Workstation, container loading and unloading system, and container loading and unloading method

Abstract

The present disclosure provides a workstation, a container loading and unloading system, and a container loading and unloading method. The workstation includes a movable carrier parking position and a container loading and unloading mechanism. The container loading and unloading mechanism includes at least a first pushing component located on the first side of the movable carrier parking position and a motion component that drives the first pushing component, a first bearing component located on the second side of the movable carrier parking position, and a motion component that drives the first bearing component. The motion component drives the first pushing component and the first bearing component to move to their respective target positions; the first pushing component pushes the container on the movable carrier from the first side to the second side along the Z-axis direction, and the first bearing component receives the container on the movable carrier pushed out by the first pushing component from the second side. The first pushing component can automatically push the container on the movable carrier to the first bearing component for receipt, thereby improving the loading and unloading efficiency of the container.

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. How to pick these items has become the key to improving warehousing efficiency.

[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 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 also 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 comprises at least a first pushing assembly and a motion assembly driving the first pushing assembly, a first bearing assembly and a motion assembly driving the first bearing assembly, respectively, located on the first side;

[0008] The motion assembly is configured to drive the first pushing assembly and the first carrying assembly to their respective target positions;

[0009] 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;

[0010] The first carrying assembly is configured to receive, from the second side, a container on the movable carrier that is pushed out by the first pushing assembly.

[0011] 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.

[0012] 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 components located on the first side and the second side are respectively constructed to drive the first pushing component and the first supporting component to move along the vertical direction on their respective sides to the position of the target row on the movable carrier.

[0013] 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.

[0014] 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; and / or,

[0015] At least two first carrying assemblies are provided, and the at least two first carrying assemblies are spaced apart on the second side along the extension direction of the movable carrier parking position 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 components located on the first side and the second side are constructed to respectively drive the first pushing component and the first supporting component to move along the extension direction of the movable carrier parking position on their respective sides 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 first sensor unit is further included, and the first sensor unit is used to determine a first posture deviation between the first pushing component and the container on the movable carrier.

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

[0020] In one embodiment of the present disclosure, a second sensor unit is further included, and the second sensor unit is used to determine a second posture deviation between the first carrying assembly and the container on the movable carrier.

[0021] In one embodiment of the present disclosure, the motion component is further configured to adjust the posture of the first bearing component according to the second posture deviation determined by the second sensor unit to eliminate the second posture deviation.

[0022] In one embodiment of the present disclosure, the motion component includes a ceiling rail and / or a ground rail, and the motion components located on the first side and the second side respectively are constructed to drive the first pushing component and the first bearing component to move respectively on the ceiling rail and / or the ground rail on their respective sides.

[0023] In one embodiment of the present disclosure, the motion component located on the first side includes two columns, and at least one first pushing component is distributed on each opposite side of the two columns; the motion component located on the second side includes two columns, and at least one first bearing component is distributed on each opposite side of the two columns.

[0024] In one embodiment of the present disclosure, at least one of the container storage units is configured to accommodate a container, and 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; the first carrying component is configured to receive the container on the movable carrier directly pushed out by the first pushing component from the second side.

[0025] In one embodiment of the present disclosure, at least one of the container storage units 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 container accommodated in the first storage position is recorded as the first container, and the container accommodated in the second storage position is recorded as the second container;

[0026] The first pushing component is configured to push the first container on the movable carrier from the first side to the second side along the Z-axis direction so as to push the second container out from the second side through the movement of the first container; the first carrying component is configured to receive the second container pushed out from the second side.

[0027] In one embodiment of the present disclosure, at least one of the container storage units is provided with at least three storage positions along the Z-axis direction, including a first storage position adjacent to the first side, at least one second storage position located in the middle region, and a third storage position adjacent to the second side; the container accommodated in the first storage position is denoted as the first container, the container accommodated in at least one of the second storage positions is denoted as the second container, and the container accommodated in the third storage position is denoted as the third container;

[0028] The first pushing component is configured to push the first container on the movable carrier from the first side to the second side along the Z-axis direction, so as to push the second container through the first container, and to push the third container out from the second side through the movement of the second container; the first carrying component is configured to receive the pushed-out third container from the second side.

[0029] In one embodiment of the present disclosure, the first pushing component 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 number of containers in the container storage unit located between the target container and the first pushing component, so as to directly or indirectly push the target container out.

[0030] In one embodiment of the present disclosure, the first carrying assembly is configured to transfer the received third container to a conveying line or a buffer position;

[0031] The first pushing component is configured to push the first container on the movable carrier from the first side to the second side along the Z-axis direction, so as to push the second container located at the third storage position out from the second side through the movement of the first container; the first carrying component is configured to receive the pushed-out second container from the second side.

