Workstation, container handling system and container handling method

Abstract

The present disclosure provides a workstation, a container loading and unloading system and a container loading and unloading method. The workstation comprises a movable carrier parking position and a container loading and unloading mechanism. The container loading and unloading mechanism comprises a first pushing assembly and a first bearing assembly located on the first side of the movable carrier parking position, and a movement assembly driving the first pushing assembly and the first bearing assembly. The movement assembly drives the first pushing assembly and the first bearing assembly to move to a target position; the first pushing assembly pushes the to-be-stowed container received on the first bearing assembly from the first side to the second side along the Z-axis direction, so as to push the to-be-stowed container to the movable carrier for storage. The first pushing assembly can automatically push the to-be-stowed container received on the first bearing assembly to the movable carrier for storage, thereby improving the container stowing efficiency.

Description

Technical Field

[0001] The present disclosure relates to the field of warehousing technology, and in particular to a workstation, a container loading and unloading system, and a container loading and unloading method. Background Art

[0002] In recent years, with the rapid development of e-commerce, the number of user orders has increased exponentially. A warehouse needs to store a huge amount of items. Therefore, how to improve warehousing efficiency has become the key.

[0003] In current warehouse management, different types of items are packed into separate containers, which are then placed on movable carriers. These carriers are then transported to designated locations, where workers remove the containers and sort the items. This process requires manual intervention, is complex, and inefficient. Summary of the Invention

[0004] In view of this, the embodiments of the present disclosure provide a workstation to solve the technical defects in the prior art. The embodiments of the present disclosure provide a container loading and unloading system and a container loading and unloading method.

[0005] According to a first aspect of an embodiment of the present disclosure, there is provided a workstation comprising a movable carrier docking position and a container loading and unloading mechanism;

[0006] The movable vehicle parking position is configured to be used for parking the movable vehicle; two opposite sides of the movable vehicle parking position are respectively referred to as a first side and a second side;

[0007] The container loading and unloading mechanism includes a first pushing assembly and a first bearing assembly located on the first side, and a motion assembly driving the first pushing assembly and the first bearing assembly;

[0008] The motion assembly is configured to drive the first pushing assembly and the first carrying assembly to move to a target position;

[0009] The first pushing assembly is configured to push the container to be shelved supported by the first carrying assembly from the first side to the second side along the Z-axis direction, so as to push the container onto the movable carrier for storage.

[0010] In one embodiment of the present disclosure, the movable carrier is provided with at least two rows of container storage units on the plane where the X-axis and the Y-axis are located, and at least one of the container storage units is constructed to pass through in the Z-axis direction and is constructed to accommodate at least one container in the Z-axis direction.

[0011] In one embodiment of the present disclosure, the motion component includes a Y-axis motion component that moves along the vertical Y-axis direction; the Y-axis motion component is constructed to drive the first pushing component and the first supporting component to move along the vertical direction to the position of the target row on the movable carrier.

[0012] In one embodiment of the present disclosure, the movable carrier is provided with at least two rows of container storage units on the plane where the X-axis and the Y-axis are located, and at least one of the container storage units is constructed to pass through in the Z-axis direction and is constructed to accommodate at least one container in the Z-axis direction.

[0013] In one embodiment of the present disclosure, at least two first pushing assemblies are provided, and the at least two first pushing assemblies are spaced apart on the first side along the extension direction of the movable carrier parking position and correspond one-to-one to different columns on the movable carrier;

[0014] and / or,

[0015] At least two first carrying assemblies are provided, and the at least two first carrying assemblies are arranged at intervals along the extension direction of the movable carrier parking position on the first side and correspond one-to-one to different columns on the movable carrier.

[0016] In one embodiment of the present disclosure, the motion component includes an X-axis motion component that moves along the extension direction of the movable carrier parking position; the X-axis motion component is constructed to drive the first pushing component and the first supporting component to move along the extension direction of the movable carrier parking position to the position of the target column on the movable carrier.

[0017] In one embodiment of the present disclosure, the movable carrier is configured to move in the X-axis direction driven by an automatic handling device, so that the movable carrier moves until its target row corresponds to the first pushing component and the first carrying component.

[0018] In one embodiment of the present disclosure, a sensor unit is further included, and the sensor unit is used to determine the posture deviation between the first pushing component and / or the first bearing component and the movable carrier.

[0019] In one embodiment of the present disclosure, the motion component is further used to adjust the posture of the first pushing component and / or the first bearing component according to the posture deviation determined by the sensor unit to eliminate the posture deviation.

[0020] In one embodiment of the present disclosure, the motion assembly includes a ceiling rail and / or a floor rail, and the motion assembly is configured to drive the first pushing assembly and the first bearing assembly to move on the ceiling rail and / or the floor rail.

[0021] In one embodiment of the present disclosure, the moving assembly comprises two upright columns, and each of the opposite sides of the two upright columns is provided with at least one first pushing assembly and at least one first carrying assembly.

[0022] In one embodiment of the present disclosure, the moving assembly is further configured to drive the first carrying assembly to move to a position corresponding to a conveying line or a buffer position, so as to transfer a to-be-palletized container located on the conveying line or the buffer position to the first carrying assembly.

[0023] In one embodiment of the present disclosure, the first pushing assembly and the first carrying assembly are configured to move independently.

[0024] In one embodiment of the present disclosure, the moving assembly is configured to drive the first pushing assembly and the first carrying assembly to move synchronously to a target position.

[0025] In one embodiment of the present disclosure, the first carrying assembly comprises a base provided with a carrying position for accommodating a container; and the first pushing assembly comprises a pushing part arranged on the base and configured to push a to-be-palletized container received on the first carrying assembly to the movable carrier in the Z-axis direction.

[0026] In one embodiment of the present disclosure, the movable carrier is provided with at least one container storage unit, and the at least one container storage unit is configured to be provided with, in the Z-axis direction, a first storage position adjacent to the first side and a second storage position adjacent to the second side; after the first pushing assembly pushes the to-be-palletized container received on the first carrying assembly to the first storage position in the Z-axis direction, the movable carrier is configured to move to a position in which the second storage position of the second side corresponds to the first pushing assembly, and the first pushing assembly is configured to push the to-be-palletized container received on the first carrying assembly to the second storage position in the Z-axis direction.

[0027] In one embodiment of the present disclosure, the at least one container storage unit is provided, in the Z-axis direction, with a first storage position adjacent to the first side and a second storage position adjacent to the second side.

[0028] The first pushing assembly is configured to push the to-be-palletized container received on the first carrying assembly to the first storage position or the second storage position in the Z-axis direction.

[0029] In one embodiment of the present disclosure, the first pushing component is configured to push a corresponding distance from the first side toward the second side according to the depth of the container storage unit extending along the Z-axis direction and the position of the container to be shelved stored in the container storage unit, so as to push the container to be shelved onto the movable carrier.

[0030] In one embodiment of the present disclosure, when a first container is already stored in the first storage position, the first container is pushed from the first storage position to the second storage position for storage by moving the container to be shelved;

[0031] or,

[0032] In a case where a first container is already stored in the first storage position or a second container is already stored in the second storage position, the first container or the second container is pushed out from the second side by moving the container to be put on the shelf;

[0033] or,

[0034] When a first container is stored in the first storage position and a second container is stored in the second storage position, the first container is pushed to move by the container to be put on the shelf, and the second container is pushed out from the second side by the movement of the first container.

[0035] In one embodiment of the present disclosure, it also includes a second carrying assembly located on the second side and a motion assembly that drives the second carrying assembly; the motion assembly located on the second side is configured to drive the second carrying assembly to move to a target position, and the second carrying assembly is configured to receive a container pushed out from the second side.

[0036] In one embodiment of the present disclosure, the motion component located on the second side is configured to drive the second carrying component to move to a position corresponding to a conveyor line or a cache position so as to transfer the container located on the second carrying component to the conveyor line or the cache position; or, to transfer the container located on the conveyor line or the cache position to the first carrying component.

[0037] In one embodiment of the present disclosure, the container loading and unloading mechanism further includes a second pushing assembly located on the second side, and the second pushing assembly is configured to push the container located on the second carrying assembly onto at least one of a movable carrier, a conveyor line, and a cache location.

[0038] In one embodiment of the present disclosure, the second carrying assembly includes a base, on which a carrying position for accommodating the container is provided; the second pushing assembly includes a pushing portion, and the pushing portion is configured to be pushed out or retracted along the Z-axis direction.

[0039] In one embodiment of the present disclosure, the second pushing assembly is configured to push the container to be shelved on the second carrying assembly to a corresponding container storage unit on a movable carrier, and to move another container in the container storage unit from an original storage position to an adjacent storage position for storage through the movement of the container to be shelved; or to push the other container out from the first side, and the first carrying assembly is configured to carry the container pushed out from the first side.

[0040] In one embodiment of the present disclosure, the container loading and unloading mechanism also includes a second pushing component located on the second side and a motion component that drives the second pushing component, and the motion component located on the second side is configured to drive the second pushing component to move to the target position; the second pushing component is configured to push the container on the movable carrier from the second side to the first side along the Z-axis direction, so as to push the container on the movable carrier out from the first side; the first carrying component is configured to receive the container on the movable carrier pushed out by the second pushing component from the first side.

[0041] In one embodiment of the present disclosure, the first pushing component is configured to push the container on the movable carrier from the first side to the second side along the Z-axis direction so as to push the container on the movable carrier out from the second side; and further includes a second supporting component located on the second side and a motion component driving the second supporting component; the motion component located on the second side is configured to drive the second supporting component to move to a target position so as to receive the container on the movable carrier pushed out by the first pushing component from the second side.

[0042] In one embodiment of the present disclosure, a visual detection device is further included, and the visual detection device is configured to detect the type and / or quantity of items in the container.

[0043] In one embodiment of the present disclosure, a positioning mechanism is further included, which is arranged in the movable carrier parking position and is constructed to position the movable carrier located in the movable carrier parking position and / or to limit the position.

