transmission member is also used to drive the pulling member to move in the goods pulling direction, so that the pulling member pulls the second container onto the second bearing platform.

[0006] In the elevator provided by the embodiment of the present application, by arranging a transmission member on the main body structure and connecting the pushing member and the pulling member to the transmission member, when the transmission member moves, the pushing member is driven to push out the first container on the first bearing platform, and the pulling member is also driven to pull the second container to the second bearing platform, 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. Therefore, the space occupation can be effectively saved and the operation efficiency of the elevator can be improved.

[0007] According to another aspect of the present application, a storage system is further provided. The storage system includes a robot, a conveyor line assembly, a processing station, and the elevator in any of the above embodiments. At least two layers of storage layers are arranged on the robot along the lifting direction. The robot is used to move to one side of the elevator in the pushing direction of the goods, so that when the transmission member moves, the pushing member pushes the first container on the first bearing platform to one of the adjacent two storage layers, and the pulling member pulls the second container on the other of the adjacent two storage layers to the second bearing platform. The conveyor line assembly is docked with the elevator. The conveyor line assembly is used to convey the second container output from the second bearing platform, and the conveyor line assembly is also used to convey the first container to the first bearing 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.

[0008] According to another aspect of the embodiment of the present application, a storage system control method is further provided. The storage system control method is applied to the storage system in any of the above embodiments. The method includes: controlling the docking of the robot and the elevator; controlling the elevator to take at least one of the second containers from one of the adjacent two storage layers of the robot and place at least one of the first containers on the other of the adjacent two storage layers of the robot; controlling the conveyor line assembly to receive the second container output from the second bearing platform; controlling the conveyor 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; controlling the conveyor line assembly to convey the first container to the first bearing platform.

[0009] In the storage system control method of the present application, by docking the robot and the 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 conveyed to the conveyor line assembly for processing. There is no need to set up a buffer tower docked with the elevator, and the robot does not need to walk to the target location for loading after unloading. Therefore, the space occupation can be reduced and the operation efficiency of the storage system can be improved.

[0010] According to another aspect of the embodiments of the present application, a warehousing workstation is further provided. The warehousing workstation includes: a discharging elevator, a loading elevator, a loading and unloading conveyor line, and a processing station. The discharging elevator includes a first column, a discharging carrier platform, and a pulling mechanism; the discharging carrier platform is arranged on the first column, and the discharging carrier platform is movably connected to the first column along the lifting direction; the pulling mechanism is movably arranged along the pushing and pulling direction, and an included angle is arranged between the pushing and pulling direction and the lifting direction, and the pulling mechanism is used to pull the second container onto the discharging carrier platform. The loading elevator includes a second column, a loading carrier platform, and a pushing mechanism; the loading carrier platform is arranged on the second column, and the loading carrier platform is movably connected to the second column along the lifting direction; the pushing mechanism is movably arranged along the pushing and pulling direction, and the pushing mechanism is used to push out the first container on the loading carrier platform. The loading and unloading conveyor line is arranged between the discharging elevator and the loading elevator, and the conveying direction of the loading and unloading conveyor line forms an included angle with both the lifting direction and the pushing and pulling direction. The processing station is arranged on one side of the loading and unloading conveyor line. The loading and unloading conveyor line is used to convey the second container on the discharging carrier platform to the processing station for processing to form the first container, and the loading and unloading conveyor line is further used to convey the first container onto the loading carrier platform.

[0011] The warehousing workstation of the present application can pull the second container onto the discharging carrier platform by the movement of the pulling mechanism on the discharging elevator, without unloading the second container to the carrier platform of the elevator through the discharging buffer tower, which can save the occupied space of the warehousing workstation, improve the efficiency of unloading the second container, and push out the first container on the loading carrier platform by the movement of the pushing mechanism of the loading elevator, without feeding the first container output by the conveyor line through the loading buffer tower, which can reduce the occupied space of the warehousing workstation and improve the feeding efficiency of the first container output by the loading and unloading conveyor line, so as to save the overall occupied space of the warehousing workstation and improve the efficiency of the whole operation process of unloading the second container by the warehousing workstation, processing it, and feeding the processed container.

[0012] According to another aspect of the present application, a warehousing system is further provided. The warehousing system includes a robot and the warehousing workstation in any of the above embodiments. A storage layer is arranged on the robot; the robot is used to carry the second container on the shelf to the discharging elevator through the storage layer and dock with the discharging elevator, and the pulling mechanism is used to pull the second container on the storage layer onto the discharging carrier platform; the robot is further used to dock with the loading elevator, and the pushing mechanism is used to push the first container on the loading carrier platform onto the storage layer. The robot is also used to carry the first container on the loading elevator to the target location. The robot carries the second container on the shelf to the discharging elevator and also carries the first container on the loading elevator to the target location, forming a highly automated warehousing system, improving the operation efficiency of the warehousing system and reducing the operation risk.

[0013] The above description is only an overview of the technical solution of the present application. In order to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the following specific embodiments of the present application are specifically given. Brief Description of the Drawings

[0014] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0015] Figure 1 The structural schematic diagram of the elevator provided by an embodiment of the present application is shown;

[0016] Figure 2 The structural schematic diagram of the transmission member disposed on the first carrier provided by an embodiment of the present application is shown;

[0017] Figure 3 The top view structural schematic diagram of the transmission member and the first carrier provided by an embodiment of the present application is shown;

[0018] Figure 4 The top view structural schematic diagram of the transmission member and the first carrier provided by an embodiment of the present application is shown;

[0019] Figure 5 The structural schematic diagram of the transmission member disposed on the second carrier provided by an embodiment of the present application is shown;

[0020] Figure 6 The structural schematic diagram of the main body structure of the elevator provided by an embodiment of the present application is shown;

[0021] Figure 7 The structural schematic diagram of the elevator provided by another embodiment of the present application is shown;

[0022] Figure 8 The structural schematic diagram of the elevator provided by another embodiment of the present application is shown;

[0023] Figure 9 The structural schematic diagram of the elevator provided by another embodiment of the present application is shown;

[0024] Figure 10 The structural schematic diagram of the elevator provided by another embodiment of the present application is shown;

[0025] Figure 11 The structural schematic diagram of the elevator provided by another embodiment of the present application is shown;

[0026] Figure 12 Shows a schematic structural diagram of an elevator provided by another embodiment of the present application;

[0027] Figure 13 Shows a schematic structural diagram of an elevator provided by another embodiment of the present application;

[0028] Figure 14 Shows a schematic structural diagram of the pushing and pulling mechanism of an elevator provided by an embodiment of the present application for pushing and pulling a container;

[0029] Figure 15 Shows a schematic structural diagram of a pulling member rotated to be parallel to the pushing and pulling direction provided by an embodiment of the present application;

[0030] Figure 16 Shows a schematic structural diagram of a pulling member rotated to be parallel to the pushing and pulling direction provided by an embodiment of the present application;

[0031] Figure 17 Shows a front view of a warehousing system provided by an embodiment of the present application;

[0032] Figure 18 Shows a top view of a warehousing system provided by an embodiment of the present application;

[0033] Figure 19 Shows a left view of a warehousing system provided by an embodiment of the present application;

[0034] Figure 20 Shows a left view of a warehousing system provided by another embodiment of the present application;

[0035] Figure 21 Shows a left view of a warehousing system provided by another embodiment of the present application;

[0036] Figure 22 Shows a left view of a warehousing system provided by another embodiment of the present application

[0037] Figure 23 Shows a left view of a warehousing system provided by another embodiment of the present application;

[0038] Figure 24 Shows a top view of a warehousing system provided by another embodiment of the present application;

[0039] Figure 25 Shows a schematic structural diagram of the lifting and transfer platform of a roller elevator provided by another embodiment of the present application;

[0040] Figure 26 Shows a schematic structural diagram of a warehousing system provided by another embodiment of the present application;

[0041] Figure 27Shows the flowchart of the warehousing system control method provided by an embodiment of the present application;

[0042] Figure 28 Shows Figure 27 The sub-step flowchart of steps S330, S340, and S350 in

[0043] Figure 29 Shows the flowchart of the warehousing system control method provided by another embodiment of the present application;

[0044] Figure 30 Shows the top view of the warehousing workstation provided by an embodiment of the present invention;

[0045] Figure 31 Shows the front view of the warehousing workstation provided by an embodiment of the present invention;

[0046] Figure 32 Shows the left view of the warehousing workstation provided by an embodiment of the present invention;

[0047] Figure 33 Shows the right view of the warehousing workstation provided by an embodiment of the present invention;

[0048] Figure 34 Shows the left view of the warehousing workstation provided by another embodiment of the present invention;

[0049] Figure 35 Shows the structural schematic diagram of the unloading hoist provided by an embodiment of the present invention;

[0050] Figure 36 Shows the structural schematic diagram of the unloading hoist provided by another embodiment of the present invention;

[0051] Figure 37 Shows the left view of the warehousing workstation provided by another embodiment of the present invention;

[0052] Figure 38 Shows the structural schematic diagram of the first pulling member rotated to be parallel to the pushing and pulling direction provided by an embodiment of the present application;

[0053] Figure 39 Shows the structural schematic diagram of the first pulling member rotated to be parallel to the pushing and pulling direction provided by another embodiment of the present application;

[0054] Figure 40 Shows the structural schematic diagram of the unloading carrier on the unloading hoist provided by an embodiment of the present invention;

[0055] Figure 41 Shows the structural schematic diagram of the sixth sliding part sleeved on the third bearing rod along the goods pulling direction provided by an embodiment of the present application;

[0056] Figure 42 The structural schematic diagram of the unloading hoist provided by an embodiment of the present application is shown;

[0057] Figure 43 The structural schematic diagram of the unloading and loading platform on the unloading hoist provided by an embodiment of the present invention is shown; and

[0058] Figure 44 The structural schematic diagram along the cargo pulling direction of the pushing mechanism sleeved on the fourth load-bearing rod provided by an embodiment of the present application is shown.

[0059] The reference numerals in the specific embodiments are as follows:

[0060] 100, Hoist;

[0061] 110, Main body structure; 111, Column; 112, First load-bearing platform; 112a, Opening; 1121, First connecting member; 11211, First connecting plate; 11212, Second connecting plate; 1122, First load-bearing rod; 113, Second load-bearing platform; 1131, Second connecting member; 1132, Second load-bearing rod; 11311, Third connecting plate; 11312, Fourth connecting plate;

[0062] 120, Pushing and pulling 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;

[0063] 130, Lifting mechanism;

[0064] 200, Storage system;

[0065] 210, Robot; 211, Storage layer; 2111, First storage layer; 2112, Second storage layer; 2116, Sixth storage layer; 2117, Seventh storage layer;

[0066] 220, Conveyor line assembly; 220a, Input end of the conveyor line assembly; 220b, Output end of the conveyor line assembly; 221, First conveyor line; 2211, Input end of the first conveyor line; 2212, Output end of the first conveyor line; 222, Second conveyor line; 2221, Output end of the second conveyor line; 2222, Input end of the second conveyor line;

[0067] 230, Processing station;

[0068] 240. Container transfer device; 241. Roller lifter; 2411. Lifting transfer platform; 2412. Lifting column; 24111. Roller

[0069] 250. Shelf

[0070] 500. Warehousing workstation

[0071] 510. Unloading lifter

[0072] 511. First column

[0073] 512. Unloading bearing platform; 512a. First opening; 5121. Third connecting piece; 5122. Third bearing rod

[0074] 513. Pulling mechanism; 5131. Fourth sliding part; 51311. Sixth sliding part; 51312. Seventh sliding part; 51312a. Free end; 51313. First pulling piece

[0075] 520. Loading lifter

[0076] 521. Second column

[0077] 522. Loading bearing platform; 522a. Second opening; 5221. Fourth connecting piece; 5222. Fourth bearing rod

[0078] 523. Pushing mechanism; 5231. First pushing piece; 5232. Fifth sliding part

[0079] 530. Loading and unloading conveyor line

[0080] 540. Processing station

[0081] 550. Robot; 551. Storage layer, 551a. Second container Detailed implementation manners

[0082] The embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solutions of the present application more clearly, so they are only examples and cannot be used to limit the protection scope of the present application.