[0032] In one embodiment of the present disclosure, the moving component located on the second side is configured to drive the first carrying component to move to a position corresponding to a conveying line or a cache position so as to transfer the container located on the first carrying component to the conveying line or the cache position; or, to transfer the container located on the conveying line or the cache position to the first carrying component.

[0033] In one embodiment of the present disclosure, the container loading and unloading mechanism further includes a second pushing assembly, which is located on the second side; the second pushing assembly is configured to push the container located on the first carrying assembly onto at least one of a movable carrier, a conveyor line, and a cache; or,

[0034] The second pushing assembly is configured to push the container on the movable carrier from the second side toward the first side along the Z-axis direction, so as to push the container on the movable carrier out from the first side.

[0035] In one embodiment of the present disclosure, the container loading and unloading mechanism also includes a second pushing assembly, which is configured to push the container located on the first carrying assembly into a corresponding container storage unit on a movable carrier, and 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.

[0036] In one embodiment of the present disclosure, the container loading and unloading mechanism also includes a second pushing assembly, which is configured to push the container located on the first carrying assembly into the corresponding container storage unit of the movable carrier, and to push another container in the container storage unit out from the first side through the movement of the container.

[0037] In one embodiment of the present disclosure, the container loading and unloading mechanism further includes a second carrying assembly, which is located on the first side; the second carrying assembly is configured to receive the container on the movable carrier pushed out by the second pushing assembly from the first side.

[0038] In one embodiment of the present disclosure, the first pushing assembly and the second bearing assembly located on the first side are configured to move independently; and / or the second pushing assembly and the first bearing assembly located on the second side are configured to move independently.

[0039] In one embodiment of the present disclosure, the motion component located on the first side is configured to drive the first pushing component and the second bearing component to move synchronously to the target position; and / or, the motion component located on the second side is configured to drive the second pushing component and the first bearing component to move synchronously to the target position.

[0040] In one embodiment of the present disclosure, the second carrying assembly includes a base, the base is provided with a carrying position for accommodating the container; the first pushing assembly includes a pushing portion, the pushing portion is configured to push the container on the movable carrier from the first side to the second side along the Z-axis direction; and / or,

[0041] The first carrying assembly includes a base, on which a carrying position for accommodating a container is provided; the second pushing assembly includes a pushing portion, which is configured to push the container on the movable carrier from the second side to the first side along the Z-axis direction.

[0042] In one embodiment of the present disclosure, the bearing position and the pushing portion on the base are spaced apart in the height direction and are constructed to correspond to two adjacent rows of container storage units in the same column on the movable carrier, respectively; the pushing portion is constructed to push the container in the container storage unit corresponding thereto, and the bearing position is used to receive the container pushed out from the container storage unit corresponding thereto.

[0043] In one embodiment of the present disclosure, the workstation further includes a conveyor line and / or a cache position, and the conveyor line and / or the cache position are arranged on the second side; the workstation further includes an operating station located on the second side, and the container is configured to be transferred from the conveyor line and / or the cache position to the operating station, or from the operating station to the conveyor line and / or the cache position.

[0044] In one embodiment of the present disclosure, the workstation further comprises a conveying device extending from the first side to the second side; the motion assembly is configured to drive the second carrying assembly to a position corresponding to the conveying device, so as to transfer a container on the second carrying assembly to the conveying device; or to transfer a container on the conveying device to the second carrying assembly;

[0045] The conveying device is configured to transport the container from the first side to the second side so as to transfer the container to a conveying line, a buffer position or an operating station located on the second side, or to transport the container from the conveying line, the buffer position or the operating station located on the second side to the second side.

[0046] In one embodiment of the present disclosure, the conveying device is located above the parking position of the movable carrier, and the moving component is constructed to drive the first carrying component and / or the second carrying component to move to a position corresponding to the conveying device to transfer the container located on the conveying device to the first carrying component and / or the second carrying component; or transfer the container located on the first carrying component and / or the second carrying component to the conveying device.

[0047] In one embodiment of the present disclosure, the movable carrier parking position has a first end and a second end, and the first end and the second end are respectively located at two opposite ends of the movable carrier parking position;

[0048] The conveying device is a telescopic conveyor line, which is arranged at the first end and / or the second end; and is configured to be controlled by a driving device to expand from the first side to the second side; or retract to the first side or the second side to avoid the entry path and / or exit path of the movable vehicle parking position.

[0049] In one embodiment of the present disclosure, the movable carrier is configured to enter from the first end and exit from the second end.

[0050] In one embodiment of the present disclosure, the movable carrier parking position has a first end and a second end, and the first end and the second end are respectively located at two opposite ends of the movable carrier parking position; the movable carrier is configured to enter from the first end and leave from the first end.