[0044] According to a second aspect of an embodiment of the present disclosure, there is provided a container handling system, the container handling system comprising a server, at least one automatic handling device, and at least one of the above-mentioned workstations;

[0045] The server is configured to send a transport instruction to the automatic transport device and a shelving operation instruction to the workstation;

[0046] The automatic transport device is configured to transport the movable carrier based on the transport instruction and transport the movable carrier to the movable carrier parking position;

[0047] The motion component in the workstation is configured to drive the first pushing component and the first carrying component to move to a target position based on the shelving operation instruction;

[0048] The first pushing component is configured to push the container to be shelved supported by the first carrying component from the first side to the second side along the Z-axis direction based on the shelving operation instruction, so as to push it onto the movable carrier for storage.

[0049] According to a third aspect of an embodiment of the present disclosure, a container loading and unloading method is provided, which is applied to the above-mentioned container loading and unloading system, and the method includes:

[0050] The server sends handling instructions to the automatic handling equipment and sends shelf operation instructions to the workstation;

[0051] The automatic transport device transports the movable carrier to the movable carrier parking position based on the transport instruction;

[0052] The motion component in the workstation drives the first pushing component and the first carrying component to move to the target position based on the shelving operation instruction;

[0053] Based on the shelving operation instruction, the first pushing component pushes the container to be shelved supported by the first carrying component from the first side to the second side along the Z-axis direction, so as to push it onto the movable carrier for storage.

[0054] In one embodiment of the present disclosure, after the first pushing assembly pushes the container to be shelved, which is supported by the first carrying assembly, from the first side toward the second side along the Z-axis direction based on the shelving operation instruction, the method further includes:

[0055] The server obtains the position information of the container to be put on the movable carrier, and updates and records the position information.

[0056] This embodiment provides a workstation, a container loading and unloading system, and a container loading and unloading method. The workstation includes a movable carrier docking position and a container loading and unloading mechanism. The movable carrier docking position is configured to dock the movable carrier; the two opposite sides of the movable carrier docking position are respectively referred to as the first side and the second side. The container loading and unloading mechanism includes at least a first pushing component and a first bearing component located on the first side, and a motion component that drives the first pushing component and the first bearing component. The motion component is configured to drive the first pushing component and the first bearing component to move to a target position; the first pushing component is configured to push the container to be shelved supported by the first bearing component from the first side to the second side along the Z-axis direction, so as to push it onto the movable carrier for storage. Through the first pushing component of the container shelving mechanism in the workstation, the container to be shelved supported by the first bearing component can be automatically pushed onto the movable carrier for storage. It can be seen that the container shelving process in this embodiment does not require manual participation, shortens the container shelving time, and thus improves the container shelving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 This is a schematic structural diagram of a workstation provided by an embodiment of the present disclosure;

[0058] Figure 2 This is a structural diagram of a container loading and unloading system provided by one embodiment of the present disclosure;

[0059] Figure 3 This is a structural diagram of a second carrying assembly and a second pushing assembly combined together in a workstation provided by an embodiment of the present disclosure;

[0060] Figure 4 is a structural diagram of another workstation provided by an embodiment of the present disclosure;

[0061] Figure 5 is a structural schematic diagram of another container loading and unloading system provided by an embodiment of the present disclosure;

[0062] Figure 6 This is a flow chart of a container loading and unloading method provided by one embodiment of the present disclosure. DETAILED DESCRIPTION

[0063] The following description sets forth many specific details to facilitate a full understanding of the present disclosure. However, the present disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the scope of the present disclosure. Therefore, the present disclosure is not limited to the specific implementations disclosed below.

[0064] The terms used in one or more embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of the present disclosure. The singular forms "a", "the", and "the" used in one or more embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in one or more embodiments of the present disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0065] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0066] First, the terms involved in one or more embodiments of the present disclosure are explained.

[0067] Movable carrier: refers to the object transported by automatic handling equipment. One or more container storage units are set on the movable carrier to place containers.

[0068] Container: Also commonly known as a material box or cargo box, it is an entity that holds goods, materials and other items, including plastic boxes, cartons, paper boxes, plastic baskets, etc., as well as the product's own packaging boxes, packaging boxes, etc.

[0069] Storage location: A location on a movable vehicle used to store containers. It can also be empty, meaning no container is stored.

[0070] Automatic handling equipment: An automated device that can carry movable carriers.

[0071] The present disclosure provides a workstation, a container loading and unloading system, and a container loading and unloading method, which are described in detail one by one in the following embodiments.

[0072] Figure 1 A structural schematic diagram of a workstation provided in one embodiment of the present disclosure is shown, wherein the workstation includes a movable carrier docking position 3 and a container loading and unloading mechanism.

[0073] The movable vehicle parking position 3 is configured to be used for parking the movable vehicle; the two opposite sides of the movable vehicle parking position 3 are respectively referred to as a first side and a second side;

[0074] The container loading and unloading mechanism includes a first pushing assembly 5 and a first bearing assembly 50 located on the first side, and a motion assembly driving the first pushing assembly 5 and the first bearing assembly 50;

[0075] The motion assembly is configured to drive the first pushing assembly 5 and the first carrying assembly 50 to move to a target position;

[0076] The first pushing assembly 5 is configured to push the container to be loaded on the first carrying assembly 50 from the first side to the second side along the Z-axis direction, so as to push the container onto the movable carrier for storage.

[0077] The workstation in this embodiment may be a storage workstation or a workstation for storing containers in a factory scenario, which is not specifically limited here.

[0078] The movable vehicle parking space 3 can be used for the movable vehicle to enter and dock. Figure 1 As shown in , the movable vehicle parking position 3 may include two opposite sides, and the first side is provided with a first pushing component 5 and a first bearing component 50.

[0079] The first carrier assembly 50 provides the function of receiving containers, and the first push assembly 5 provides the function of pushing containers. It can be a push rod, a push block, a push disc, or other structures. The number of first carrier assemblies 50 and first push assemblies 5 can be one or more, and the number of first carrier assemblies 50 and first push assemblies 5 can be the same or different. The first carrier assemblies 50 and first push assemblies 5 are configured to be movable and can be precisely moved to a target position under the drive of a motion assembly. The first push assembly 5 then pushes the container to be loaded on the first carrier assembly 50 from the first side to the second side along the Z-axis direction to push it onto the movable carrier for storage.

[0080] In order to realize the function of automatically shelving containers, the workstation of the embodiment of the present disclosure may also be provided with a control mechanism (the control mechanism may be a control chip integrated in the workstation or a server independent of the workstation). The control mechanism is used to send instructions to the motion component and the first pushing component. After receiving the instructions, the motion component may drive the first pushing component 5 and the first bearing component 50 to move according to the instructions. After receiving the instructions, the first pushing component 5 may start to push the container to be shelved according to the instructions.

[0081] According to the embodiment of the present disclosure, the workstation comprises a movable carrier parking position 3 and a container loading and unloading mechanism. The movable carrier parking position 3 is configured to park the movable carrier. The movable carrier parking position 3 has a first side and a second side opposite to each other. The container loading and unloading mechanism comprises at least a first pushing assembly 5 and a first carrying assembly 50 on the first side, and a movement assembly driving the first pushing assembly 5 and the first carrying assembly 50. The movement assembly is configured to drive the first pushing assembly 5 and the first carrying assembly 50 to move to a target position. The first pushing assembly 5 is configured to push the to-be-stowed container received on the first carrying assembly 50 from the first side to the second side along the Z-axis direction, so as to push the to-be-stowed container to the movable carrier for storage. Through the first pushing assembly 5 of the container stowing mechanism in the workstation, the to-be-stowed container received on the first carrying assembly 50 can be automatically pushed to the movable carrier for storage. It can be seen that the stowing process of the container in this embodiment does not need manual participation, the stowing time of the container is shortened, and the stowing efficiency of the container is improved.

[0082] In actual application scenarios, as shown in FIG. 1, Figure 2 Figure 2 FIG. 1 shows a structural schematic diagram of a container loading and unloading system according to an embodiment of the present disclosure.

[0083] The movable carrier 6 is carried by the automatic handling equipment into the movable carrier parking position 3. The movable carrier parking position 3 is used for the movable carrier 6 to enter and park. In order to ensure that the movable carrier 6 can completely enter the movable carrier parking position 3, the width of the movable carrier parking position 3 on both sides needs to be greater than the width of the movable carrier 6. In order to ensure the stability of the structure of the workstation and block dust and falling objects, a cover plate can be arranged above the movable carrier parking position 3.

[0084] The movable carrier 6 generally has a plurality of containers 60. Each container 60 can contain the same or different objects. When the containers are stowed, the containers can be stowed at different positions. However, if the first pushing assembly 5 and the first carrying assembly 50 are arranged at all positions, the structure of the workstation will be too complex. Therefore, in order to simplify the structure of the workstation, the first pushing assembly 5 and the first carrying assembly 50 are movable according to the embodiment of the present disclosure. Specifically, the first pushing assembly 5 and the first carrying assembly 50 are driven to move by the movement assembly.

[0085] In an implementation manner of the embodiment of the present disclosure, the movable carrier 6 is provided with at least two rows of container storage units in the plane of the X-axis and the Y-axis. At least one container storage unit is configured to be through in the Z-axis direction and is configured to accommodate at least one container in the Z-axis direction.

[0086] ​Generally, the common movable carrier has AB faces, and the AB faces each have symmetrically arranged container storage units, and the symmetrically arranged container storage units are separated by a surrounding barrier. Obviously, such a movable carrier is not suitable for pushing container operation, but only suitable for sucking container or dragging container operation. For such a movable carrier, the center of gravity of the movable carrier needs to be considered when the container is stacked. If the container is always stacked on one side, the movable carrier is prone to overturning. Therefore, an automatic handling device is needed to turn the movable carrier back and forth to ensure that the container is evenly stacked on both sides of the movable carrier, which increases the operation complexity and affects the container stacking efficiency.