[0083] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled 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" and any variations thereof in the specification and claims of this application and the above accompanying drawings are intended to cover non-exclusive inclusion.

[0084] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects, and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "a plurality of" is more than two, unless otherwise specifically defined.

[0085] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appearing in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0086] In the description of the embodiments of the present application, the term "and / or" is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: the existence of A, the simultaneous existence of A and B, and the existence of B. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0087] In the description of the embodiments of the present application, the term "a plurality of" means more than two (including two). Similarly, "a plurality of groups" means more than two groups (including two groups), and "a plurality of pieces" means more than two pieces (including two pieces).

[0088] In the description of the embodiments of the present application, technical terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation on the embodiments of the present application.

[0089] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can also be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside 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 specific circumstances.

[0090] At present, elevators play an important role in the warehousing system. However, in the process of inputting containers on the robot to the conveyor line and outputting the processed containers from the conveyor line to the robot, both a discharging buffer tower and a feeding buffer tower are required in the warehousing system. Moreover, the robot needs to walk to the feeding buffer tower for feeding after discharging from the discharging buffer tower. As a result, a large amount of space is required for the transfer of containers, and the operation efficiency is low.

[0091] Based on the above problems, the present application provides an elevator. By providing a pushing member and a pulling member on the elevator, and driving the pushing member and the pulling member to move by a transmission member, the elevator can not only push out the first container on the first bearing platform, but also pull the second container to the second bearing platform. When the elevator is operating, the taking and placing of containers on it no longer require a buffer tower. The elevator can directly dock with the robot to take and place containers, thereby reducing space occupancy and improving the operation efficiency of the elevator at the same time.

[0092] Please refer to Figure 1 , Figure 1 shows a schematic structural diagram of an elevator provided by an embodiment of the present application. According to one aspect of the present application, the present application provides an elevator 100. The elevator 100 includes a main body structure 110 and a pushing and pulling mechanism 120. The main body 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. Both the first bearing platform 112 and the second bearing platform 113 are movably connected to the column 111 along the lifting direction Z. The pushing and pulling 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 body structure 110 along the pushing and pulling direction X. The pushing and pulling direction X forms an angle with the lifting direction Z. Exemplarily, the pushing and pulling direction X is perpendicular to the lifting direction Z. The pushing and pulling direction X includes a goods pushing direction X1 and a goods pulling direction X2. The transmission member 121 is respectively connected to the pushing member 122 and the pulling member 123. And in the initial state, the pushing member 122 is located on the side of the pulling member 123 facing the goods pulling direction X2. The transmission member 121 is used to drive the pushing member 122 to move along the goods pushing direction X1, so that the pushing member 122 can push out the first container on the first bearing platform 112. The transmission member 121 is also used to drive the pulling member 123 to move in the goods pulling direction X2, so that the pulling member 123 can pull the second container to the second bearing platform 113.

[0093] The first container and the second container are material boxes containing goods, which can be plastic boxes, cardboard boxes, wooden boxes, etc. The present application embodiment does not make specific limitations on this. The initial state refers to the state when the pushing member 122 is at the starting position of pushing out the first container.

[0094] The pusher 122 is used to push out the first container on the first carrier 112. The puller 123 is used to pull the second container onto the second carrier 113. The pusher 122 and the puller 123 can be plate-shaped as shown in Figure 1 , or can be in the shape of a rod, a block, etc.

[0095] The transmission member 121 of the push-pull mechanism 120 of the elevator 100 is movably arranged on the main body structure 110 of the elevator 100 along the push-pull direction X. The transmission member 121 drives the pusher 122 to move along the goods-pushing direction X1, so that the pusher 122 pushes out the first container on the first carrier 112. The transmission member 121 drives the puller 123 to move in the goods-pulling direction X2, so that the puller 123 pulls the second container onto the second carrier 113. That is to say, the pusher 122 of the push-pull mechanism 120 on the same elevator 100 can push out the first container on the first carrier 112, and the puller 123 can pull the second container onto the second carrier 113.

[0096] The pusher 122 and the puller 123 are respectively connected to the transmission member 121, and the pusher 122 is located on one side of the puller 123 in the goods-pulling direction X2. When the transmission member 121 moves along the push-pull direction X, both 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 carrier 112, and the puller 123 pulls the second container onto the second carrier 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 carried out simultaneously, or the pusher 122 can first push out the first container, and then the puller 123 pulls the second container onto the second carrier 113.

[0097] In the elevator 100 provided by the embodiment of the present application, by arranging the transmission member 121 on the main body structure 110 and connecting the pusher 122 and the puller 123 to the transmission member 121, when the transmission member 121 moves, it drives the pusher 122 to push out the first container on the first carrier 112, and also drives the puller 123 to pull the second container onto the second carrier 113, so that the elevator 100 itself can realize the loading and unloading of the container, and it is no longer necessary to perform this operation through the buffer tower. Therefore, the space occupation can be effectively saved and the operation efficiency of the elevator 100 can be improved.

[0098] Please refer to Figure 2 , Figure 2The figure shows a schematic structural diagram of a transmission member disposed on a first carrier. In an alternative embodiment, the lifting direction Z includes an upward direction Z1 and a downward direction Z2. The first carrier 112 is disposed on one side of the second carrier 113 facing the upward 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 disposed on the first carrier 112, and the driving wheel 1211 and the driven wheel 1212 are arranged along the pushing and pulling direction X. The flexible transmission member 1213 is sleeved on the driving wheel 1211 and the driven wheel 1212. The pusher 122 and the puller 123 are respectively disposed 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 upward direction Z1 and protrudes from the upper surface of the first carrier 112. The puller 123 is disposed on the side of the flexible transmission member 1213 facing the downward direction Z2 and protrudes from the lower surface of the first carrier 112. The driving wheel 1211 is used to drive the flexible transmission member 1213 to move, so as to simultaneously push the first container and pull the second container by the pusher 122 and the puller 123, and the pusher 122 moves in the cargo pushing direction X1, and the puller 123 moves in the cargo pulling direction X2.

[0099] The flexible transmission member 1213 may specifically be a synchronous belt or a transmission chain.

[0100] When the pusher 122 is at the limit position in the X2 direction, the puller 123 extends beyond the second carrier 113 by a certain length in the X1 direction, so that it can be docked with the container and pull the container onto the second carrier 113.

[0101] Please refer to Figure 3 and Figure 4 , Figure 3 and Figure 4 The figure shows a top view structural diagram of the transmission member and the first carrier provided by an embodiment of the present application. The driving wheel 1211 and the driven wheel 1212 are rotatably disposed on the first carrier 112. It may be that an opening 112a is formed on the first carrier 112 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 carrier 112 through a rotating shaft. It may also be that the driving wheel 1211 and the driven wheel 1212 are located on the side of the first carrier 112 as shown in Figure 4 , and are fixed to the first carrier 112 through a rotating shaft.

[0102] 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 pushing and pulling direction X. It may be that the driving wheel 1211 is located as shown in Figure 2On one side of the cargo-pulling direction X2 shown in the figure, the driven wheel 1212 is located on one side of the cargo-pushing direction X1. It can also be that the driving wheel 1211 is located on one side of the cargo-pushing direction X1 and the driven wheel 1212 is located on one side of the cargo-pulling direction X2.

[0103] The pushing member 122 is disposed on the side of the conveyor belt 1213 facing the upward direction Z1 and protrudes from the upper surface of the first bearing platform 112. One end of the pushing member 122 can be fixedly connected to the side of the conveyor belt 1213 facing the upward direction Z1, and the other end of the pushing member 122 extends in the upward direction Z1 and protrudes from the upper surface of the first bearing platform 112. In this way, the connection structure between the pushing member 122 and the conveyor belt 1213 is simple and the cost is low. Moreover, when the conveyor belt 1213 moves, the pushing member 122 can move along the cargo-pushing direction X1 to push out the first container, and the operation is convenient and fast.

[0104] Please continue to refer to Figure 2 Specifically, when the driving wheel 1211 rotates, it drives the conveyor belt 1213 to move. The upper half of the conveyor belt 1213 moves toward the side of the cargo-pushing direction X1 and drives the pushing member 122 to move accordingly. The lower half of the conveyor belt 1213 moves toward the side of the cargo-pulling direction X2 and drives the pulling member 123 to move accordingly, so as to simultaneously perform the action of the pushing member 122 pushing out the first container on the first bearing platform 112 and the action of the pulling member 123 pulling the second container onto the second bearing platform 113.

[0105] By disposing the pushing member 122 on the side of the flexible conveyor member 1213 facing the upward direction Z1 and protruding from the upper surface of the first bearing platform 112, and disposing the pulling member 123 on the side of the flexible conveyor member 1213 facing the downward direction Z2 and protruding from the lower surface of the first bearing platform 112, the flexible conveyor member 1213 drives the pushing member 122 and the pulling member 123 to simultaneously push the first container and pull the second container respectively, that is, the discharging action and the loading action on the elevator 100 are performed simultaneously, thereby further saving the time required for the elevator 100 to load and unload materials and improving the operation efficiency.

[0106] Please refer to Figure 5 , Figure 5The figure shows a schematic structural diagram of a transmission member disposed on a second carrier in another embodiment of the present application. In an alternative embodiment, the lifting direction Z includes an ascending direction Z1 and a descending direction Z2. The first carrier 112 is disposed on one side of the second carrier 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 disposed on the second carrier 113, and the driving wheel 1211 and the driven wheel 1212 are arranged along the pushing and pulling direction X. 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 disposed on both sides of the flexible transmission member 1213 along the lifting direction Z. The pushing member 122 is disposed on the side of the flexible transmission member 1213 facing the descending direction Z2 and protrudes from the lower surface of the second carrier 113. The pulling member 123 is disposed on the side of the flexible transmission member 1213 facing the ascending direction Z1 and protrudes from the upper surface of the second carrier 113. The driving wheel 1211 is configured 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 cargo pushing direction X1, and the pulling member 123 moves in the cargo pulling direction X2.

[0107] By disposing 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 carrier 113, and disposing 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 carrier 113, the flexible transmission member 1213 drives the pushing member 122 and the pulling member 123 to simultaneously push the first container and pull the second container respectively, that is, the discharging action and the loading action on the elevator 100 are performed simultaneously, thereby further saving the time required for loading and unloading of the elevator 100 and improving the operation efficiency.

[0108] Please refer to Figure 6 and Figure 7 , Figure 6 The figure shows a schematic structural diagram of the main structure of an elevator provided in an embodiment of the present application. Figure 7The schematic structural diagram of the elevator provided by another embodiment of the present application is shown. In an alternative embodiment, the lifting direction Z includes an ascending direction Z1 and a descending direction Z2; the first carrier 112 is located on one side of the second carrier 113 facing the ascending direction Z1. The transmission member 121 includes a first sliding member 1214 slidably disposed on the first carrier 112 along the pushing and pulling direction X. The pusher 122 and the puller 123 are respectively disposed at both ends of the first sliding member 1214 along the pushing and pulling direction X, and the pusher 122 protrudes from the upper surface of the first carrier 112, and the puller 123 protrudes from the lower surface of the first carrier 112. The first sliding member 1214 is configured to drive the pusher 122 to move in the goods pushing direction X1, so that the pusher 122 pushes out the first container on the first carrier 112, and then drives the puller 123 to move in the goods pulling direction X2, so that the puller 123 pulls the second container onto the second carrier 113.