[0087] To solve the above problems, the movable carrier 6 can be provided with at least two rows of container storage units in the plane of the X axis and the Y axis, and at least one container storage unit is configured to be through in the Z axis direction. The through structure means that no matter how many container storage positions the movable carrier 6 has in the longitudinal direction, the container storage positions are not separated by a surrounding barrier and are through, which facilitates the first pushing assembly to push the container 60 into any longitudinal storage position for storage. When the container 60 is stacked, the container is stacked by pushing based on the through structure. Compared with the container stacked by sucking or dragging based on the common movable carrier, the center of gravity can be better adjusted to avoid the movable carrier from overturning due to the container being stacked on one side, and the operation is simpler and the container stacking efficiency is higher.

[0088] In the embodiment in which the movable carrier 6 is provided with at least two rows of container storage units in the plane of the X axis and the Y axis, the movement assembly can include a Y axis movement assembly moving in the vertical Y axis direction. The Y axis movement assembly is configured to drive the first pushing assembly 5 and the first bearing assembly 50 to move to the target row position of the movable carrier 6 along the vertical direction.

[0089] Since the container storage units are arranged in rows, when there is a need to stack the container 60, the movement assembly needs to drive the first pushing assembly 5 and the first bearing assembly 50 to move to the corresponding row. Therefore, the movement assembly can include a Y axis movement assembly moving in the vertical Y axis direction, and the Y axis movement assembly can drive the first pushing assembly 5 and the first bearing assembly 50 to move to the target row position of the movable carrier 6 along the vertical direction.

[0090] In another implementation manner of the embodiment of the present disclosure, the movable carrier 6 is provided with at least two columns of container storage units in the plane of the X axis and the Y axis, and at least one container storage unit is configured to be through in the Z axis direction and configured to accommodate at least one container 60 in the Z axis direction.

[0091] The movable carrier 6 can be provided with at least two rows of container storage units on the plane where the X-axis and Y-axis lie, with at least one container storage unit being constructed to be continuous in the Z-axis direction. This continuous structure means that, regardless of the number of container storage positions in the depth direction of the movable carrier 6, there are no barriers separating the various container storage positions, and the positions are continuous, making it easier for the first pushing assembly to push the container 60 to a storage position of any depth for storage. When the container 60 is being put on the shelf, the container is pushed based on the continuous structure. Compared with conventional methods of putting the container on the shelf by sucking or dragging the container, the center of gravity can be better adjusted, preventing the movable carrier from tipping over due to concentrating all the containers on one side. Furthermore, the operation is simpler and the container putting on the shelf is more efficient.

[0092] In an embodiment in which the movable carrier 6 is provided with at least two rows of container storage units on the plane where the X-axis and the Y-axis are located, the motion component may include an X-axis motion component that moves along the extension direction of the movable carrier stop 3; the X-axis motion component is configured to drive the first pushing component 5 and the first carrying component 50 to move along the extension direction of the movable carrier stop 3 to the position of the target row of the movable carrier 6.

[0093] Since the container storage unit is configured to be arranged in columns, when there is a need to put a container 60 on a shelf, a motion component is required to drive the first pushing component 5 and the first carrying component 50 to move to the corresponding column. Therefore, the motion component may include an X-axis motion component that moves along the extension direction of the movable carrier stop 3. The X-axis motion component can drive the first pushing component 5 and the first carrying component 50 to move along the extension direction of the movable carrier stop 3 to the position of the target column of the movable carrier 6.

[0094] In an embodiment in which the movable carrier 6 is provided with at least two rows of container storage units on the plane where the X-axis and the Y-axis are located, at least two first pushing assemblies 5 are provided. The at least two first pushing assemblies 5 are arranged at intervals along the extension direction of the movable carrier parking position 3 on the first side and correspond one-to-one to different rows on the movable carrier 6.

[0095] and / or,

[0096] At least two first supporting assemblies 50 are provided. The at least two first supporting assemblies 50 are spaced apart and arranged along the extending direction of the movable carrier parking position 3 on the first side, and correspond one-to-one to different columns on the movable carrier 6 .

[0097] like Figure 1 and Figure 2As shown in the figure, at least two first pushing assemblies 5 and at least two first carrying assemblies 50 can be provided (the figure is only an example and the specific number is not limited). These first pushing assemblies 5 and first carrying assemblies 50 are arranged at intervals along the extension direction of the movable carrier parking position 3 on the first side, and each first pushing assembly 5 and first carrying assembly 50 corresponds to a different column on the movable carrier 6. In this way, each pushing assembly and carrying assembly is only responsible for the container storage unit in the corresponding column. Each first pushing assembly 5 and first carrying assembly 50 can be controlled independently, that is, the containers to be shelved in each column can be pushed simultaneously, achieving the purpose of shelving multiple containers at the same time.

[0098] In one embodiment of the present disclosure, the movable carrier 6 is provided with at least two columns and at least two rows of container storage units on the plane of the X-axis and Y-axis. In this embodiment, the motion assembly may include an X-axis motion assembly and a Y-axis motion assembly. Through the coordinated movement of the X-axis motion assembly and the Y-axis motion assembly, the first pushing assembly 5 and the first bearing assembly 50 can be moved to the target position corresponding to the corresponding container storage unit on the movable carrier 6.

[0099] In another implementation of the embodiment of the present disclosure, the movable carrier 6 is configured to move in the X-axis direction under the drive of the automatic handling equipment, so that the movable carrier 6 moves so that its target column corresponds to the first pushing component 5 and the first carrying component 50.

[0100] Since the movable carrier 6 is driven by the automatic handling equipment to move in the X-axis direction, the automatic handling equipment can, based on its own handling function, finely adjust the position of the movable carrier 6 during the process of transporting the movable carrier 6, so that the target column of the movable carrier 6 can correspond to the first pushing component 5 and the first carrying component 50. In this embodiment, there can be one first pushing component 5 and one first carrying component 50, and the positions are fixed. When it is necessary to correspond different columns on the movable carrier 6 to the first pushing component 5 and the first carrying component 50, the automatic handling equipment can be controlled to drive the movable carrier 6 to move a corresponding distance in the X-axis direction until the target column on the movable carrier 6 is matched with the first pushing component 5 and the first carrying component 50, that is, the first pushing component 5 can correspondingly push the container to be shelved carried by the first carrying component 50 to the container storage unit of the target column.

[0101] In one implementation of the embodiment of the present disclosure, the workstation may further include a sensor unit, which is used to determine the posture deviation between the first pushing component 5 and / or the first bearing component 50 and the movable carrier.

[0102] In the process of the first pushing component 5 pushing the container, it is necessary to first move the first pushing component 5 and the first carrying component 50 to a position corresponding to the target position on the movable carrier 6. If the first pushing component 5 and the first carrying component 50 are not moved into place, it is difficult to maintain the stability of the container pushing. Therefore, in an embodiment of the present disclosure, a sensor unit is provided, and the sensor unit can be an infrared sensor, a position sensor, a camera, a distance sensor, etc. Through the positioning of the sensor unit, the posture deviation between the first pushing component 5 and / or the first carrying component 50 and the movable carrier 6 can be determined. For example, in one embodiment of the present disclosure, the sensor unit can be a two-dimensional camera, and the posture deviation of the first pushing component 5 relative to the movable carrier 6 can be detected by the two-dimensional camera, such as the deviation in the X-axis direction, the Y-axis direction, and the Z-axis direction.

[0103] Those skilled in the art will appreciate that the sensor unit can use the container as a detection reference, or can use the corresponding position on the movable carrier 6 as a detection reference. For example, a positioning mark can be set at the corresponding position of the movable carrier 6, and the sensor unit can determine the offset of the first pushing assembly 5 and / or the first bearing assembly 50 relative to the positioning mark based on the positioning mark. This embodiment is equivalent to obtaining the positional deviation between the first pushing assembly 5 and / or the first bearing assembly 50 and the movable carrier 6.

[0104] For those skilled in the art, the sensor unit may also be a three-dimensional camera, which can be used to directly locate the position of the movable carrier 6, thereby calculating the three-dimensional deviation between the first pushing component 5 and / or the first supporting component 50 and the movable carrier 6.

[0105] In the case where there is a first posture deviation, the motion component is further used to adjust the posture of the first pushing component 5 and / or the first bearing component 50 according to the posture deviation determined by the sensor unit to eliminate the posture deviation.

[0106] If there is a posture deviation, the motion component is required to adjust the posture of the first pushing component 5 and / or the first supporting component 50 based on the posture deviation. The posture deviation can be eliminated through adjustment, so that the first pushing component 5 can push the container 60 to the middle position as much as possible. For example, if the sensor unit determines that there is a 15° deviation, the motion component can drive the first pushing component 5 and / or the first supporting component 50 to deviate by 15°, thereby eliminating the 15° deviation.

[0107] In one implementation of the embodiment of the present disclosure, the motion assembly includes a ceiling rail and / or a floor rail, and the motion assembly is configured to drive the first pushing assembly 5 and the first bearing assembly 50 to move on the ceiling rail and / or the floor rail.

[0108] In the embodiment of the present disclosure, the motion assembly may include a ceiling rail and / or a floor rail, and the X-axis motion assembly in the motion assembly may be coordinated with the ceiling rail and / or floor rail guides, so that the X-axis motion assembly can move along the extension direction of the ceiling rail and / or floor rail.

[0109] In a specific embodiment of the present disclosure, Figure 1 and Figure 2 As shown in the figure, on the first side where the first pushing component 5 is set, the motion component includes a first gantry component 2, and at least one first column 20 (X-axis motion component) is connected to the first gantry component 2. The first pushing component 5 and the first bearing component 50 can move in the vertical direction along the first column 20. By setting the first gantry component 2 and the first column 20, the first pushing component 5 and the first bearing component 50 can move flexibly in the vertical direction, and the stability of the first pushing component 5 and the first bearing component 50 in moving in the vertical direction is guaranteed.