[0109] Please refer to Figure 6 and Figure 7 , specifically, the first sliding member 1214 is slidably disposed on the first carrier 112. It may be that the lower surface of the first carrier 112 is provided with a slide rail, and the first sliding member 1214 is slidably connected to the first carrier 112 through the slide rail. The pusher 122 is connected to one end of the first sliding member 1214 facing the goods pulling direction X2, and the pusher 122 protrudes from the upper surface of the first carrier 112 through the opening on the first carrier 112. The puller 123 is connected to one end of the first sliding member 1214 facing the goods pushing direction X1 and protrudes from the lower surface of the first carrier 112. When the first sliding member 1214 moves in the goods pushing direction X1, the first sliding member 1214 drives the pusher 122 and the puller 123 to move together in the goods pushing direction X1, so that the pusher 122 pushes out the first container on the first carrier 112. At the same time, the puller 123 moves to the position for pulling the second container. Then the first sliding member 1214 moves in the goods pulling direction X2, and the first sliding member 1214 drives the puller 123 and the pusher 122 to move together in the goods pulling direction X2. The puller 123 pulls the second container onto the second carrier 113, and at the same time, the pusher 122 returns to the initial position of pushing out the container.

[0110] Please refer to Figure 6 and Figure 8 , Figure 8 The schematic structural diagram of the elevator provided by another embodiment of the present application is shown. As shown in the figure, the first sliding member 1214 is slidably connected to the first carrier 112 through a slide rail. The slide rail is located on the inner wall of the upper opening of the first carrier 112, and the first sliding member 1214 extends out of the first carrier 112 in the goods pushing direction X1.

[0111] By arranging the first carrier 112 on one side of the second carrier 113 in the upward direction Z1, and slidably arranging the first slider 1214 on the first carrier 112 along the push-pull direction X, when the first slider 1214 reciprocates once in the push goods direction X1 and the pull goods direction X2 in sequence, the pusher 122 can push out the first container on the first carrier 112, and the puller 123 can pull the second container onto the second carrier 113. In the way of driving the pusher 122 and the puller 123 to reciprocate by the first slider 1214 for container picking and unloading, the overall structure is simple, the number of components is small, which is beneficial to cost saving, and is convenient for the overall assembly of the elevator 100.

[0112] Please refer to Figure 9 , Figure 9 FIG. shows a schematic structural diagram of an elevator provided by another embodiment of the present application. In an optional embodiment, the lifting direction Z includes an upward direction Z1 and a downward direction Z2; the first carrier 112 is located on one side of the second carrier 113 in the downward direction Z2. The transmission member 121 includes a first slider 1214 slidably arranged on the second carrier 113 along the push-pull direction X. The pusher 122 and the puller 123 are respectively arranged at both ends of the first slider 1214 along the push-pull direction X, and the pusher 122 protrudes from the lower surface of the second carrier 113, and the puller 123 protrudes from the upper surface of the second carrier 113. The first slider 1214 is used to drive the pusher 122 to move in the push goods direction X1, so that the pusher 122 can push out the first container on the first carrier 112, and then drive the puller 123 to move in the pull goods direction X2, so that the puller 123 can pull the second container onto the second carrier 113.

[0113] By arranging the first carrier 112 on one side of the second carrier 113 in the downward direction Z2, and slidably arranging the first slider 1214 on the second carrier 113 along the push-pull direction X, when the first slider 1214 reciprocates once in the push goods direction X1 and the pull goods direction X2 in sequence, the pusher 122 can push out the first container on the first carrier 112, and the puller 123 can pull the second container onto the second carrier 113. In the way of driving the pusher 122 and the puller 123 to reciprocate by the first slider 1214 for container picking and unloading, the overall structure is simple, the number of components is small, which is beneficial to cost saving, and is convenient for the overall assembly of the elevator 100.

[0114] Please refer to again Figure 1 and Figure 6, in an alternative embodiment, the first carrier 112 includes a first connecting member 1121 and a plurality of first carrier rods 1122. The plurality of first carrier rods 1122 are movably connected to the column 111 through the first connecting member 1121. The first carrier rods 1122 are arranged to extend along the pushing and pulling direction X, and the plurality of first carrier rods 1122 are arranged in the conveying direction Y. An angle is provided between the conveying direction Y and the pushing and pulling direction X and the lifting direction Z. Exemplarily, the conveying direction Y is perpendicular to both the pushing and pulling direction X and the lifting direction Z. The first slider 1214 drives the pusher 122 to slide relative to the first carrier rod 1122 along the pushing and pulling direction X.

[0115] The conveying direction Y can be the first conveying direction Y1 as shown in Figure 6 or the second conveying direction Y2.

[0116] The manner in which the first slider 1214 can drive the pusher 122 to slide relative to the first carrier rod 1122 can be that the pusher 122 is sleeved on at least one first carrier rod 1122, and when the first slider 1214 moves, it drives the pusher 122 to slide relative to the first carrier rod 1122. Or the first slider 1214 is slidably connected to the first carrier rod 1122 through a guide rail on the first carrier rod 1122, and when the first slider 1214 slides, it drives the pusher 122 to slide relative to the first carrier rod 1122. The pusher 122 can slide relative to the first carrier rod 1122 along the pushing and pulling direction X, so that when the first slider 1214 moves towards the goods pushing direction X1, it drives the pusher 122 to slide relative to the first carrier rod 1122 and pushes out the first container.

[0117] By movably connecting the plurality of first carrier rods 1122 of the first carrier 112 to the column 111 through the first connecting member 1121, arranging the first carrier rods 1122 to extend along the pushing and pulling direction X, and arranging the plurality of first carrier rods 1122 in the conveying direction Y, the first slider 1214 can drive the pusher 122 to slide relative to the first carrier rod 1122, and when the pusher 122 moves along the first carrier rod 1122, it can push the first container, thereby ensuring the stability of the overall structure of the pusher 122, the puller 123, and the first slider 1214 when pushing the container.

[0118] Please refer to again Figure 6 , in an alternative 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 carrier rods 1122 are rotatably connected to the first connecting plate 11211 and the second connecting plate 11212 respectively. The first carrier rods 1122 are used to receive the first container when rotating.

[0119] 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.

[0120] 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.

[0121] Please refer again Figure 6 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 .

[0122] 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.

[0123] See also Figure 10 and Figure 11 , Figure 10 A schematic diagram of the structure of a hoist provided by another embodiment of the present application is shown. Figure 11The structural schematic diagram of the elevator provided by another embodiment of the present application is shown. In an alternative embodiment, the lifting direction Z includes an ascending direction Z1 and a descending direction Z2; the first carrier 112 is located on the side of the second carrier 113 facing the ascending direction Z1. The transmission member 121 includes a second sliding member 1216 slidably disposed on the main body structure 110 along the pushing and pulling 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 carrier 112 facing the ascending direction Z1, the third sliding portion 12163 is located on the side of the first carrier 112 facing the descending direction Z2, and the second sliding portion 12162 extends along the lifting direction Z. Two ends of the second sliding portion 12162 are fixedly connected to one end of the first sliding portion 12161 facing the cargo pulling direction X2 and one end of the third sliding portion 12163 facing the cargo pulling direction X2 respectively. The pushing member 122 is connected to the other end of the first sliding portion 12161, and the pulling member 123 is connected to the other end of the third sliding portion 12163. The pulling member 123 is located between the first carrier 112 and the second carrier 113. The second sliding member 1216 is configured to drive the pushing member 122 to move in the cargo pushing direction X1, so that the pushing member 122 pushes the first container on the first carrier 112 out, and then drives the pulling member 123 to move in the cargo pulling direction X2, so that the pulling member 123 pulls the second container onto the second carrier 113.

[0124] Specifically, as Figure 10As shown in , 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.

[0125] The second sliding portion 12162 can be Figure 11 The second sliding portion 12162 can also be located on the side of the column 111 away from the first bearing platform 112. Figure 6 The opening 112 a shown in FIG. 1 passes through the first carrying platform 112 , so that the second sliding portion 12162 can be located on a side of the column 111 facing the first carrying platform 112 .

[0126] The third sliding portion 12163 can be Figure 10 As shown in FIG. 1 , the first carrier 112 is located below the first carrier 112 and is slidably connected to the first carrier 112 via a guide rail. Figure 11 As shown in FIG. 1 , the second carrier platform 113 is passed through the opening on the second carrier platform 113 and is slidably connected to the second carrier platform 113 through the guide rail.

[0127] The push member 122 may be Figure 10 As shown in FIG. 1 , it is located below the first sliding portion 12161, and can also be as shown in FIG. Figure 11 As shown in FIG. 1 , it is located above the first sliding portion 12161 , and may also be parallel to the first sliding portion 12161 .

[0128] By sliding the second slider 1216 along the push-pull direction X on the main body structure 110, when the second slider 1216 moves in the goods-pushing direction X1, it drives the pusher 122 to move and push out the first container. When the second slider 1216 moves in the goods-pulling direction X2, it drives the puller 123 to move and pull the second container onto the second carrier 113. In the same way, convenient loading and unloading of the container can be achieved.

[0129] Please refer to Figure 12 and Figure 13 , Figure 12 which shows a schematic structural diagram of an elevator provided by another embodiment of the present application. Figure 13 which shows a schematic structural diagram of an elevator provided by another embodiment of the present application. In an alternative embodiment, the lifting direction Z includes an ascending direction Z1 and a descending direction Z2; the first carrier 112 is located on one side of the second carrier 113 in the descending direction Z2. The transmission member 121 includes a third slider 1215 slidably disposed on the main body structure 110 along the push-pull direction X. The third slider 1215 has a fourth sliding portion 12151 and a fifth sliding portion 12152. The fourth sliding portion 12151 extends along the push-pull direction X and is located above the second carrier 113. The fifth sliding portion 12152 extends along the lifting direction Z. One end of the fifth sliding portion 12152 in the ascending direction Z1 is connected to one end of the fourth sliding portion 12151 in the goods-pulling direction X2. The pusher 122 is connected to the other end of the fifth sliding portion 12152. The pusher 122 is located between the first carrier 112 and the second carrier 113. The puller 123 is connected to the other end of the fourth sliding portion 12151. The third slider 1215 is used to drive the pusher 122 to move in the goods-pushing direction X1, so that the pusher 122 pushes out the first container on the first carrier 112, and then drives the puller 123 to move in the goods-pulling direction X2, so that the puller 123 pulls the second container onto the second carrier 113.

[0130] Specifically, as Figure 12As shown in the figure, the fourth sliding part 12151 can be movably connected to the column 111 through a guide rail. The fourth sliding part 12151 extends along the pushing and pulling direction X, and one end of the fourth sliding part 12151 extends to the side of the column 111 facing 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 facing away from the first bearing platform 112. One end of the fifth sliding part 12152 facing the ascending direction Z1 is connected to one end of the fourth sliding part 12151 facing the goods 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 part. During the process that the fourth sliding part 12151 and the fifth sliding part 12152 reciprocate once in the goods pushing direction X1 and the goods pulling direction X2 in sequence, first drive the pushing member 122 to push out the first container on the first bearing platform 112, and then drive the pulling member 123 to pull the second container onto the second bearing platform 113.

[0131] Specifically, as Figure 1 and Figure 13 shown in the figure, the fourth sliding part 12151 and the fifth sliding part 12152 can also be both located on the side of the column 111 facing the second bearing platform 113. The fourth sliding part 12151 is movably connected to the second bearing platform 113 through a guide rail located above the second bearing platform 113. The fifth sliding part 12152 passes through the second bearing platform 113 and extends along the lifting direction Z to between the second bearing platform 113 and the first bearing platform 112. 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 way as the embodiment shown in Figure 12 and will not be elaborated here.

[0132] By sliding the third sliding member 1215 along the pushing and pulling direction X on the main body structure 110, when the third sliding member 1215 moves in the goods pushing direction X1, it drives the pushing member 122 to move and push out the first container. When the third sliding member 1215 moves in the goods pulling direction X2, it drives the pulling member 123 to move and pull the second container onto the second bearing platform 113, and the convenient loading and unloading of the container can also be realized.

[0133] In an alternative 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.

[0134] The first transmission member and the second transmission member can respectively be the transmission mechanism composed of the driving wheel 1211, the driven wheel 1212, and the flexible transmission member 1213 in the above embodiments, or can be the first sliding member 1214, the second sliding member 1216, or the third sliding member 1215 in the above embodiments. Moreover, the first transmission member and the second transmission member can have the same structure, or can respectively be two different structures in the above embodiments.

[0135] By enabling the independent movement of the first transmission member and the second transmission member, the pushing action of the pusher 122 connected to the first transmission member for pushing goods and the pulling action of the puller 123 connected to the second transmission member for pulling goods are independent. When the first transmission member fails, it will not affect the action of the second transmission member driving the puller 123 to pull goods. When the second transmission member fails, it will not affect the action of the first transmission member driving the pusher 122 to push goods.

[0136] Please refer to Figures 14 to 16 , Figure 14 which shows a schematic structural view of the pushing and pulling mechanism 120 of the elevator provided by an embodiment of the present application for pushing and pulling a container. Figure 15 and Figure 16 which shows a schematic structural view of the puller 123 rotated to be parallel to the pushing and pulling direction X. In an alternative embodiment, the puller 123 is rotatably connected to the transmission member 121. The puller 123 is configured to rotate to be parallel to the pushing and pulling direction X to avoid the second container when the transmission member 121 moves relative to the second container in the goods pushing direction X1, and to rotate towards the second container side to hold the second container when the transmission member 121 moves in the goods pulling direction X2. Exemplarily, the transmission member 121 rotates to be perpendicular to the pushing and pulling direction X to pull the second container onto the second carrying platform 113.

[0137] Please continue to refer to Figure 14 , considering that when the transmission member 121 moves in the goods pushing direction X1, the puller 123 will hit the second container 123a on the robot 210, resulting in the puller 123 being unable to continue moving forward, thereby affecting the movement of the transmission member 121. Based on this, the puller 123 is rotatably connected to the transmission member 121, so that when the transmission member 121 moves in the goods pushing direction X1, the puller 123 can rotate to a position parallel to the pushing and pulling direction X as shown in Figure 15 or Figure 16 to avoid the second container.

[0138] The pulling member 123 is rotatably connected to the transmission member 121. When the transmission member 121 moves in the goods-pushing direction X1, the pulling member 123 rotates to be parallel to the pushing and pulling direction X to avoid the second container, so as to prevent the container from falling due to collision with the second container. When the transmission member 121 moves in the goods-pulling direction X2 and needs to pull goods, the pulling member 123 rotates towards the side of the second container. Exemplarily, it rotates to be perpendicular to the pushing and pulling direction X, so as to realize the normal pulling of the second container.

[0139] Please refer to again Figure 6 , in an alternative 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 arranged along the pushing and pulling direction X, and the plurality of second carrying rods 1132 are arranged in the conveying direction Y. The conveying direction Y forms an angle with both the pushing and pulling direction X and the lifting direction Z. Exemplarily, the conveying direction Y is perpendicular to both the pushing and pulling direction X and the lifting direction Z. The second connecting member 1131 includes a third connecting plate 11311 and a fourth connecting plate 11312. Both 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.

[0140] The plurality of second carrying rods 1132 of the second carrying platform 113 are movably connected to the column 111 through the second connecting member 1131, so that the second carrying rods 1132 can move along the lifting direction Z to realize the lifting operation of the second container. By rotatably connecting both ends of the plurality of second carrying rods 1132 to the third connecting plate 11311 and the fourth connecting plate 11312 respectively, the second carrying rods 1132 can output the second container along the conveying direction Y when rotating, so as to realize the unloading work of the container in the warehousing system.

[0141] Please refer to again Figure 6 , in an alternative embodiment, the elevator 100 further includes a lifting mechanism 130. Both the first carrying platform 112 and the second carrying platform 113 are movably connected to the column 111 through the lifting mechanism 130. The lifting mechanism 130 is used to drive the first carrying platform 112 and the second carrying platform 113 to move synchronously.

[0142] Both the first carrying platform 112 and the second carrying platform 113 are movably connected to the column 111 through the lifting mechanism 130. Thus, when the lifting mechanism 130 moves along the lifting direction Z, it drives the first carrying platform 112 and the second carrying platform 113 to move synchronously along the lifting direction Z. This method has a simple structure and can ensure that the distance between the first carrying platform and the second carrying platform is fixed, ensuring the accurate and reliable relative position between the pushing member and the pulling member and the container during goods pushing and pulling.

[0143] In addition, when the lifting mechanism 130 drives the first carrier 112 and the second carrier 113 to move synchronously in the lifting direction Z, the pushing and pulling mechanism 120 disposed on the first carrier 112 or the second carrier 113 moves synchronously with the first carrier 112 or the second carrier 113 in the lifting direction Z.

[0144] According to another aspect of the embodiments of the present application, a warehousing system is further provided. For details, please refer to Figures 17 to 19 , Figure 17 FIG. shows a front view of the warehousing system provided by an embodiment of the present application, Figure 18 FIG. shows a top view of the warehousing system provided by an embodiment of the present application, Figure 19 FIG. shows a left view of the warehousing system provided by an embodiment of the present application. As shown in the figure, the warehousing system 200 includes a robot 210, a conveyor line assembly 220, a processing station 230, and the elevator 100 in any of the above embodiments. At least two layers of storage layers 211 are arranged on the robot 210 along the lifting direction Z. The robot 210 is used to move to one side of the elevator 100 in the goods pushing direction X1. When the transmission member 121 moves, the pushing member 122 pushes the first container on the first carrier 112 onto one of the adjacent two layers of storage layers 211, and the pulling member 123 pulls the second container on the other layer of the adjacent two layers of storage layers 211 onto the second carrier 113. The conveyor line assembly 220 is docked with the elevator 100. The conveyor line assembly 220 is used to convey the second container output from the second carrier 113, and the conveyor line assembly 220 is also used to convey the first container onto the first carrier 112. The processing station 230 is disposed 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.

[0145] Specifically, as Figure 19 shown, after the robot 210 loads the second container from the warehouse and walks to the elevator 100 to dock with the elevator 100, at this time, there is no container on the seventh storage layer 2117 of the robot 210, and the other six storage layers 211 are loaded with the second container. The first carrier 112 and the second carrier 113 respectively rise to the heights of the seventh storage layer 2117 and the sixth storage layer 2116 as shown in Figure 19 . At this time, there is a first container on the first carrier 112, and there is no container on the second storage layer 2112. As Figure 14 shown, when the transmission member 121 moves in the goods pushing direction X1, the pulling member 123 will touch 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 Figure 15 . As Figure 20As shown in the figure, the pusher 122 pushes the first container on the first carrier 112 to the seventh storage layer 2117, and the puller 123 moves to the position of pulling the second container on the sixth storage layer 2116. Then, as Figure 21 shown in the figure, when the transmission member 121 moves in the cargo pulling direction X2, the puller 123 holds the second container on the sixth storage layer 2116 and pulls it onto the second carrier 113. As Figure 22 shown in the figure, the first carrier 112 and the second carrier 113 descend to the height of the conveyor line assembly 220. The second container on the second carrier 113 is output onto the conveyor line assembly 220, and the first carrier 112 receives another first container output from the conveyor line assembly 220. The second container forms a first container after being processed by the processing station 230 provided on one side of the conveyor line assembly 220. Then, the first carrier 112 and the second carrier 113 respectively rise to the height of the sixth storage layer 2116 and the fifth storage layer 211. The pusher 122 pushes another 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 onto the second carrier 113.

[0146] The elevator 100 circulates in the above manner to push the first container output from the conveyor line assembly 220 onto one of the two adjacent storage layers 211 on the robot 210, and outputs the second container on the other storage layer 211 of the two adjacent storage layers 211 to the conveyor line assembly 220 until the first carrier 112 and the second carrier 113 are lifted and lowered to the height of the second storage layer 2112 and the storage layer 211 as Figure 23 shown in the figure. 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 onto the second carrier 113. At this time, all the second containers on the six storage layers 211 of the robot 210 have been unloaded, and the elevator 100 has pushed six first containers onto the corresponding storage layers 211 of the robot 210. After that, 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.

[0147] The second container on the second carrier 113 can be output in such a way that the second carrier rod 1132 on the second carrier 113 rotates to convey the second container along the conveying direction Y onto the conveyor line assembly 220, or a robotic arm can transfer the second container onto the conveyor line assembly 220.

[0148] The conveying line assembly 220 can convey the first container to the first carrier 112 in such a way that the height of the first carrier 112 is slightly lower than the output end 2221 of the second conveying line, and the first container is directly conveyed from the conveying line assembly 220 to the first carrier 112. Or when the conveying line assembly 220 conveys the first container close to the first carrier 112, the robotic arm transfers the first container to the first carrier 112. The conveying line assembly 220 can convey the second container output from the second carrier 113 by the robotic arm transferring the second container onto the conveying line assembly 220.

[0149] Specifically, the height between the first carrier 112 and the second carrier 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 carrier 112 and the second carrier 113 can be docked with these two storage layers 211 simultaneously. The push-pull mechanism 120 can then push the first container on the first carrier 112 into the storage layer 211 and pull the second container on another storage layer 211 in the adjacent storage layer 211 onto the second carrier 113.

[0150] The processing station 230 can process the second container in the following ways: the processing station can pick, inventory, replenish the goods in the second container, and so on.

[0151] Please refer to Figure 24 , Figure 24 which shows a top view of the warehousing system provided by another embodiment of the present application. The input end 220a and the output end 220b of the conveying line assembly are respectively located on both sides of the elevator 100. The input end 220a of the conveying line assembly is docked with the second carrier 113, and the output end 220b of the conveying line assembly is docked with the first carrier 112. The processing station 230 is arranged on one side of the conveying line assembly 220. Specifically, the second container on the second carrier 113 is conveyed from the input end 220a of the conveying line assembly to the processing station 230 for processing. After processing, the second container forms the first container, and the conveying line assembly 220 conveys the first container to the first carrier 112.

[0152] The storage system 200 of the present application can achieve 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, improving the working efficiency of the storage system 200 and reducing costs. Specifically, the unloading of the second container on the robot 210 and the input of the first container output by the conveyor line assembly 220 to the robot 210 are both carried out by the same elevator 100. The robot 210 does not need to unload all the second containers and then walk to another elevator 100 for loading. Therefore, the storage system 200 of the present application can improve the efficiency of unloading the second container on the robot 210 and inputting the first container to the robot 210, reduce the number of required elevators 100, and reduce costs.

[0153] Please refer to again Figure 19 , in an alternative 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 sequentially place the first container upward and remove the second container from the lowest position on the robot 210.

[0154] The elevator 100 removes the first container from the storage layer 211 of the robot 210 from high to low or from low to high and places the second container on the storage layer 211, realizing the orderly removal and placement of the containers, thereby improving the efficiency of removing and placing the containers.

[0155] Please refer to again Figure 17 , in an alternative 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 facing 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, 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 facing the elevator 100, and the second conveyor line 222 is also used to convey the first container to the first carrier 112.

[0156] Please continue to refer to Figure 17, specifically, the first conveyor line 221 is located on one side of the second conveyor line 222 in the downward direction Z2, and the second carrier 113 is located on one side of the first carrier 112 in the downward direction Z2. When the second carrier 113 is lifted to the height of the first conveyor line 221, the second container on the second carrier 113 is conveyed onto 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 robotic arm. The first container is conveyed by the second conveyor line 222 to the output end 2221 of the second conveyor line, and the output end 2221 of the second conveyor line outputs the first container onto the first carrier 112.

[0157] The processing station 230 can also be arranged on one side of the second conveyor line 222. At this time, 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 forms the first container.

[0158] By conveying the second container output from the second carrier 113 through the first conveyor line 221 and outputting the first container onto the first carrier 112 by the second conveyor line 222, the capacity of the conveyor line assembly 220 to convey containers can be improved.

[0159] Please refer to again Figure 17 and Figure 18 , in an alternative 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.