[0110] In a specific practical application, the first column 20 can be guided and engaged with the ceiling rail and the floor rail of the first gantry assembly 2. The ceiling rail and the floor rail can provide support and guidance for the first column 20. The first column 20 can move along the X-axis direction under the constraints of the ceiling rail and the floor rail of the first gantry assembly 2, so that the first column 20 can drive the first pusher assembly 5 and the first bearing assembly 50 to correspond to the target column on the movable carrier 6. The first pusher assembly 5 and the first bearing assembly 50 are connected to the first column 20 via the Y-axis motion assembly, thereby allowing the first pusher assembly 5 and the first bearing assembly 50 to move along the first column 20 in the Y-axis direction to correspond to the target row of the movable carrier 6.

[0111] In the following embodiment in which a second pushing assembly 40 and a second bearing assembly 4 are provided, on the second side where the second pushing assembly 40 and the second bearing assembly 4 are provided, the motion assembly includes a second gantry assembly 1, to which at least one second column 10 (X-axis motion assembly) is connected. The second pushing assembly 40 and the second bearing assembly 4 can move in the vertical direction along the second column 10. By providing the second gantry assembly 1 and the second column 10, the second pushing assembly 40 and the second bearing assembly 4 can move flexibly in the vertical direction, and the stability of the second pushing assembly 40 and the second bearing assembly 4 in the vertical direction is ensured. The structure in which the second pushing assembly 40 and the second bearing assembly 4 move in the second gantry assembly 1 can be consistent with the structure in which the first pushing assembly 5 and the first bearing assembly 50 move in the first gantry assembly 2, and will not be described in detail here.

[0112] In one implementation of the embodiment of the present disclosure, the motion assembly includes two columns, and at least one first pushing assembly 5 and at least one first bearing assembly 50 are distributed on opposite sides of the two columns.

[0113] In a specific embodiment of the present disclosure, Figure 4 As shown in Figure 4 A schematic diagram of the structure of another workstation provided by an embodiment of the present disclosure is shown. Two first columns 20 are provided, and at least one first pushing assembly 5 and at least one first load-bearing assembly 50 are respectively disposed on opposite sides of the two first columns 20. That is, each first column 20 is provided with a first pushing assembly 5 and a first load-bearing assembly 50, and the first pushing assemblies 5 and the first load-bearing assemblies 50 are disposed on opposite sides of the two first columns 20, so that the first pushing assemblies 5 and the first load-bearing assemblies 50 on each column can simultaneously push the containers 60 to be stored into two adjacent rows of container storage units.

[0114] Based on the same principle, in the following embodiment in which a second pushing assembly 40 and a second load-bearing assembly 4 are provided, two second columns 10 are provided, with at least one second pushing assembly 40 and second load-bearing assembly 4 distributed on opposite sides of each of the two second columns 10. The second pushing assembly 40 and second load-bearing assembly 4 are disposed on opposite sides of the two second columns 10, so that the second pushing assembly 40 and second load-bearing assembly 4 on each column can simultaneously push the containers 60 to be racked into two adjacent rows of container storage units.

[0115] In one implementation of the embodiment of the present disclosure, the motion component is also constructed to drive the first carrying component 50 to move to a position corresponding to the conveyor line or cache position to transfer the container 60 to be shelved located on the conveyor line or cache position to the first carrying component 50.

[0116] During the shelving process, the moving component can drive the first carrying component 50 to move to a position corresponding to the conveyor line or cache position. When the first carrying component 50 moves to a position docking with the conveyor line or cache position, the container 60 on the conveyor line or cache position can be transferred to the first carrying component 50, and then transported to the corresponding position of the movable carrier 6 by the first carrying component 50 to facilitate subsequent shelving operations.

[0117] In one implementation of the embodiment of the present disclosure, the first pushing assembly 5 and the first bearing assembly 50 are configured to move independently.

[0118] In the actual design, the first pushing component 5 and the first supporting component 50 located on the first side can move independently, that is, the first pushing component 5 and the first supporting component 50 are controlled by their respective motion components, and there is no connection between the movement of the first pushing component 5 and the first supporting component 50, and the two move independently.

[0119] In one implementation of the embodiment of the present disclosure, the motion assembly is configured to drive the first pushing assembly 5 and the first bearing assembly 50 to move synchronously to a target position.

[0120] Since the first pushing component 5 and the first supporting component 50 are both arranged on the first side, for the convenience of control, the components on the same side can be set to move synchronously, that is, the moving component located on the first side can drive the first pushing component 5 and the first supporting component 50 to move synchronously to the target position.

[0121] In one implementation of the embodiment of the present disclosure, the first carrying component 50 includes a base, on which is provided a carrying position 400 for accommodating the container 60; the first pushing component 5 includes a pushing portion 401 provided on the base, and the pushing portion 401 is configured to push the container to be shelved 60 supported on the first carrying component 50 along the Z-axis direction to the movable carrier 6 for storage.

[0122] and Figure 3 The structures shown are identical: the first carrier assembly 50 includes a base with a carrier position 400 for accommodating containers. The second pusher assembly 5 includes a pusher portion 401 disposed on the base. This pusher portion 401 can push the container 60 to be loaded onto the first carrier assembly 50 along the Z-axis to be stored on the movable carrier 6. This integrated design enables synchronized movement of components on the same side.

[0123] When the embodiments of the present disclosure are used in specific applications, the base can be installed on a motion component, and the motion component can drive the base to move in the X-axis and / or Y-axis direction, thereby driving the supporting position 400 and the pushing part 401 to the target position.

[0124] The container storage unit disclosed herein can be configured to accommodate one container, two containers, or more containers. The first pushing assembly 5 pushes the containers in different ways for different situations, which will be described below.

[0125] The above describes the situation where the movable carrier 6 has different columns or rows respectively. In a specific practical application, a plurality of container storage units are arranged in different columns and rows on the movable carrier 6. Figure 1 In the embodiment shown, three columns and four rows of twelve container storage units are provided on the movable carrier 6. Of course, for those skilled in the art, the movable carrier 6 can also be provided with more or fewer container storage units according to actual needs and carrying capacity.

[0126] Combine Figure 1In the embodiment shown, when there are container storage units in different columns and rows on the movable carrier 6, then according to the number of the first pushing assembly 5 and the first bearing assembly 50, it is necessary to drive the first pushing assembly 5 and the first bearing assembly 50 to move in both the X-axis direction and the Y-axis direction, so that the first pushing assembly 5 and the first bearing assembly 50 can correspond to the target column and the container storage units on the target. In other words, it is necessary to combine the above-mentioned X-axis motion assembly and Y-axis motion assembly. Of course, for those skilled in the art, the structures for realizing the movement of the first pushing assembly 5 and the first bearing assembly 50 in the X-axis and Y-axis directions are diverse and will not be described in detail here.

[0127] First case: at least one container storage unit is designed to accommodate a container 60 .

[0128] In this case, the first pushing assembly 5 is configured to push the container to be shelved, held by the first carrying assembly 50, onto the movable carrier 6 along the Z-axis. If the container storage unit is empty, the container is directly stored in the corresponding container storage unit. If the container storage unit is not empty, the container to be shelved is pushed out of the container storage unit from the first side to the second side. Of course, to ensure that the shelving of the container does not affect the storage of other containers, the empty container storage unit is generally selected for container shelving.

[0129] The second situation: at least one container storage unit is provided on the movable carrier 6, and the at least one container storage unit is constructed to have at least a first storage position arranged adjacent to the first side and a second storage position arranged adjacent to the second side in the Z-axis direction.

[0130] In this case, the first pushing component 5 is constructed to push the container to be shelved supported by the first carrying component 50 to the first storage position for storage along the Z-axis direction, and the movable carrier 6 is constructed to move so that the second storage position on its second side corresponds to the first pushing component 5, and the first pushing component 5 is constructed to push the container to be shelved supported by the first carrying component 50 to the second storage position for storage along the Z-axis direction.

[0131] The first pushing assembly 5 can directly push the container to be loaded on the first carrying assembly 50 to the first storage position along the Z-axis direction. Then, the movable carrier 6 is constructed to move so that the second storage position on the second side corresponds to the first pushing assembly 5. Specifically, the movable carrier 6 can adjust its direction within the movable carrier parking position 3. For example, the automatic handling equipment can drive the movable carrier 6 to rotate 180° on the spot so that the second storage position on the second side corresponds to the first pushing assembly 5. Alternatively, the automatic handling equipment can first move the movable carrier 6 out of the movable carrier parking position 3, complete the direction adjustment externally, and then move it back into the movable carrier parking position 3. Through the direction adjustment, the second storage position on the second side corresponds to the first pushing assembly 5. Then, the first pushing assembly 5 pushes the container to be loaded on the first carrying assembly 50 to the second storage position along the Z-axis direction for storage.

[0132] Adopting such a scheme can avoid the problem that the center of gravity of the movable carrier 6 is unstable due to loading on the same side of the movable carrier 6. This scheme is applicable to both drive-through shelves and ordinary shelves, and will not be described in detail here.

[0133] A third situation: at least one container storage unit is provided with at least a first storage position arranged adjacent to the first side and a second storage position arranged adjacent to the second side along the Z-axis direction;

[0134] The first pushing assembly 5 is configured to push the container to be loaded on the first carrying assembly 50 along the Z-axis direction to the first storage position or the second storage position for storage.

[0135] When the container storage unit includes two storage locations, either a short-arm or long-arm method can be used to shelve the containers. The long-arm and short-arm methods refer to the different depths to which the first pushing assembly 5 can be pushed along the Z-axis. Specifically, the short-arm method involves the first pushing assembly 5 pushing the container to be shelved, which is supported by the first carrier assembly 50, along the Z-axis to the first storage location. The long-arm method involves the first pushing assembly 5 pushing the container to be shelved, which is supported by the first carrier assembly 50, along the Z-axis to the second storage location. By selecting whether to push the container to the first storage location on the first side or the second storage location on the second side for storage, the center of gravity of the automated carrier 6 can be adjusted.

[0136] Accordingly, the first pushing component 5 is configured to push a corresponding distance from the first side to the second side according to the depth of the container storage unit extending along the Z-axis direction and the position of the container to be shelved stored in the container storage unit, so as to push the container to be shelved onto the movable carrier 6.