[0160] Please continue to refer to Figure 17 , the manner in which the first conveyor line 221 and the second conveyor line 222 are arranged along the lifting direction Z can be that as shown in Figure 17 the first conveyor line 221 is located on one side of the second conveyor line 222 in the downward direction Z2, or the first conveyor line 221 is located on one side of the second conveyor line 222 in the upward direction Z1.

[0161] Arranging the first conveyor line 221 and the second conveyor line 222 along the lifting direction Z and arranging the first conveyor line 221 and the second conveyor line 222 on the same side of the main structure 110 reduces the floor area of the conveyor line assembly 220 and improves the space utilization rate of the storage system 200.

[0162] Please refer to again Figure 17 and Figure 18, in an alternative 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 configured 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.

[0163] The container transfer device 240 is configured to transfer the second container output 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 a robotic arm in the above solution. Specifically, the first conveyor line 221 outputs the second container to the output end 2212 of the first conveyor line, and the robotic arm transfers the first container or the second container on the output end 2212 of the first conveyor line to the input end 2222 of the second conveyor line, realizing the automatic transfer of the first container or the second container on the first conveyor line 221 to the second conveyor line 222, reducing manual labor.

[0164] Since there are robots 210, conveyor line assemblies 220, and containers in the storage system 200, and the working environment is complex, therefore, by setting the 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 working safety can be improved.

[0165] Please refer to Figure 17 and Figure 25 , Figure 25 shows a schematic structural diagram of the lifting transfer platform of the roller lifter provided by another embodiment of the present application. In an alternative embodiment, the container transfer device 240 includes a roller lifter 241. The roller lifter 241 includes a lifting transfer platform 2411 and a lifting column 2412. The lifting transfer platform 2411 is movably connected to the lifting column 2412 along the lifting direction Z. A roller 24111 is rotatably provided 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 facing the lifting transfer platform 2411. The roller 24111 is configured 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 configured 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.

[0166] 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 transfer platform 2411 is lifted to a position opposite to the output end 2212 of the first conveyor line. The output end 2212 of the first conveyor line conveys the second container onto the lifting transfer platform 2411. When the lifting transfer platform 2411 rises to a position opposite to the input end 2222 of the second conveyor line, the rollers 24111 rotate and convey the first container or the second container along the first conveying direction Y1 to the input end 2222 of the second conveyor line. The second conveyor line 222 conveys the first container or the second container along the first conveying direction Y1 to the first carrier 112.

[0167] The lifting of the lifting transfer platform 2411 of the roller hoist 241 realizes the transfer of the first container or the second container from the first conveyor line 221 to the second conveyor line 222, improving the container transfer efficiency.

[0168] Please refer to again Figure 19 and Figure 26 , Figure 26 FIG. shows a schematic structural diagram of a storage system provided by another embodiment of the present application. In an optional embodiment, the storage system 200 further includes a shelf 250. The robot 210 is used to carry the second container on the shelf 250 to the hoist 100, and the robot 210 is also used to carry the first container on the hoist 100 to the target location.

[0169] The robot 210 carries the second container on the shelf 250 to the hoist 100 and also carries the first container on the hoist 100 to the target location, forming a fully automated storage system 200, improving the operation efficiency of the storage system 200 and reducing the operation risk.

[0170] According to another aspect of the embodiments of the present application, a storage system control method is further provided. Please refer specifically to Figure 27 , Figure 27 FIG. shows a flowchart of a storage system control method provided by an embodiment of the present application. This method is executed by a computing device. The computing device can 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 Figure 26 shown, the storage system control method includes:

[0171] S310: Control the docking of the robot with the hoist.

[0172] Before this step, it can be detected whether the robot reaches the predetermined position first; if the robot does not reach the predetermined position, then control the robot to walk to the hoist to dock with the hoist.

[0173] S320: Control the elevator to pick up at least one second container from one of the adjacent two storage layers of the robot and place at least one first container on the other of the adjacent two storage layers of the robot.

[0174] S330: Control the conveyor line assembly to receive the second container output from the second carrier.

[0175] Before this step, the rollers on the second carrier can be controlled to rotate to output the second container to the input end of the conveyor line assembly, or the manipulator can be controlled to transfer the second container on the second carrier to the input end of the conveyor line assembly.

[0176] 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 the first container.

[0177] In this step, when the second container reaches the processing station, the conveyor line assembly can be controlled to pause for a while, and the second container is processed by the manipulator or the staff to form the first container. The second container can be transferred to the processing station for processing by a transfer mechanism to transfer the second container on the conveyor line assembly.

[0178] S350: Control the conveyor line assembly to convey the first container to the first carrier.

[0179] Before this step, the first carrier can be controlled to lift to a position slightly lower than the output end of the conveyor line assembly, and the conveyor line assembly can then convey the first container to the first carrier, or the manipulator can be controlled to transfer the first container at the output end of the conveyor line assembly to the first carrier.

[0180] In the control method of the warehousing system of the present application, by docking the robot with the elevator, the first container output by the conveyor line assembly can be input onto 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 buffer tower for docking with the elevator, and the robot does not need to walk to the target location for loading after unloading. Therefore, the space occupation can be reduced and the operation efficiency of the warehousing system can be improved.

[0181] In an optional embodiment, the above S320 includes: controlling the transmission member to move along the push-pull direction, driving the pushing member to move in the goods-pushing direction, so that the pushing member pushes at least one first container on the first carrier to one of the adjacent two storage layers, and driving the pulling member to move in the goods-pulling direction, so that the pulling member pulls at least one second container on the other of the adjacent two storage layers to the second carrier.

[0182] By controlling the movement of the transmission parts on the same elevator, the first container output by the conveyor line assembly can be input onto 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, thereby improving the efficiency of container unloading and loading.

[0183] Please refer to Figure 28 , Figure 28 which shows the sub-step flowcharts 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;

[0184] The above S330 includes:

[0185] S331: Control the first conveyor line to convey the second container output from the second carrier.

[0186] The above S340 includes:

[0187] 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.

[0188] In this step, if the processing station is arranged on one side of the first conveyor line, 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; if the processing station is arranged on one side of the second conveyor line, 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.

[0189] The above S350 includes:

[0190] S351: Control the second conveyor line to convey the first container to the first carrier.

[0191] By setting the conveyor line assembly to two, namely the first conveyor line and the second conveyor line, the first conveyor line is docked with the second carrier to convey the second container output from the second carrier, and the second conveyor line is docked with the first carrier to convey the first container to the first carrier, so that each carrier corresponds to each conveyor line one by one, with clear division of labor, thereby improving the efficiency of container transportation.

[0192] In an optional embodiment, the warehousing system further includes a container transfer device;

[0193] The above step S341 includes:

[0194] Control the container transfer device 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, control the container transfer device to transfer the second container output from the output end of the first conveyor line to the input end of the second conveyor line.

[0195] Specifically, in this step, receive the first container or the second container output from the first conveyor line through the lifting platform, and then control the lifting platform to lift to a height corresponding to the output end of the second conveyor line, and then control the rollers on the lifting platform to rotate to transfer the first container or the second container to the second conveyor line.

[0196] Control the container transfer device 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 returns to the elevator and is loaded onto the robot by the elevator, forming a complete automated operation, thereby improving the safety of the operation.

[0197] Please refer to Figure 29 , Figure 29 , which shows a flowchart of a warehousing system control method provided by another embodiment of the present application. In an alternative embodiment, the warehousing system includes a shelf;

[0198] Before the above S310, it includes:

[0199] S360: Control the robot to carry the second container on the shelf to the elevator.

[0200] After the above S320, it includes:

[0201] S370: Control the robot to carry the first container to the target location.

[0202] 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, then execute step S370.

[0203] After step S370, another robot can be controlled to carry the second container on the shelf to the elevator, and then the robot and the elevator can be controlled to dock to realize the cycle of taking and placing containers between the elevator and the robot.

[0204] Control the robot to carry the second container on the shelf to the elevator and control the robot to carry the first container to the target location, so that the warehousing system forms a fully automated transfer warehousing system, improving the operation efficiency of the warehousing system and reducing the operation risk.

[0205] Based on the above problems, the present application proposes a hoist. By setting a pulling mechanism on the unloading carrier platform, the unloading hoist can unload the second container. And by setting a pushing mechanism on the loading hoist, the pushing mechanism can load the first container. Thus, the hoist itself can realize the loading and unloading of the container, and no longer needs to perform this operation through the buffer tower. Therefore, it can effectively save space occupancy and improve the operation efficiency of the hoist.

[0206] Please refer to Figures 30 to 33 , Figure 30 which shows a top view of the warehousing workstation provided by an embodiment of the present invention. Figure 31 which shows a front view of the warehousing workstation provided by an embodiment of the present invention. Figure 32 which shows a left view of the warehousing workstation provided by an embodiment of the present invention. Figure 33 which shows a right view of the warehousing workstation provided by an embodiment of the present invention. According to one aspect of the present application, a warehousing workstation 500 is provided. The warehousing workstation 500 includes an unloading hoist 510, a loading hoist 520, an upper and lower unloading conveyor line 530, and a processing station 540. The unloading hoist 510 includes a first column 511, an unloading carrier platform 512, and a pulling mechanism 513. The unloading carrier platform 512 is arranged on the first column 511, and the unloading carrier platform 512 is movably connected to the first column 511 along the lifting direction Z. The pulling mechanism 513 is movably arranged along the pushing and pulling direction X. An included angle is provided between the pushing and pulling direction X and the lifting direction Z. Exemplarily, the pushing and pulling direction X is perpendicular to the lifting direction Z. The pulling mechanism 513 is used to pull the second container onto the unloading carrier platform 512. The loading hoist 520 includes a second column 521, a loading carrier platform 522, and a pushing mechanism 523. The loading carrier platform 522 is arranged on the second column 521, and the loading carrier platform 522 is movably connected to the second column 521 along the lifting direction Z. The pushing mechanism 523 is movably arranged along the pushing and pulling direction X. The pushing mechanism 523 is used to push out the first container on the loading carrier platform 522. The upper and lower unloading conveyor line 530 is arranged between the unloading hoist 510 and the loading hoist 520. The conveying direction Y of the upper and lower unloading conveyor line 530 forms an included angle with both the lifting direction Z and the pushing and pulling direction X. Exemplarily, the conveying direction Y of the upper and lower unloading conveyor line 530 is perpendicular to both the lifting direction Z and the pushing and pulling direction X. The processing station 540 is arranged on one side of the upper and lower unloading conveyor line 530. The upper and lower unloading conveyor line 530 is used to convey the second container on the unloading carrier platform 512 to the processing station 540 for processing to form the first container. The upper and lower unloading conveyor line 530 is also used to convey the first container onto the loading carrier platform 522.

[0207] The first container and the second container are material boxes containing goods, which can be plastic boxes, cardboard boxes, wooden boxes, etc. The embodiments of the present application do not make specific limitations in this regard. The way the processing station 540 processes the second container can be: the processing station 540 can pick, inventory, replenish, etc. the goods in the second container. After the processing station 540 processes the second container, the second container forms the first container.

[0208] First, the unloading carrier platform 512 rises in the upward direction Z1 to the corresponding height of the second container as shown in Figure 32 . When the pulling mechanism 513 on the elevator moves in the arrow direction in the figure, the second container on the carrier platform is pulled onto the unloading carrier platform 512 of the elevator, improving the efficiency of unloading the second container. The unloading carrier platform 512 descends in the downward direction Z2 to the height of the upper unloading conveyor line 530, and the second container on the unloading carrier platform 512 can be transferred onto the upper unloading conveyor line 530 by the robotic arm.

[0209] Second, the upper 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 unloading conveyor line 530. The processing station 540 performs operations such as breaking bulk or inventory on the second container to form the first container. The upper unloading conveyor line 530 conveys the first container in the conveying direction Y to the loading elevator 520. The unloading carrier platform 512 of the loading elevator 520 descends along the lifting direction Z to the height of the upper unloading conveyor line 530 to receive the first container output by the upper unloading conveyor line 530.