[0137] In the case where the container storage unit is provided with a first storage position arranged adjacent to the first side and a second storage position arranged adjacent to the second side along the Z-axis direction, the first pushing component 5 can push the corresponding distance from the first side to the second side (without considering the gap between the components, the distance is approximately equal to the longitudinal depth of the storage position in the container storage unit) according to the depth of the container storage unit extending along the Z-axis direction and the position of the container to be shelved in the container storage unit to push the container to be shelved onto the shelf.

[0138] Accordingly, when a first container is already stored in the first storage position, the first container is pushed from the first storage position to the second storage position for storage by the movement of the container to be shelved; or, when a first container is already stored in the first storage position or a second container is already stored in the second storage position, the first container or the second container is pushed out from the second side by the movement of the container to be shelved; or, when a first container is already stored in the first storage position and a second container is already stored in the second storage position, the first container is pushed to move by the container to be shelved, and the second container is pushed out from the second side by the movement of the first container.

[0139] In the above embodiment, the second container can be pushed out from the second side. Therefore, in order to be able to normally receive the container pushed out from the second side, the workstation also includes a second carrying assembly 4 located on the second side and a motion assembly that drives the second carrying assembly 4; the motion assembly located on the second side is configured to drive the second carrying assembly 4 to move to the target position, and the second carrying assembly 4 is configured to receive the container pushed out from the second side.

[0140] In this embodiment, if the first storage position already contains the first container, the first pushing assembly 50 can push the first container toward the second storage position while pushing the container to be shelved toward the first storage position. After the pushing is completed, the container to be shelved is stored in the first storage position, and the first container originally located in the first storage position is pushed to the second storage position for storage.

[0141] This embodiment also provides a container loading and unloading function. That is, while a container is being loaded onto the shelf from the first side, the containers within the same container storage unit can be pushed against each other, causing the container on the second side to be pushed out. During this push, the container is received by the second supporting assembly 4 on the second side. Specifically, the second supporting assembly 4 can also be movable, driven by a motion assembly to a target position to accurately receive the unloaded container.

[0142] The second carrying assembly 4 can provide the function of receiving the container. Similar to the first pushing assembly 5, the number of second carrying assemblies 4 can also be set to one or more, and the second carrying assembly 4 is also configured to be movable. The second carrying assembly 4 can be moved to the target position under the drive of the motion assembly. The first pushing assembly 5 pushes the container on the movable carrier from the first side to the second side. The container is pushed out from the second side through the interaction force. The second carrying assembly 4 then receives the container on the movable carrier 6 from the second side, which was pushed out by the first pushing assembly 5.

[0143] In one implementation of the embodiment of the present disclosure, the motion component located on the second side is constructed to drive the second carrying component 4 to move to a position corresponding to the conveyor line or cache position to transfer the container located on the second carrying component 4 to the conveyor line or cache position; or, to transfer the container located on the conveyor line or cache position to the second carrying component 4.

[0144] After receiving the container, the second load-carrying assembly 4 can transfer the received container to a conveyor line or a buffer, and then transport it to another location or transfer it to the buffer for storage. Alternatively, when there are containers on the conveyor line or buffer that need to be put on the shelf, the container on the conveyor line or buffer can be transferred to the second load-carrying assembly 4.

[0145] During the process of unloading, the motion component located on the second side can drive the second bearing component 4 to move to a position corresponding to the conveyor line or the cache position, that is, after the second bearing component 4 receives the container, it can be driven by the motion component located on the second side to move to a position corresponding to the conveyor line or the cache position. After the second bearing component 4 moves to a position corresponding to the conveyor line or the cache position, the second bearing component 4 can transfer the container thereon to the conveyor line or the cache position. For example, when the second bearing component 4 receives the target container, the second bearing component 4 moves to a position that docks with the conveyor line and transfers the target container to the conveyor line, so that the target container can be transported to the operating station for operation via the conveyor line. When the second bearing component 4 receives a container that needs to be cached, the second bearing component 4 moves to a position that docks with the cache position and transfers the cached container to the cache position.

[0146] During the shelving process, when the second carrying component 4 moves to the position docking with the conveyor line or cache position, the container on the conveyor line or cache position can be transferred to the second carrying component 4, and then transported by the second carrying component 4 to the corresponding position of the movable carrier 6 for subsequent shelving operations.

[0147] In one implementation of the embodiment of the present disclosure, the container loading and unloading mechanism also includes a second pushing assembly 40 located on the second side, and the second pushing assembly 40 is configured to push the container located on the second carrying assembly 4 to at least one of a movable carrier, a conveyor line, and a cache position.

[0148] In the case of container loading or transfer, a second pushing assembly 40 is provided on the second side to push the container on the second load-bearing assembly 4 to at least one of a movable carrier, a conveyor line, or a buffer. For example, after the first load-bearing assembly 4 has moved to a position docking with the conveyor line, the second pushing assembly 40 can push the container on the second load-bearing assembly 4 onto the conveyor line, completing the transfer of the container between the second pushing assembly 40 and the conveyor line. Conversely, the second pushing assembly 40 can also push a container on the conveyor line onto the second load-bearing assembly 4, which will not be explained in detail here.

[0149] In one embodiment of the present disclosure, the second pushing assembly 40 can also push the container on the movable carrier 6 from the second side toward the first side along the Z-axis direction, and the container can be pushed out from the first side by the second pushing assembly 40. The structure of the second pushing assembly 40 can be the same as or similar to that of the first pushing assembly 5, and the second pushing assembly 40 can also be designed as an integrated whole with the second supporting assembly 4.

[0150] In one implementation of the embodiment of the present disclosure, the second supporting assembly 4 includes a base, on which is provided a supporting position 400 for accommodating the container; the second pushing assembly 40 includes a pushing portion 401, which is configured to be pushed out or retracted along the Z-axis direction.

[0151] Figure 3 A schematic diagram illustrates the combined structure of a second carrying assembly and a second pushing assembly in a workstation according to an embodiment of the present disclosure. The second carrying assembly 4 includes a base with a carrying position 400 for accommodating a container. The second pushing assembly 40 includes a pushing portion 401 disposed on the base, which can push the container from the second side toward the first side along the Z-axis. This integrated design enables synchronized movement of components on the same side.

[0152] When the embodiments of the present disclosure are used in specific applications, the base can be installed on a motion component, and the motion component can drive the base to move in the X-axis and / or Y-axis direction, thereby driving the supporting position 400 and the pushing part 401 to the target position.

[0153] In an implementation form of the second embodiment of the disclosure, the second pushing assembly 40 is configured to push the container to be shelved on the second carrying assembly 4 into the corresponding container storage unit on the movable carrier 6, and move another container in the container storage unit from the original storage position to the adjacent storage position for storage by the movement of the container to be shelved; or push another container out from the first side, and the first carrying assembly 50 is configured to carry the container pushed out from the first side.

[0154] At the second side of the movable carrier parking position 3, the container shelving operation can be performed, and accordingly, the second pushing assembly 40 can push the container to be shelved on the second carrying assembly 4 into the corresponding container storage unit on the movable carrier 6, and move another container in the container storage unit from the original storage position to the adjacent storage position for storage by the movement of the container to be shelved. Alternatively, the second pushing assembly 40 can push another container out from the first side, so that the first carrying assembly 50 carries the container pushed out from the first side.

[0155] In an implementation form of the second embodiment of the disclosure, the container loading and unloading mechanism further comprises a second pushing assembly at the second side and a movement assembly driving the second pushing assembly, the movement assembly at the second side is configured to drive the second pushing assembly 40 to move to the target position; the second pushing assembly 40 is configured to push the container on the movable carrier from the second side to the first side in the Z-axis direction, so as to push the container on the movable carrier out from the first side; and the first carrying assembly 50 is configured to receive the container pushed out from the movable carrier by the second pushing assembly 40 from the first side.

[0156] The second pushing assembly 40 is arranged at the second side, and the second pushing assembly 40 can provide the function of pushing the container, which can be a pushing rod, a pushing block, a pushing disc or the like. The number of the second pushing assembly 40 can be one or more, and the second pushing assembly 40 is arranged to be movable, and the second pushing assembly 40 can be driven by the movement assembly to move to the target position. When the second pushing assembly 40 moves to the position, the second pushing assembly 40 can push the container on the movable carrier 6 from the second side to the first side in the Z-axis direction, so as to push the container on the movable carrier 6 out from the first side. Accordingly, the first carrying assembly 50 can receive the container pushed out from the movable carrier by the second pushing assembly 40 from the first side.

[0157] In one implementation of the embodiment of the present disclosure, the first pushing component 5 is configured to push the container on the movable carrier 6 from the first side to the second side along the Z-axis direction so as to push the container on the movable carrier 6 out from the second side; it also includes a second carrying component 4 located on the second side and a motion component that drives the second carrying component 4; the motion component located on the second side is configured to drive the second carrying component 4 to move to the target position so as to receive the container on the movable carrier 6 pushed out by the first pushing component 5 from the second side.

[0158] The first pushing assembly 5 can also provide the function of pushing the container on the movable carrier 6 from the first side to the second side along the Z-axis direction, so that the container on the movable carrier 6 can be pushed out from the second side, that is, the container can be removed from the second side. Accordingly, a second carrying assembly 4 will be provided on the second side.

[0159] The second supporting assembly 4 is movable and can be moved to a target position under the drive of the motion assembly. The first pushing assembly 5 pushes the container on the movable carrier from the first side to the second side. The container is pushed out from the second side through the interaction force. The second supporting assembly 4 then receives the container pushed out from the movable carrier by the first pushing assembly 5 from the second side.

[0160] The first pushing assembly 5 of the present disclosure can not only cooperate with the first carrying assembly 50 to achieve the operation of placing the container on the shelf, but also cooperate with the second carrying assembly 4 to achieve the operation of removing the container from the shelf. Correspondingly, the second pushing assembly 40 of the present disclosure can not only cooperate with the second carrying assembly 4 to achieve the operation of placing the container on the shelf, but also cooperate with the first carrying assembly 50 to achieve the operation of removing the container from the shelf.