[0210] Finally, the loading carrier platform 522 rises along the lifting direction Z to the height as shown in Figure 33 . When the pushing mechanism 523 on the elevator moves in the arrow direction in the figure, the first container on the loading carrier platform 522 is pushed out, completing the entire process of the container processing by the warehousing workstation 500 and improving the efficiency of container loading.

[0211] The warehousing workstation 500 of the present application can pull the second container onto the unloading carrier platform 512 by the movement of the pulling mechanism 513 on the unloading elevator 510, without unloading the second container onto the carrier platform of the elevator through the unloading buffer tower, which can save the occupied space of the warehousing workstation 500, improve the efficiency of unloading the second container, and push out the first container on the loading carrier platform 522 by the movement of the pushing mechanism 523 of the loading elevator 520, without buffering the first container output by the conveyor line through the loading buffer tower for loading, which can reduce the occupied space of the warehousing workstation 500 and improve the efficiency of loading the first container output by the upper unloading conveyor line 530. Thus, the overall occupied space of the warehousing workstation 500 can be saved, and the efficiency of the entire operation process of the warehousing workstation 500 for unloading and processing the second container and loading the processed container can be improved.

[0212] Please refer to again Figure 32 and Figure 33 In an alternative embodiment, the discharging and carrying platform 512 has at least two layers, and at least two layers of discharging and carrying platforms 512 are arranged on the first column 511 along the lifting direction Z. The pulling mechanism 513 has at least two, and at least two pulling mechanisms 513 are arranged along the lifting direction Z. At least two pulling mechanisms 513 are used to pull at least two layers of second containers onto at least two layers of discharging and carrying platforms 512 at the same time. The pushing mechanism 523 has at least two, and at least two pushing mechanisms 523 are arranged along the lifting direction Z. At least two pushing mechanisms 523 are used to push at least two layers of first containers on at least two layers of loading and carrying platforms 522 out at the same time. The loading and unloading conveyor line 530 is used to convey the second containers on at least two layers of discharging and carrying platforms 512 to the processing station 540 for processing to form the first containers, and the loading and unloading conveyor line 530 is also used to convey the first containers after being processed by the processing station 540 to at least two layers of loading and carrying platforms 522.

[0213] The loading and unloading conveyor line 530 can be set as one as shown in Figure 31 . At least two layers of discharging and carrying platforms 512 are lifted successively to the height of the loading and unloading conveyor line 530, so that the second containers thereon are input onto the loading and unloading conveyor line 530 in sequence. The loading and unloading conveyor line 530 can also be set as at least two as shown in Figure 32 or Figure 33 . And at least two loading and unloading conveyor lines 530 are arranged along the lifting direction Z. At least two layers of discharging and carrying platforms 512 are lifted to the height of the loading and unloading conveyor line 530 at the same time, so that the second containers on at least two layers of discharging and carrying platforms 512 are pushed out onto at least two layers of loading and unloading conveyor lines 530 at the same time, further improving the efficiency of inputting the second containers onto the loading and unloading conveyor line 530. Similarly, setting the loading and unloading conveyor line 530 to at least two can further improve the efficiency of inputting the first containers on the loading and unloading conveyor line 530 onto the loading and carrying platform 522.

[0214] The discharging hoist 510 may further include a first lifting mechanism. At least two discharging and carrying platforms 512 are movably connected to the first column 511 through the first lifting mechanism. The first lifting mechanism is used to drive at least two discharging and carrying platforms 512 to move synchronously. This method has a simple structure and can ensure that the distance between the discharging and carrying platforms 512 is fixed, ensuring that the relative positions between at least two first pulling members 51313 and the second containers are accurate and reliable when pushing and pulling goods.

[0215] Similarly, the loading hoist 520 may further include a second lifting mechanism. At least two loading and carrying platforms 522 are movably connected to the first column 511 through the second lifting mechanism. The second lifting mechanism is used to drive the loading and carrying platforms 522 to move synchronously.

[0216] At least two pulling mechanisms 513 on the unloading elevator 510 are used to move at least two layers of second containers to at least two layers of unloading bearing platforms 512 simultaneously, which improves the efficiency of unloading the second containers. And the pushing mechanism 523 of the loading elevator 520 is used to move at least two layers of first containers on the at least two layers of loading bearing platforms 522 out simultaneously, which improves the efficiency of loading the first containers output by the loading and unloading conveyor line 530. Thus, the efficiency of the entire operation process of the warehousing workstation 500 for unloading and processing the second containers and loading the processed containers is improved.

[0217] Please refer to again Figure 32 , in an alternative embodiment, the number of layers of the loading bearing platform 522 and / or the number of layers of the unloading bearing platform 512 is two.

[0218] Correspondingly, the loading and unloading conveyor line 530 can be arranged in two lines, and the two loading and unloading conveyor lines 530 are arranged along the lifting direction Z. In this way, the two layers of loading bearing platforms 522 can be moved to be respectively docked with one of the two loading and unloading conveyor lines 530. Then, the second containers on the two layers of loading bearing platforms 522 can be input to the two layers of loading and unloading conveyor lines 530 simultaneously, which improves the efficiency of inputting the second containers on the two layers of unloading bearing platforms 512 to the loading and unloading conveyor line 530. Similarly, the efficiency of inputting the first containers on the loading and unloading conveyor line 530 to the two layers of loading bearing platforms 522 can also be improved.

[0219] By setting the number of layers of the loading bearing platform 522 and / or the number of layers of the loading bearing platform 522 to two, the speed of unloading the second containers on the unloading bearing platform 512 of the unloading elevator 510 can be made moderate. Then, the number of second containers input to the loading conveyor line is moderate. Thus, the operator at the processing station 540 can maintain a high operation efficiency and will not be overwhelmed by the containers, and the situation where the second containers flow to the downstream output without being processed can also be reduced.

[0220] Please refer to Figure again Figure 32In 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, and 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, and 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.

[0221] Specifically, Figure 32 As shown in , 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 push-pull direction X, at least two seventh sliding portions 51312 are arranged along the lifting direction Z and 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 FIG. Figure 34 The position shown in FIG. 1 makes at least two 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.

[0222] like Figure 35 As shown in , 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 bearing 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 FIG. Figure 36 The position shown in , enables the first pulling member 51313 to pull at least two layers of second containers onto at least two layers of unloading platforms 512 at the same time.

[0223] The first pulling member 51313 can be rotatably connected to the free end 51312a or fixedly connected to the free end 51312a.

[0224] Extend at least two seventh sliding parts 51312 arranged along the lifting direction Z in the pushing and pulling direction X and connect them 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 goods pushing direction X1, so that when the fourth sliding member 5131 moves, it drives each first pulling member 51313 to move, so as to pull at least two layers of second containers onto the unloading carrier 512 at the same time. The connection mode between the first pulling member 51313 and the fourth sliding member 5131 is simple, and the movement mode of the fourth sliding member 5131 driving the first pulling member 51313 is also simple, thus reducing costs.

[0225] When the first pulling member 51313 is located at Figure 37 the position shown in, the first pulling member 51313 needs to move in the goods 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 moving process, so it cannot continue to move forward, thus affecting the movement of the fourth sliding member 5131.

[0226] Based on the above problems, please refer to Figure 38 and Figure 39 , Figure 38 shows a schematic structural diagram of the first pulling member provided in an embodiment of the present application rotated to be parallel to the pushing and pulling direction, Figure 39 shows a schematic structural diagram of the first pulling member provided in another embodiment of the present application rotated to be parallel to the pushing and pulling direction. In an alternative embodiment, at least two first pulling members 51313 are rotatably connected to the free end 51312a. The first pulling member 51313 is used to rotate to be parallel to the pushing and pulling direction X to avoid the second container when the fourth sliding member 5131 moves in the goods pushing direction X1, and rotate toward the second container side when the fourth sliding member 5131 moves in the goods pulling direction X2. Exemplarily, it rotates to be perpendicular to the pushing and pulling direction X to hold the second container and pull the second container onto the unloading carrier 512.

[0227] Rotatably connect the first pulling member 51313 to the free end 51312a of the seventh sliding part 51312, so that when the fourth sliding member 5131 moves in the goods pushing direction X1, the first pulling member 51313 can rotate to the position parallel to the pushing and pulling direction X shown in Figure 38 or Figure 39 to avoid the second container.

[0228] The first pulling member 51313 is rotatably connected to the free end 51312a of the seventh sliding portion 51312. When the free end 51312a of the seventh sliding portion 51312 moves in the goods-pushing direction X1, the first pulling member 51313 rotates to be parallel to the pushing and pulling direction X to avoid the second container, so as to prevent the container from falling due to bumping with the second container. When the free end 51312a of the seventh sliding portion 51312 needs to pull goods when moving in the goods-pulling direction X2, the first pulling member 51313 rotates toward the second container side. Exemplarily, it rotates to be perpendicular to the pushing and pulling direction X, so as to realize the normal pulling of the second container.

[0229] Please refer to Figure 32 、 Figure 40 and Figure 41 , Figure 40 which shows a schematic structural view of the unloading and loading platform on the unloading elevator provided by an embodiment of the present application. Figure 41 which shows a schematic structural view of the sixth sliding portion sleeved on the third load-bearing rod in the goods-pulling direction in an embodiment of the present application. In an optional embodiment, each layer of the unloading and loading platform 512 includes a third connecting member 5121 and at least two third load-bearing rods 5122. Each third load-bearing rod 5122 is connected to the first upright column 511 through the third connecting member 5121. The third load-bearing rods 5122 are arranged along the pushing and pulling direction X in an extending manner, and at least two third load-bearing rods 5122 are arranged along the conveying direction Y. The sixth sliding portion 51311 is sleeved on at least one third load-bearing rod 5122 on each layer of the unloading and loading platform 512, so that the sixth sliding portion 51311 can slide relative to the third load-bearing rod 5122 along the pushing and pulling direction X.

[0230] For the manner in which the sixth sliding portion 51311 is sleeved on the third load-bearing rod 5122 on each layer of the unloading and loading platform 512, specifically, the sixth sliding portion 51311 is sleeved along the pulling direction on at least one third load-bearing rod 5122 as shown in Figure 40 or Figure 41 , and the sixth sliding portion 51311 extends along the lifting direction Z through the first opening 512a between two adjacent third load-bearing rods 5122. The two ends of the sixth sliding portion 51311 along the lifting direction Z are respectively connected to a seventh sliding portion 51312 as shown in Figure 32 .

[0231] At least two third load-bearing rods 5122 of the unloading load-bearing platform 512 are movably connected to the first upright column 511 through a third connecting member 5121, so that the third load-bearing rods 5122 can move along the lifting direction Z to realize the lifting operation of the second container. By extending the third load-bearing rods 5122 along the pushing and pulling direction X and arranging at least two third load-bearing rods 5122 along the conveying direction Y, the sixth sliding part 51311 can be sleeved on at least one third load-bearing rod 5122 to fix the position of the sixth sliding part 51311 in the lifting direction Z and the conveying direction Y, and the sixth sliding part 51311 can move along the third load-bearing rod 5122 towards the goods pulling direction X2 to realize the pulling of the second container by the first pulling member 51313, 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.

[0232] Please refer to again Figure 40 , in an alternative embodiment, the third load-bearing rod 5122 is rotatably connected to the third connecting member 5121, so that when the third load-bearing rod 5122 rotates, the second container is conveyed towards the conveying direction Y onto the upper unloading conveying line 530.

[0233] The third load-bearing rod 5122 is rotatably connected to the third connecting member 5121, so that when the third load-bearing rod 5122 rotates, the second container can be output along the conveying direction Y onto the upper unloading conveying line 530, realizing the work of inputting the second container onto the upper unloading conveying line 530 in the warehousing workstation 500.

[0234] Please refer to Figure 42 , Figure 42 shows a schematic structural diagram of a unloading hoist provided by an embodiment of the present application. In an alternative embodiment, the pushing mechanism 523 has at least two first pushing members 5231 arranged along the lifting direction Z, and 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, at least two first pushing members 5231 push out at least two layers of first containers simultaneously.

[0235] The way of connecting at least two first pushing members 5231 can be that the pushing mechanism 523 extends along the lifting direction and passes through the loading load-bearing platform 522, and one first pushing member 5231 is located between two adjacent loading load-bearing platforms 522, or at least two first pushing members 5231 are connected through a fifth sliding member 5232 as shown in Figure 42 , and the fifth sliding member 5232 does not pass through the loading load-bearing platform 522.

[0236] Specifically, in Figure 42In the specific embodiment shown, at least two first pushing members 5231 are arranged along the lifting direction Z. At least two first pushing members 5231 can be connected by a fifth sliding member 5232. The setting mode of the fifth sliding member 5232 can be the same as the above-mentioned setting mode of the fourth sliding member 5131. While the fifth sliding member 5232 moves in the goods-pushing direction X1, it drives at least two first pushing members 5231 to move in the goods-pushing direction X1. At least two first pushing members 5231 can then push out the containers on at least two layers of the unloading carrier 512.

[0237] Further, please refer to Figure 33 , in some other embodiments, each layer of the loading carrier 522 includes a fourth connecting member 5221 and at least two fourth supporting rods 5222. Each fourth supporting rod 5222 is connected to the second column 521 through the fourth connecting member 5221. The fourth supporting rods 5222 are arranged along the pushing and pulling direction X and at least two fourth supporting rods 5222 are arranged along the conveying direction Y. The pushing mechanism 523 can slide along the pushing and pulling direction X relative to the fourth supporting rods 5222.

[0238] Please refer to Figure 43 and Figure 44 , Figure 43 shows a schematic structural diagram of the loading carrier of the loading hoist provided by an embodiment of the present application. Figure 44 shows a schematic structural diagram of the pushing mechanism sleeved on the fourth supporting rod in the goods-pulling direction provided by an embodiment of the present application. For the way that the pushing mechanism 523 can slide along the pushing and pulling direction X relative to the fourth supporting rods 5222, it can be that the pushing mechanism 523 is sleeved on a first supporting rod as shown in Figure 43 or Figure 44 in the goods-pulling direction X2, and the pushing mechanism 523 extends along the lifting direction Z through the second opening 522a between two adjacent fourth supporting rods 5222. The two pushing mechanisms 523 are respectively located at both ends of the pushing mechanism 523 shown in Figure 33 along the lifting direction Z. While the pushing mechanism 523 moves in the goods-pushing direction X1, it drives two first pushing members 5231 to move in the goods-pushing direction X1. The two first pushing members 5231 can then push out two layers of containers. For the way that the pushing mechanism 523 can slide along the pushing and pulling direction X relative to the fourth supporting rods 5222, it can also be that the pushing mechanism 523 is slidably connected to the fourth supporting rods 5222 through a slide rail.

[0239] At least two fourth load-bearing rods 5222 are movably connected to the second vertical column 521 through fourth connectors 5221, so that the fourth load-bearing rods 5222 can move along the lifting direction Z to realize the lifting operation of the second container. The fourth load-bearing rods 5222 are arranged to extend along the pushing and pulling direction X, and at least two fourth load-bearing rods 5222 are arranged along the conveying direction Y. The pushing mechanism 523 can move relative to the fourth load-bearing rods 5222 in the cargo pushing direction X1. While the pushing mechanism 523 moves in the cargo pushing direction X1, at least two first pushing members 5231 can push out at least two layers of containers simultaneously, improving the efficiency of pushing out the containers, and the structure of the pushing mechanism 523 is simple.

[0240] At least two first pushing members 5231 arranged along the lifting direction Z are connected to each other, so that while the pushing mechanism 523 moves in the cargo pushing direction X1, it drives at least two first pushing members 5231 to move in the cargo pushing direction X1. At least two first pushing members 5231 can push out the containers on at least two load-bearing platforms, and there is no need to separately push at least two pushing members to move. Therefore, the structure of this method is simple and the operation is convenient, thereby reducing costs.

[0241] Please refer to again Figure 33 , in an alternative embodiment, the fourth load-bearing rod 5222 is rotatably connected to the fourth connector 5221, so that when the fourth load-bearing rod 5222 rotates, it receives the first container conveyed by the loading and unloading conveyor line 530.

[0242] The loading hoist 520 needs to receive the containers conveyed by the loading and unloading conveyor line 530. Considering that when the load-bearing platform receives the containers conveyed by the conveyor line, there may be a problem that the containers fall due to their non-centered position on the load-bearing platform. Based on this, after the loading and unloading conveyor line 530 conveys the first container to the edge position on the loading load-bearing platform 522 along the conveying direction Y, at least two loading load-bearing rods of the loading load-bearing platform 522 rotate to move the first container to the middle position of the loading load-bearing platform 522.

[0243] At least two fourth load-bearing rods 5222 are rotatably connected to the third connector 5121, so that when the fourth load-bearing rods 5222 rotate, they can move the first container conveyed to the loading load-bearing platform 522 to the middle position of the loading load-bearing platform 522, ensuring the smoothness of container transportation and preventing operation risks such as container dropping.

[0244] According to another aspect of the present application, a warehousing system is further provided. The warehousing system includes a robot 550 and the warehousing workstation 500 in any of the above embodiments. For details, please refer to Figure 30 , Figure 32 and Figure 33, 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 carrier 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 carrier 522 onto the storage layer 551. The robot is also used to transport the first container on the loading elevator to the target location.

[0245] The robot 550 transports the second container on the shelf to the unloading elevator 510 and also transports the first container on the loading elevator 520 to the target location, forming a highly automated warehousing system, improving the operation efficiency of the warehousing system and reducing the operation risk.

[0246] Please refer to again Figure 32 and Figure 33 , in an alternative embodiment, the unloading carrier 512 has at least two layers, and at least two layers of unloading carriers 512 are arranged along the lifting direction Z on the first column 511. The pulling mechanism 513 has at least two, and at least two pulling mechanisms 513 are arranged along the lifting direction Z. At least two pulling mechanisms 513 are used to pull at least two layers of second containers onto at least two layers of unloading carriers 512 at the same time. The pushing mechanism 523 has at least two, and at least two pushing mechanisms 523 are arranged along the lifting direction Z. At least two pushing mechanisms 523 are used to push at least two layers of first containers on at least two layers of loading carriers 522 out at the same time. The loading and unloading conveyor 530 is used to transport the second containers on at least two layers of unloading carriers 512 to the processing station 540 for processing to form the first containers. The loading and unloading conveyor 530 is also used to transport the first containers processed by the processing station 540 to at least two layers of loading carriers 522. The storage layer 551 has at least two layers, and at least two layers of storage layers 551 are arranged along the lifting direction Z. The robot 550 is used to transport the second container on the shelf to the unloading elevator 510 through at least two layers of storage layers 551 and dock with the unloading elevator 510, and the pulling mechanism 513 is used to pull the second containers on at least two layers of storage layers 551 onto at least two layers of unloading carriers 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 containers on at least two layers of loading carriers 522 onto at least two layers of storage layers 551 of the loading elevator 520 at the same time.

[0247] The unloading carrier 512 on the unloading elevator 510, the loading carrier 522 on the loading elevator 520, and the storage layer 551 on the robot 550 are all set to have at least two layers, further improving the operation efficiency of the warehousing system.

[0248] 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 foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be covered within the scope of the claims and the description of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. An elevator, characterized in that, It 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 both the first bearing platform and the second bearing platform are movably connected to the column along the lifting direction; The push-pull mechanism includes a transmission member, a pushing member and a pulling member; The transmission member is movably arranged on the main structure along the push-pull direction, the push-pull direction is perpendicular to the lifting direction, and the push-pull direction includes a goods-pushing direction and a goods-pulling direction; The transmission member is respectively connected to the pushing member and the pulling member, and in the initial state, the pushing member is located on one side of the pulling member towards the goods-pulling direction. The transmission member is used to drive the pushing member to move along the goods-pushing direction so that the pushing member pushes out the first container on the first bearing platform, and the transmission member is also used to drive the pulling member to move towards the goods-pulling direction so that the pulling member pulls the second container onto the second bearing platform.

2. The elevator according to claim 1, characterized in that, The lifting direction includes an ascending direction and a descending direction; the first bearing platform is arranged on one side of the second bearing platform towards 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 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 one side of the flexible transmission member towards the ascending direction and protrudes from the upper surface of the first bearing platform, and the pulling member is arranged on one side of the flexible transmission member towards the descending direction and protrudes 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 simultaneously push the first container and pull the second container, and the pushing member moves along the goods-pushing direction and the pulling member moves along the goods-pulling direction.

3. The elevator according to claim 1, wherein The lifting direction includes an ascending direction and a descending direction; the first bearing platform is arranged on one side of the second bearing platform towards 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 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 one side of the flexible transmission member towards the descending direction and protrudes from the lower surface of the second bearing platform, and the pulling member is arranged on one side of the flexible transmission member towards the ascending direction and protrudes from the 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 simultaneously push the first container and pull the second container, and the pushing member moves along the goods-pushing direction and the pulling member moves along the goods-pulling direction.

4. The elevator according to claim 1, characterized in that, The lifting direction includes an ascending direction and a descending direction; the first bearing platform is located on one side of the second bearing platform towards 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 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.

5. The elevator according to claim 1, 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 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.

6. The elevator according to claim 4, characterized in that, The first supporting platform includes a first connecting member and a plurality of first supporting rods, the plurality of first supporting rods are movably connected to the column through the first connecting member, the first supporting rods are extended along the pushing and pulling direction, and the plurality of first supporting rods are arranged along the conveying direction, the conveying direction is angled with the pushing and pulling direction and the lifting direction, and the first sliding member can drive the pushing member to slide relative to the first supporting rod along the pushing and pulling direction.

7. The elevator according to claim 6, characterized in that, The first connecting member includes a first connecting plate and a second connecting plate. Two ends of the plurality of first bearing rods are rotatably connected to the first connecting plate and the second connecting plate respectively. The first bearing rods are used to receive the first containers when rotating.

8. The elevator according to claim 6, characterized in that, The column is located on a side of the first connecting member away from the first bearing rod.

9. The elevator according to claim 1, 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 configured to drive the pushing member to move in the goods pushing direction, so that the pushing member pushes out the first container on the first bearing platform, and then drive the pulling member to move in the goods pulling direction, so that the pulling member pulls the second container onto the second bearing platform.

10. The elevator according to claim 1, characterized in that, The lifting direction includes an ascending direction and a descending direction; the first bearing platform is located on one side of the second bearing platform in the descending direction; The transmission member includes a third sliding member slidably disposed on the main body structure along the pushing and pulling direction; The third sliding member has a fourth sliding portion and a fifth sliding portion, the fourth sliding portion and the fifth sliding portion slide synchronously, the fourth sliding portion extends along the pushing and pulling direction and is located above the second bearing platform, the fifth sliding portion extends along the lifting direction, and one end of the fifth sliding portion in the ascending direction is connected to one end of the fourth sliding portion in the goods pulling direction; The pushing member is connected to the other end of the fifth sliding portion, the pushing member is located between the first bearing platform and the second bearing platform, and the pulling member is connected to the other end of the fourth sliding portion; The third sliding member is configured to drive the pushing member to move in the goods pushing direction, so that the pushing member pushes out the first container on the first bearing platform, and then drive the pulling member to move in the goods pulling direction, so that the pulling member pulls the second container onto the second bearing platform.

11. The elevator according to claim 1, 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.

12. The elevator according to any one of claims 1-11, characterized in that, The pulling member is rotatably connected to the transmission member. When the transmission member moves in the goods pushing direction relative to the second container, the pulling member rotates to be parallel to the pushing and pulling direction to avoid the second container. When the transmission member moves in the goods pulling direction, the pulling member rotates toward the second container side to hold the second container, so as to pull the second container onto the second bearing platform.