[0161] In an implementation of the embodiment of the present disclosure, the workstation may further include a visual detection device configured to detect the type and / or quantity of items in the container.

[0162] A visual inspection device can be installed at the location where containers pass through the workstation. This device can capture two-dimensional or three-dimensional images. When a container passes through the visual inspection device, the device can capture an image of the container's interior, obtain an image of the container's interior, and then identify the container's interior image. Based on the identification result, the type and / or quantity of the items in the container are detected. This increases the verification of the correctness of the items inside the container and improves the security of item supervision.

[0163] In one implementation of the embodiment of the present disclosure, the workstation may further include a positioning mechanism, which is arranged in the movable carrier parking position 3 and is constructed to position the movable carrier 6 located in the movable carrier parking position 3 and / or to limit the position.

[0164] like Figure 1 、 Figure 2 and Figure 4 As shown in FIG, the movable carrier docking position 3 is further provided with a positioning mechanism 7, which is used to position and / or limit the movable carrier 6 in the movable carrier docking position 3. After the movable carrier 6 enters the movable carrier docking position 3, the container on it is pushed by the first pushing assembly 5 to be unloaded or loaded. In order to prevent the movable carrier 6 from moving with the container during the pushing process, a positioning mechanism 7 is provided in this embodiment. The positioning mechanism 7 limits the position of the movable carrier 6, and under the action of the positioning mechanism 7, the movable carrier 6 will not deviate arbitrarily.

[0165] Of course, the positioning mechanism 7 can also play a positioning role. When the automatic transport equipment transports the movable carrier 6 to the movable carrier parking position 3, the positioning mechanism 7 can be used to locate the position so that the movable carrier 6 can be accurately docked at the appropriate position.

[0166] Figure 5 FIG. 1 shows a structural diagram of another container loading and unloading system provided by an embodiment of the present disclosure, such as Figure 5 As shown, the system 300 includes a server 310 , at least one automatic handling device 320 and at least one workstation 330 .

[0167] Workstation 330 includes a movable carrier docking station 331 and a container loading and unloading mechanism 332. The two opposing sides of movable carrier docking station 331 are designated as a first side and a second side, respectively. Container loading and unloading mechanism 332 includes a first pushing assembly 3321 and a first supporting assembly 3323 located on the first side, as well as a motion assembly 3322 that drives the first pushing assembly 3321 and the first supporting assembly 3323.

[0168] The server 310 is configured to send a transport instruction to the automatic transport device 320 and a shelf operation instruction to the workstation;

[0169] The automatic transport device 320 is configured to transport the movable carrier 6 based on the transport instruction and transport the movable carrier 6 to the movable carrier parking position 331;

[0170] The motion component 3322 in the workstation is configured to drive the first pushing component 3321 and the first carrying component 3323 to move to the target position based on the shelf operation instruction;

[0171] The first pushing component 3321 is configured to push the container to be shelved supported by the first carrying component 3323 from the first side to the second side along the Z-axis direction based on the shelving operation instruction, so as to push it onto the movable carrier 6 for storage.

[0172] Specifically, server 310 refers to the server that handles container shelving tasks and is used to send handling instructions for the movable carrier 6 to the automatic handling device 320 and to send shelving operation instructions to the workstation. Based on this, when a container needs to be shelved, in order to improve the efficiency of container shelving, a handling instruction can be sent to the automatic handling device 320 and a shelving operation instruction can be sent to the workstation at the same time. Furthermore, the workstation can generate a motion instruction and a first push instruction based on the shelving operation instruction, and send the motion instruction to the motion component 3322 of the container loading and unloading mechanism 332 and the first push instruction for the container to be shelved to the first push component 3321. Of course, the shelving operation instruction can also directly include the motion instruction and / or the first push instruction. After the workstation parses them, the motion instruction is sent to the motion component 3322 of the container loading and unloading mechanism 332 and the first push instruction for the container to be shelved is sent to the first push component 3321. Alternatively, server 310 can directly send the motion instruction and the first push instruction to the motion component 3322 and the first push component 3321, which are not listed here.

[0173] The instructions sent by the server include information about the movable carrier, storage location information (location information on the movable carrier, where the storage location on the movable carrier can store a container or be empty), and container information (specifically, the identifier of the container carrying the goods), so that the automatic handling equipment 320 can move the movable carrier to the movable carrier parking position 331 corresponding to the task, so that the container loading and unloading mechanism 332 can accurately load the container; accordingly, the handling instruction can guide the automatic handling equipment to determine and transport the movable carrier 6. The loading operation instruction can guide the motion component 3322 to drive the first pushing component 3321 and the first carrying component 3323 to move to the target position; the loading operation instruction can also guide the first pushing component 3321 to push the container to be loaded on the first carrying component 3323 from the first side to the second side along the Z-axis direction, so as to push it onto the movable carrier 6 for storage.

[0174] When there is a container shelving task, the server 310 can also proactively send a transport instruction to the automatic transport device 320 and a shelving operation instruction to the workstation. Alternatively, the server 310 can send a transport instruction to the automatic transport device 320 and a shelving operation instruction to the workstation upon receiving a user operation instruction or an order instruction.

[0175] Further, after receiving the carrying instruction, the automatic carrying device 320 determines that the movable carrier needs to be moved to the target position for the container stacking task, and then determines the movable carrier 6 to be carried according to the carrying instruction, and then moves to the movable carrier 6 to carry the movable carrier 6 to the movable carrier parking position 331. At this time, the movement assembly 3322 receives the corresponding instruction and drives the first pushing assembly 3321 and the first bearing assembly 3323 to move to the target position. Then, the first pushing assembly 3321 receives the corresponding instruction and pushes the to-be-stacked container on the first bearing assembly 3323 in the Z-axis direction to the movable carrier 6 for storage, thereby completing the container stacking task.

[0176] For example, the server receives the container stacking instruction corresponding to the container stacking task, and then sends the carrying instruction to the automatic carrying device P and the movement instruction to the movement assembly according to the container stacking instruction. After receiving the carrying instruction, the automatic carrying device P determines the position of the movable carrier S in the storage area and moves to the position to carry the movable carrier S, and then carries the movable carrier S to the movable carrier parking position. At this time, the movement assembly moves the first pushing assembly 3321 and the first bearing assembly 3323 to the target position in the vertical Y-axis direction based on the movement instruction. The first pushing assembly 3321 receives the first pushing instruction issued by the server and pushes the to-be-stacked container on the first bearing assembly 3323 in the Z-axis direction based on the first pushing instruction.

[0177] In summary, the combination of the server, the automatic carrying device and the workstation can effectively improve the container stacking efficiency.

[0178] In an implementation manner of the embodiment of the present disclosure, the stacking operation instruction carries the position information of the target position.

[0179] Before the automatic carrying device carries the movable carrier 6 to the movable carrier parking position 331, the movement assembly 3322 is further configured to drive the first pushing assembly 3321 and the first bearing assembly 3323 to the target position in advance based on the position information.

[0180] When the stacking operation instruction is transmitted to the movement assembly 3322, the stacking operation instruction can carry the position information of the target position, which represents the position of the to-be-stacked container on the movable carrier 6 to be stacked. In order to improve the efficiency, the movement assembly 3322 can move to the target position corresponding to the position information in advance based on the stacking operation instruction.

[0181] In one implementation of the embodiment of the present disclosure, the motion component 3322 is further configured to stop driving the first pushing component 3321 and the first supporting component 3323 to move to the target position if a cancellation instruction sent by the server 310 is received; or to drive the first pushing component 3321 and the first supporting component 3323 to reset.

[0182] Because the motion component 3322 is pre-moved, the container shelving task for the movable carrier 6 can be canceled before the movable carrier 6 is actually moved to the movable carrier docking position 331. At this time, the server 310 can send a cancel instruction to the motion component 3322. Upon receiving the cancel instruction, the motion component 3322 will stop driving the first pushing component 3321 and the first supporting component 3323 toward the target position. This solution can avoid task execution confusion when performing container shelving tasks for different movable carriers 6. If the container shelving task for a different movable carrier is switched, the server 310 can promptly stop the container shelving task by sending a cancel instruction.

[0183] In one implementation of the embodiment of the present disclosure, the server 310 is further configured to send a shelving operation instruction to the motion component 3322 according to the first position information of the container to be shelved;

[0184] The motion component 3322 is further configured to drive the first pushing component 3321 and the first carrying component 3323 to move to the target position corresponding to the first position information based on the shelving operation instruction.

[0185] In the case of putting a container on a shelf, the server 310 will receive a shelving instruction, which carries the carrier identifier of the movable carrier and the container identifier of the container to be put on the shelf. In this case, the server 310 will send a handling instruction for the movable carrier to the automatic handling device 320 based on the carrier identifier, so that the automatic handling device 320 can move the movable carrier 6 based on the handling instruction and transport the movable carrier 6 to the movable carrier parking position 331. At the same time, the server 310 will also obtain the first position information corresponding to the container to be put on the shelf based on the container identifier, and send a shelving operation instruction to the motion component 3322 based on the first position information. In the case of putting a container on the shelf, the server can also automatically generate a carrier identifier and a container identifier, and then send a handling instruction for the movable carrier to the automatic handling device 320 based on the carrier identifier, and obtain the first position information corresponding to the container to be put on the shelf based on the container identifier.

[0186] The motion component 3322 receives the shelving operation instruction and can drive the first pushing component 3321 and the first carrying component 3323 to move to the target position corresponding to the first position information based on the shelving operation instruction.

[0187] Through this solution, the container shelving is achieved by combining the server, the automatic handling equipment, the motion component, the first pushing component and the first bearing component, which can effectively improve the efficiency of the container shelving.

[0188] In one implementation of the embodiment of the present disclosure, the server 310 is further configured to obtain the position information of the container to be put on the movable carrier 6 and update the record of the position information.

[0189] In the embodiment of the present disclosure, after the container to be put on the shelf is put on the shelf, the server 310 can obtain the position information of the container to be put on the movable carrier 6, that is, the specific position where the container to be put on the movable carrier 6 is placed, and then update the position information as inventory information. When the container needs to be taken off the shelf later, the operation can be performed based on the inventory information.