13. The elevator according to any one of claims 1-11, characterized in that, The second bearing platform includes 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 extend along the pushing and pulling direction, and are arranged in a row along the conveying direction between the plurality of second bearing rods. The conveying direction forms an angle with both the pushing and pulling direction and the lifting direction; The second connecting member includes a third connecting plate and a fourth connecting plate. Two ends of the plurality of second bearing rods are respectively rotatably connected to the third connecting plate and the fourth connecting plate. The second bearing rods are configured to output the second container along the conveying direction when rotating.

14. The elevator according to any one of claims 1-11, characterized in that, The elevator further includes a lifting mechanism, and both the first carrier platform and the second carrier platform are movably connected to the column through the lifting mechanism. The lifting mechanism is used to drive the first carrier platform and the second carrier platform to move synchronously.

15. A storage system, characterized in that, It includes a robot, a conveyor line assembly, a processing station, and the elevator according to any one of claims 1-11; At least two storage layers are arranged on the robot along the lifting direction; The robot is used to move to one side of the elevator in the goods-pushing direction, so that when the transmission member moves, the pusher pushes the first container on the first carrier platform onto one of the adjacent two storage layers, and the puller pulls the second container on the other of the adjacent two storage layers onto the second carrier platform; The conveyor line assembly is docked with the elevator. The conveyor line assembly is used to convey the second container output from the second carrier platform, and the conveyor line assembly is also used to convey the first container to the first carrier platform; The processing station is arranged on one side of the conveyor line assembly. The processing station is used to process the second container to form the first container.

16. The warehousing system according to claim 15, characterized in that, The elevator is used to sequentially place the first container downwards and remove the second container from the highest storage layer on the robot, or sequentially place the first container upwards and remove the second container from the lowest storage layer on the robot.

17. The warehousing system according to claim 16, wherein The conveyor line assembly includes a first conveyor line and a second conveyor line; The input end of the first conveyor line faces the elevator, and the first conveyor line is used to receive the second container output from the second carrier platform; The processing station is arranged on one side of the first conveyor line. The first conveyor 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 on one side of the second conveyor line. The first conveyor line is also used to convey the second container to the second conveyor line, and the second conveyor 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 conveyor line faces the elevator, and the second conveyor line is also used to convey the first container to the first carrier platform.

18. The warehousing system according to claim 17, characterized in that, The first conveyor line and the second conveyor line are arranged along the lifting direction, and the first conveyor line and the second conveyor line are located on the same side of the main body structure.

19. The warehousing system according to claim 18, wherein The storage system further includes a container transfer device. The container transfer device is arranged between the output end of the first conveyor line and the input end of the second conveyor line. 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.

20. The warehousing system according to claim 19, wherein, The container transfer device includes a roller elevator. The roller elevator includes a lifting transfer platform and a lifting column. The lifting transfer platform is movably connected to the lifting column along the lifting direction, and rollers are 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 towards the lifting transfer platform. The roller is used to receive the first container or the second container when the lifting transfer platform ascends or descends 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 transfer platform ascends or descends along the lifting direction to a position opposite to the input end of the second conveyor line.

21. The warehousing system according to any one of claims 15-20, characterized in that, The storage system further includes a shelf. The robot is used to carry the second container on the shelf to the elevator, and the robot is also used to carry the first container on the elevator to a target location.

22. A method for controlling a warehousing system, characterized in that, Applied to the storage system according to any one of claims 15-21, the method includes: Controlling the docking of the robot with the elevator; Controlling the elevator to take at least one of the second containers from one of the adjacent two storage layers of the robot and place at least one of the first containers on the other of the adjacent two storage layers of the robot; Controlling the conveyor line assembly to receive the second container output from the second carrier; Controlling the conveyor 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; Controlling the conveyor line assembly to convey the first container to the first carrier.

23. The control method of the warehousing system according to claim 22, wherein The controlling the elevator to take at least one of the second containers from one of the adjacent two storage layers of the robot and place at least one of the first containers on the other of the adjacent two storage layers of the robot includes: Controlling the transmission member to move along the pushing and pulling direction, driving the pushing member to move in the goods pushing direction, so that the pushing member pushes at least one of the first containers on the first carrier to one of the adjacent two storage layers, and driving the pulling member to move in the goods pulling direction, so that the pulling member pulls at least one of the second containers on the other of the adjacent two storage layers to the second carrier.

24. 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 carrier includes: Controlling the first conveyor line to receive the second container output from the second carrier; The controlling the conveyor 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 includes: Controlling 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 controlling the first conveyor line to convey the first container to the second conveyor line; or, controlling the first conveyor line to convey the second container to the second conveyor line, and controlling 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; Controlling the conveying line assembly to convey the first container to the first loading platform includes: Controlling the second conveying line to convey the first container to the first loading platform.

25. The control method of the warehousing system according to claim 24, characterized in that, The storage system further includes a container transfer device; Controlling the first conveying line to convey the first container to the second conveying line includes: Controlling the container transfer device to transfer the first container output from the output end of the first conveying line to the input end of the second conveying line; or, Controlling the first conveying line to convey the second container to the second conveying line includes: Controlling the container transfer device to transfer the second container output from the output end of the first conveying line to the input end of the second conveying line.

26. The control method of the warehousing system according to any one of claims 22-25, characterized in that, The storage system includes a shelf; Before controlling the robot to dock with the elevator, it includes: Controlling the robot to carry the second container on the shelf to the elevator; After controlling the elevator to pick up at least one of the second containers from one of the adjacent two storage layers of the robot and place at least one of the first containers on the other of the adjacent two storage layers of the robot, it includes: Controlling the robot to carry the first container to the target location.

27. A warehousing workstation, characterized in that, It includes: A discharging elevator, a loading elevator, a loading and discharging conveying line, and a processing station; The discharging elevator includes a first column, a discharging loading platform, and a pulling mechanism; the discharging loading platform is arranged on the first column, and the discharging loading platform is movably connected to the first column along the lifting direction; the pulling mechanism is movably arranged along the pushing and pulling direction, the pushing and pulling direction is perpendicular to the lifting direction, and the pulling mechanism is used to pull the second container onto the discharging loading platform; The loading elevator includes 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 pushing and pulling direction, and the pushing mechanism is used to push out the first container on the loading platform; The loading and discharging conveying line is arranged between the discharging elevator and the loading elevator, the conveying direction of the loading and discharging conveying line forms an angle with both the lifting direction and the pushing and pulling direction, the processing station is arranged on one side of the loading and discharging conveying line, the loading and discharging conveying line is used to convey the second container on the discharging loading platform to the processing station for processing to form the first container, and the loading and discharging conveying line is also used to convey the first container to the loading platform.

28. The warehousing workstation according to claim 27, wherein, The discharging loading platform has at least two layers, and at least two layers of the discharging loading platforms are arranged on the first column along the lifting direction; There are at least two pulling mechanisms, at least two pulling mechanisms are arranged along the lifting direction, and at least two pulling mechanisms are used to pull at least two layers of the second containers onto at least two layers of the discharging loading platforms simultaneously; There are at least two driving mechanisms, and the at least two driving mechanisms are arranged along the lifting direction. The at least two driving mechanisms are used to simultaneously push out at least two layers of the first containers on at least two layers of the loading and carrying platforms; The loading and unloading conveyor is used to convey the second containers on at least two layers of the unloading and carrying platforms to the processing station for processing to form the first containers, and the loading and unloading conveyor is also used to convey the first containers after being processed by the processing station to at least two layers of the loading and carrying platforms.

29. The warehousing workstation according to claim 27, wherein The number of layers of the loading and carrying platform and / or the number of layers of the unloading and carrying platform is two.

30. The warehousing workstation according to claim 28, wherein The pushing and pulling direction includes a goods-pushing direction and a goods-pulling direction; The pulling mechanism includes a fourth sliding member and at least two first pulling members; The fourth sliding member is movably arranged along the pushing and pulling direction. 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 and pulling direction. The at least two seventh sliding portions are arranged along the lifting direction and connected to the sixth sliding portion. Each seventh sliding portion has a free end at one end facing the goods-pushing direction; Each of the first pulling members is respectively arranged on one of the free ends, so that when the fourth sliding member moves in the goods-pulling direction, the at least two first pulling members simultaneously pull at least two layers of the second containers to at least two layers of the unloading and carrying platforms.

31. The warehousing workstation according to claim 30, characterized in that, The at least two first pulling members are all rotatably connected to the free ends. The first pulling members are used to rotate to be parallel to the pushing and pulling direction to avoid the second containers when the fourth sliding member moves in the goods-pushing direction, and rotate towards the side of the second containers to hold the second containers when the fourth sliding member moves in the goods-pulling direction, and pull the second containers to the unloading and carrying platforms.

32. The warehousing workstation according to claim 30, characterized in that, Each layer of the unloading and carrying platform includes a third connecting member and at least two third carrying rods. Each of the third carrying rods is connected to the first column through the third connecting member. The third carrying rods extend along the pushing and pulling direction, and the at least two third carrying rods are arranged along the conveying direction. The sixth sliding portion is sleeved on at least one of the third carrying rods of each layer of the unloading and carrying platform, so that the sixth sliding portion can slide relative to the third carrying rods along the pushing and pulling direction.

33. The warehousing workstation according to claim 32, characterized in that, The third carrying rod is rotatably connected to the third connecting member, so that when the third carrying rod rotates, the second container is conveyed in the conveying direction to the loading and unloading conveyor.

34. The warehousing workstation according to any one of claims 28-33, characterized in that, The driving mechanism has at least two first driving members arranged along the lifting direction, and the at least two first driving members are connected to each other, so that when the driving mechanism moves along the pushing and pulling direction, the at least two first driving members simultaneously push out at least two layers of the first containers.

35. The warehousing workstation according to claim 34, wherein, Each of the loading and carrying platforms includes a fourth connecting member and at least two fourth carrying rods. Each of the fourth carrying rods is connected to the second column through the fourth connecting member. The fourth carrying rods extend along the pushing and pulling direction, and at least two of the fourth carrying rods are arranged along the conveying direction. The pushing mechanism is slidable relative to the fourth carrying rods along the pushing and pulling direction.

36. The warehousing workstation according to claim 35, wherein The fourth carrying rod is rotatably connected to the fourth connecting member so that when the fourth carrying rod rotates, it receives the first container conveyed by the loading and unloading conveyor line.

37. A warehousing system, characterized in that, It includes a robot and a storage workstation according to any one of claims 27-36; 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. The pulling mechanism is used to pull the second container on the storage layer to the unloading and carrying platform. The robot is also used to dock with the loading elevator. The pushing mechanism is used to push the first container on the loading and carrying platform to the storage layer. The robot is also used to transport the first container on the loading elevator to the target location.

38. The warehousing system according to claim 37, characterized in that, The unloading and carrying platform has at least two layers, and at least two layers of the unloading and carrying platforms 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 along the lifting direction. At least two pulling mechanisms are used to pull at least two layers of the second containers to at least two layers of the unloading and carrying platforms at the same time; There are at least two pushing mechanisms, and at least two pushing mechanisms are arranged along the lifting direction. At least two pushing mechanisms are used to push at least two layers of the first containers on at least two layers of the loading and carrying platforms out at the same time; The loading and unloading conveyor line is used to convey the second containers on at least two layers of the unloading and carrying platforms to the processing station for processing to form the first containers. The loading and unloading conveyor line is also used to convey the first containers processed by the processing station to at least two layers of the loading and carrying platforms; The storage layer has at least two layers, and at least two layers 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 layers of the storage layers and dock with the unloading elevator. The pulling mechanism is used to pull at least two layers of the second containers on at least two layers of the storage layers to at least two layers of the unloading and carrying platforms at the same time. The robot is also used to dock with the loading elevator. The pushing mechanism is used to push at least two layers of the first containers on at least two layers of the loading and carrying platforms to at least two layers of the storage layers of the loading elevator at the same time.

Images