[0190] The present disclosure also provides a container loading and unloading method, which is as follows:

[0191] Figure 6 A flowchart of a container loading and unloading method provided in one embodiment of the present disclosure is shown. The container loading and unloading method is applied to the above-mentioned system, and the method includes the following steps:

[0192] Step 402: The server sends a transport instruction to the automatic transport device and a shelf operation instruction to the workstation.

[0193] In step 404 , the automatic transport device transports the movable carrier to the movable carrier parking position based on the transport instruction.

[0194] Step 406 : The motion component in the workstation drives the first pushing component and the first carrying component to move to the target position based on the shelf operation instruction.

[0195] Step 408 : Based on the shelving operation instruction, the first pushing assembly pushes the container to be shelved supported by the first carrying assembly from the first side to the second side along the Z-axis direction to push it onto the movable carrier for storage.

[0196] Specifically, the server refers to a server end that processes the container shelving task, and is used to send a transport instruction of the movable carrier to the automatic transport equipment, and send a shelving operation instruction to the workstation. Based on this, when the server receives the container shelving instruction, it indicates that the container shelving task needs to be performed at this time. In order to improve the efficiency of container shelving, the server can send a transport instruction to the automatic transport equipment based on the container shelving instruction, and send a shelving operation instruction to the workstation at the same time. The container shelving instruction includes information about the movable carrier, storage position information, and container information, so that the automatic transport equipment can move the movable carrier to the movable carrier parking position corresponding to the task, so that the container loading and unloading mechanism can accurately shelving the container; accordingly, the transport instruction can guide the automatic transport equipment to determine and transport the movable carrier; the shelving operation instruction can guide the motion component to drive the first pushing component and the first bearing component to move to the target position; the shelving operation instruction can also guide the first pushing component to push the container to be shelved supported by the first bearing component from the first side to the second side along the Z-axis direction, so as to push it onto the movable carrier for storage.

[0197] Furthermore, after receiving the transport instruction, the automatic transport equipment indicates that the movable carrier needs to be moved to the target position to perform the container shelving task. At this time, the movable carrier that needs to be transported can be determined according to the transport instruction, and then it can drive to the movable carrier and transport the movable carrier to the movable carrier parking position; at this time, the workstation receives the shelving operation instruction, and the motion component drives the first pushing component and the first carrying component to move to the target position based on the shelving operation instruction; then, the first pushing component pushes the container to be shelved carried by the first carrying component along the Z-axis direction to the movable carrier for process storage based on the shelving operation instruction, thereby completing the container shelving task.

[0198] When there is a container shelving task, the server can also proactively send a handling instruction to the automatic handling device and a shelving operation instruction to the workstation. Alternatively, the server can send a handling instruction to the automatic handling device and a shelving operation instruction to the workstation upon receiving a user operation instruction or an order instruction.

[0199] In summary, by combining servers, automatic handling equipment and workstations to shelve containers, the efficiency of container submission can be effectively improved.

[0200] In one implementation of the embodiment of the present disclosure, the shelf operation instruction carries the location information of the target location;

[0201] Step 406 can be specifically implemented as follows: before the automatic transport device transports the movable carrier to the movable carrier parking position, the motion component pre-drives the first pushing component and the first carrying component to move to the target position based on the position information.

[0202] When the shelving operation instruction is transmitted to the motion component, since the shelving operation instruction can carry the location information of the target position, this location information represents the location where the container to be shelved will be shelved on the movable carrier. In order to improve efficiency, the motion component can move in advance to the target position corresponding to the location information based on the shelving operation instruction.

[0203] In one implementation of the embodiment of the present disclosure, in the process of the motion component pre-driving the first pushing component and the first bearing component to move to the target position based on the position information, the container loading and unloading method further includes:

[0204] When the workstation receives a cancellation instruction sent by the server, the motion component stops driving the first pushing component and the first bearing component to move to the target position based on the cancellation instruction, or drives the first pushing component and the first bearing component to reset.

[0205] Because the motion component is pre-moved, the container shelving task for the movable carrier can be canceled before the movable carrier is actually moved to the movable carrier docking position. At this time, the server can send a cancel command to the workstation. Upon receiving the cancel command, the motion component will stop driving the first pushing component and the first supporting component to move toward the target position. This solution can avoid task execution confusion when performing container shelving tasks for different movable carriers. If the container shelving task for a different movable carrier is switched, the server can promptly stop the container shelving task by sending a cancel command.

[0206] In an implementation of the embodiment of the present disclosure, the container loading and unloading method may further include: the server obtains position information of the container to be put on the shelf on the movable carrier, and updates and records the position information.

[0207] In the embodiment of the present disclosure, after the container to be put on the shelf is put on the shelf, the server can obtain the position information of the container to be put on the movable carrier, that is, the specific position where the container to be put on the movable carrier is placed, and then update and record the position information as inventory information. When the container needs to be taken off the shelf later, operations can be performed based on the inventory information.

[0208] In one implementation of the embodiment of the present disclosure, at least one container storage unit is provided on the movable carrier, and the at least one container storage unit is constructed to have at least a first storage position arranged adjacent to the first side and a second storage position arranged adjacent to the second side in the Z-axis direction.

[0209] Correspondingly, step 408 may specifically include: the first pushing component pushes the container to be shelved supported by the first carrying component to the first storage position along the Z-axis direction based on the shelving operation instruction; the automatic handling equipment receives the motion instruction, and drives the movable carrier to move based on the motion instruction so that the second storage position on its second side corresponds to the first pushing component; the first pushing component pushes the container to be shelved supported by the first carrying component to the second storage position for storage along the Z-axis direction based on the shelving operation instruction.

[0210] The first pushing component can push the container to be put on the shelf supported by the first carrying component directly to the first storage position along the Z-axis direction, and then the movable carrier moves to make the second storage position on its second side correspond to the first pushing component. Specifically, the movable carrier can adjust its direction within the movable carrier parking position, or it can first move the movable carrier out of the movable carrier parking position, complete the direction adjustment outside it, and then move it back to the movable carrier parking position. Through the direction adjustment, the second storage position on the second side corresponds to the first pushing component, and then the first pushing component pushes the container to be put on the shelf supported by the first carrying component to the second storage position for storage along the Z-axis direction.

[0211] In one implementation of the embodiment of the present disclosure, at least one of the container storage units is provided with at least a first storage position arranged adjacent to the first side and a second storage position arranged adjacent to the second side along the Z-axis direction;

[0212] Accordingly, step 408 may specifically include: the first pushing component pushes the container to be shelved supported by the first carrying component to the first storage position or the second storage position for storage along the Z-axis direction based on the shelving operation instruction.

[0213] If the container storage unit has two storage locations, either a short-arm or long-arm method can be used to load containers. The short-arm method involves the first pushing assembly pushing the container to be loaded, held by the first carrier assembly, along the Z-axis to the first storage location. The long-arm method involves the first pushing assembly pushing the container to be loaded, held by the first carrier assembly, along the Z-axis to the second storage location.

[0214] Specifically, step 408 may include: the first pushing component pushes the container to be shelved a corresponding distance from the first side to the second side according to the depth of the container storage unit extending along the Z-axis direction and the position of the container to be shelved stored in the container storage unit, so as to push the container to be shelved onto the movable carrier.

[0215] In the case where the container storage unit is provided with a first storage position arranged adjacent to the first side and a second storage position arranged adjacent to the second side along the Z-axis direction, the first pushing component 5 can push the container to be shelved a corresponding distance from the first side to the second side according to the depth of the container storage unit extending along the Z-axis direction and the position of the container to be shelved stored in the container storage unit, so as to push the container to be shelved onto the shelf.

[0216] In one implementation of the embodiment of the present disclosure, the container loading and unloading method may further include the following steps:

[0217] The image acquisition device collects the image inside the container, identifies the image inside the container, determines the identification result of the item inside the container, compares the item identification result with the preset item information, and obtains the item verification result.

[0218] An image capture device capable of capturing two-dimensional or three-dimensional images can be installed above the workstation where containers pass. When a container passes by, the device captures an image of the container's interior, generating an image of the container's interior. This image is then recognized to determine the item within the container. The specific recognition method can employ deep learning-based image recognition methods. The recognition result can include the item category and quantity. The item recognition result is then compared with pre-recorded item information, such as the type and quantity of items actually contained in the container. The category and quantity in the item recognition result are then compared with the pre-recorded item information to obtain an item verification result. The item verification result indicates the correctness of the item type and / or quantity. For example, if the difference in the category in the comparison result exceeds a preset threshold or the difference in the quantity exceeds a preset value, an alarm will be issued to indicate the risk of items within the container being swapped. This enhanced verification of the correctness of the items within the container improves the security of item supervision.

[0219] During specific implementation, the container loading and unloading method provided in this embodiment is applied to the above-mentioned container loading and unloading system. The description contents of the container loading and unloading method provided in this embodiment that are the same as or corresponding to the above-mentioned container loading and unloading system can be referred to the description in the above-mentioned embodiment, and this embodiment will not be elaborated in detail here.

[0220] For example, the second carrying component and the second pushing component are described above. The second pushing component can be used in conjunction with the second carrying component. For example, the second pushing component can push the container on the second carrying component to the movable carrier. The corresponding control is similar to the loading and unloading method described above, and will not be described in detail here.

[0221] The workstation provided by this disclosure can be used not only for picking workstations and the transfer of parts within factory environments, but also for configuring the positions of containers on movable carriers. Container positions on movable carriers can be adjusted according to predefined strategies. For example, containers that are hot or needed the next day can be moved to storage locations that facilitate unloading operations. This will not be further explained here.

[0222] It should be noted that for the aforementioned method embodiments, for ease of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0223] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0224] The preferred embodiments of the present application disclosed above are intended only to help illustrate the present application. The optional embodiments do not describe all details in detail, nor do they limit the disclosure to the specific embodiments described. Obviously, many modifications and variations can be made based on the content of this application. This application selects and describes these embodiments in detail in order to better explain the principles and practical applications of this application, so that those skilled in the art can better understand and utilize this application. This application is limited only by the claims and their full scope and equivalents.

Claims

1. A workstation, characterized in that: Including movable carrier parking space and container loading and unloading mechanism; The movable vehicle parking position is configured to be used for parking the movable vehicle; two opposite sides of the movable vehicle parking position are respectively referred to as a first side and a second side; The container loading and unloading mechanism includes a first pushing assembly and a first bearing assembly located on the first side, and a motion assembly driving the first pushing assembly and the first bearing assembly, a second pushing assembly located on the second side, and a motion assembly driving the second pushing assembly; The motion component is configured to drive the first pushing component and the first carrying component to move to a target position, wherein the motion component drives the first pushing component and the first carrying component to move to the target position based on a shelving operation instruction sent by the server; The first pushing assembly is configured to push the container to be loaded on the first carrying assembly from the first side toward the second side along the Z-axis direction, so as to push the container onto the movable carrier for storage. The server obtains position information of the container to be loaded on the movable carrier and updates and records the position information. The motion component located on the second side is configured to drive the second pushing component to move to a target position; the second pushing component is configured to push the container on the movable carrier from the second side to the first side along the Z-axis direction, so as to push the container on the movable carrier out from the first side, and the first carrying component is configured to receive the container on the movable carrier pushed out by the second pushing component from the first side.

2. The workstation according to claim 1, wherein: The movable carrier is provided with at least two rows of container storage units on the plane where the X-axis and the Y-axis are located, and at least one of the container storage units is constructed to be through in the Z-axis direction and is constructed to accommodate at least one container in the Z-axis direction.

3. The workstation according to claim 2, wherein: The motion assembly includes a Y-axis motion assembly that moves along a vertical Y-axis direction; the Y-axis motion assembly is configured to drive the first pushing assembly and the first carrying assembly to move along a vertical direction to a position of a target row on the movable carrier.

4. The workstation according to claim 1, wherein: The movable carrier is provided with at least two rows of container storage units on the plane where the X-axis and the Y-axis are located, and at least one of the container storage units is constructed to be through in the Z-axis direction and is constructed to accommodate at least one container in the Z-axis direction.

5. The workstation according to claim 4, characterized in that: There are at least two first pushing assemblies, and the at least two first pushing assemblies are spaced apart on the first side along the extension direction of the movable carrier parking position and correspond one-to-one to different columns on the movable carrier; and / or, At least two first carrying assemblies are provided, and the at least two first carrying assemblies are arranged at intervals along the extension direction of the movable carrier parking position on the first side and correspond one-to-one to different columns on the movable carrier.

6. The workstation according to claim 4, wherein: The motion component includes an X-axis motion component that moves along the extension direction of the movable carrier parking position; the X-axis motion component is constructed to drive the first pushing component and the first carrying component to move along the extension direction of the movable carrier parking position to the position of the target column on the movable carrier.

7. The workstation according to claim 4, characterized in that: The movable carrier is configured to move in the X-axis direction under the drive of the automatic handling device, so that the movable carrier moves until its target row corresponds to the first pushing component and the first carrying component.

8. The workstation according to claim 1, wherein: It also includes a sensor unit, which is used to determine the posture deviation between the first pushing component and / or the first bearing component and the movable carrier.

9. The workstation according to claim 8, characterized in that: The motion component is further configured to adjust the posture of the first pushing component and / or the first bearing component according to the posture deviation determined by the sensor unit to eliminate the posture deviation.

10. The workstation according to claim 1, wherein: The motion assembly includes a ceiling rail and / or a floor rail, and is configured to drive the first pushing assembly and the first bearing assembly to move on the ceiling rail and / or the floor rail.

11. The workstation according to claim 10, characterized in that: The motion component includes two columns, and at least one of the first pushing components and at least one of the first bearing components are distributed on opposite sides of the two columns.

12. The workstation according to claim 1, wherein: The moving assembly is further configured to drive the first carrying assembly to a position corresponding to a conveying line or a buffer position, so as to transfer the container to be shelved on the conveying line or the buffer position to the first carrying assembly.

13. The workstation according to claim 1, wherein: The first pushing assembly and the first carrying assembly are configured to move independently of each other.

14. The workstation according to claim 1, wherein: The motion assembly is configured to drive the first pushing assembly and the first bearing assembly to move synchronously to a target position.

15. The workstation according to claim 14, characterized in that: The first carrying component includes a base, and the base is provided with a carrying position for accommodating a container; the first pushing component includes a pushing portion provided on the base, and the pushing portion is configured to push the container to be shelved supported by the first carrying component to the movable carrier for storage along the Z-axis direction.

16. The workstation according to claim 1, wherein: The movable carrier is provided with at least one container storage unit, and at least one of the container storage units is constructed to be provided with at least a first storage position arranged adjacent to the first side and a second storage position arranged adjacent to the second side in the Z-axis direction; the first pushing component is constructed to push the container to be shelved supported by the first carrying component to the first storage position along the Z-axis direction, and then the movable carrier is constructed to move so that the second storage position on its second side corresponds to the first pushing component, and the first pushing component is constructed to push the container to be shelved supported by the first carrying component to the second storage position for storage along the Z-axis direction.

17. The workstation according to claim 2 or 4, characterized in that: At least one of the container storage units is provided with at least a first storage position arranged adjacent to the first side and a second storage position arranged adjacent to the second side along the Z-axis direction; The first pushing assembly is configured to push the container to be loaded on the first carrying assembly along the Z-axis direction to the first storage position or the second storage position for storage.

18. The workstation according to claim 17, wherein: The first pushing component is configured to push a corresponding distance from the first side toward the second side according to the depth of the container storage unit extending along the Z-axis direction and the position of the container to be shelved stored in the container storage unit, so as to push the container to be shelved onto the movable carrier.

19. The workstation according to claim 17, wherein: In the case where a first container is already stored in the first storage position, the first container is pushed from the first storage position to the second storage position for storage by moving the container to be put on the shelf; or, In a case where a first container is already stored in the first storage position or a second container is already stored in the second storage position, the first container or the second container is pushed out from the second side by moving the container to be put on the shelf; or, When a first container is stored in the first storage position and a second container is stored in the second storage position, the first container is pushed to move by the container to be put on the shelf, and the second container is pushed out from the second side by the movement of the first container.

20. The workstation according to claim 19, wherein It also includes a second carrying assembly located on the second side and a motion assembly that drives the second carrying assembly; the motion assembly located on the second side is configured to drive the second carrying assembly to move to a target position, and the second carrying assembly is configured to receive a container pushed out from the second side.

21. The workstation according to claim 20, characterized in that: The motion assembly located on the second side is configured to drive the second carrying assembly to a position corresponding to a conveying line or a buffer position, so as to transfer the container located on the second carrying assembly to the conveying line or the buffer position; Alternatively, the container located on the conveying line or the buffer position is transferred to the second carrying component.

22. The workstation according to claim 21, characterized in that: The container loading and unloading mechanism further includes a second pushing assembly located on the second side, and the second pushing assembly is configured to push the container located on the second carrying assembly onto at least one of a movable carrier, a conveying line, and a cache location.

23. The workstation according to claim 22, characterized in that: The second bearing assembly includes a base, and a bearing position for accommodating a container is provided on the base; the second pushing assembly includes a pushing portion, and the pushing portion is configured to be pushed out or retracted along the Z-axis direction.

24. The workstation according to claim 22, wherein: The second pushing assembly is configured to push the container to be shelved on the second carrying assembly to a corresponding container storage unit on the movable carrier, and to move another container in the container storage unit from an original storage position to an adjacent storage position for storage through the movement of the container to be shelved; or to push the other container out from the first side, and the first carrying assembly is configured to carry the container pushed out from the first side.

25. The workstation according to claim 1, wherein: The first pushing assembly is configured to push the container on the movable carrier from the first side toward the second side along the Z-axis direction, so as to push the container on the movable carrier out from the second side; and further includes a second carrying assembly located on the second side and a motion assembly for driving the second carrying assembly; The moving assembly located at the second side is configured to drive the second carrying assembly to move to a target position so as to receive the container on the movable carrier pushed out by the first pushing assembly from the second side.

26. The workstation according to claim 1, wherein: The container further comprises a visual inspection device configured to inspect the type and / or quantity of items in the container.

27. The workstation according to claim 1, wherein: It also includes a positioning mechanism, which is arranged in the movable carrier parking position and is configured to position the movable carrier in the movable carrier parking position and / or limit the position.

28. A container loading and unloading system, characterized in that: The container handling system comprises a server, at least one automatic handling device and at least one workstation according to any one of claims 1 to 27; The server is configured to send a transport instruction to the automatic transport device and a shelving operation instruction to the workstation; The automatic transport device is configured to transport the movable carrier based on the transport instruction and transport the movable carrier to the movable carrier parking position; The motion component in the workstation is configured to drive the first pushing component and the first carrying component to move to a target position based on the shelving operation instruction; The first pushing component is configured to push the container to be shelved supported by the first carrying component from the first side to the second side along the Z-axis direction based on the shelving operation instruction, so as to push it onto the movable carrier for storage.

29. A container loading and unloading method, characterized in that: Applied to the container handling system of claim 28, the method comprises: The server sends handling instructions to the automatic handling equipment and sends shelf operation instructions to the workstation; The automatic transport device transports the movable carrier to the movable carrier parking position based on the transport instruction; The motion component in the workstation drives the first pushing component and the first carrying component to move to the target position based on the shelving operation instruction; Based on the shelving operation instruction, the first pushing component pushes the container to be shelved supported by the first carrying component from the first side to the second side along the Z-axis direction, so as to push it onto the movable carrier for storage.

30. The container loading and unloading method according to claim 29, characterized in that: After the first pushing assembly pushes the container to be shelved, carried by the first carrying assembly, from the first side toward the second side along the Z-axis direction based on the shelving operation instruction, the method further includes: The server obtains the position information of the container to be put on the movable carrier, and updates and records the position information.

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