[0051] In one embodiment of the present disclosure, the conveying device is a fixed conveyor line arranged at the second end.

[0052] 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.

[0053] 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.

[0054] According to a second aspect 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;

[0055] The server is configured to send a transport instruction to the automatic transport device and a shelf removal instruction to the workstation;

[0056] 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;

[0057] The motion component in the workstation is configured to drive the first pushing component and the first carrying component to their respective target positions based on the unloading operation instruction;

[0058] 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 based on the unloading operation instruction, so as to push the container on the movable carrier from the second side to the first carrying component for receiving.

[0059] According to a third aspect of the present disclosure, a container loading and unloading method is further provided, which is applied to the above-mentioned container loading and unloading system, and the method comprises:

[0060] The server sends a transport instruction to the automatic transport equipment and a destocking instruction to the workstation;

[0061] The automatic transport device transports the movable carrier to the movable carrier parking position based on the transport instruction;

[0062] The motion component in the workstation drives the first pushing component and the first carrying component to move to their respective target positions based on the unloading operation instruction;

[0063] Based on the unloading operation instruction, the first pushing component pushes 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 from the second side to the first carrying component for receiving.

[0064] In one embodiment of the present disclosure, the delisting operation instruction includes location information of the target location;

[0065] The step of the motion component in the workstation driving the first pushing component and the first carrying component to move to their respective target positions based on the unloading operation instruction includes:

[0066] 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 their respective target positions based on the position information.

[0067] In one embodiment of the present disclosure, during the process in which the motion component pre-drives the first pushing component and the first bearing component to move to their respective target positions based on the position information, the method further includes:

[0068] 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 their respective target positions based on the cancellation instruction, or drives the first pushing component and the first bearing component to reset.

[0069] In one embodiment of the present disclosure, the method further includes:

[0070] The server sends a shelving operation instruction to the workstation according to the first position information of the container to be shelved;

[0071] The motion component drives the first pushing component to move to a target position corresponding to the first position information based on the shelving operation instruction;

[0072] The first pushing component pushes the container to be shelved onto the movable carrier based on the shelving operation instruction.

[0073] In one embodiment of the present disclosure, after the first pushing component pushes the container to be shelved onto the movable carrier based on the shelving operation instruction, the method further includes:

[0074] The server obtains the position information of the container to be put on the movable carrier, and updates and records the position information.

[0075] In one embodiment of the present disclosure, the step of the server sending a delisting operation instruction to the workstation includes:

[0076] The server sends a de-shelfing operation instruction to the workstation according to the second position information of the container to be de-shelved;

[0077] The step of the motion component in the workstation driving the first pushing component and the first carrying component to move to their respective target positions based on the unloading operation instruction includes:

[0078] The motion component drives the first pushing component and the first carrying component to move to the target position corresponding to the second position information based on the unloading operation instruction.

[0079] In one embodiment of the present disclosure, the step of the first pushing component pushing the container on the movable carrier from the first side to the second side along the Z-axis direction based on the unloading operation instruction includes:

[0080] The first pushing component pushes the container on the movable carrier from the first side to the second side along the Z-axis direction based on the unloading operation instruction, so as to directly push the container on the movable carrier from the second side to the first carrying component for receiving; or

[0081] The first pushing component pushes the first container on the movable carrier from the first side to the second side along the Z-axis direction based on the unloading operation instruction, so as to push the second container from the second side to the first carrying component for receiving through the movement of the first container, wherein the first container and the second container are two containers stored adjacent to each other along the Z-axis direction in a container storage unit that passes through the Z-axis direction; or

[0082] Based on the unloading operation instruction, the first pushing component pushes the first container on the movable carrier from the first side to the second side along the Z-axis direction, so as to push the second container through the first container, and push the third container from the second side to the first carrying component for receiving through the movement of the second container, wherein the first container, the second container and the third container are multiple containers stored adjacent to each other along the Z-axis direction in a container storage unit that passes through the Z-axis direction.

[0083] In one embodiment of the present disclosure, the method further includes:

[0084] The server obtains the location information of the container after it moves, and updates and records the location information.

[0085] In one embodiment of the present disclosure, the method further includes:

[0086] When determining that a movable carrier passes through the movable carrier parking position, the server sends a retraction instruction to the telescopic conveyor line to retract the telescopic conveyor line to the first side or the second side to avoid the entry path and / or exit path of the movable carrier parking position; or

[0087] When determining that no movable carrier passes through the movable carrier parking position, the server sends an expansion instruction to the telescopic conveyor line to expand the telescopic conveyor line to extend from the first side to the second side.

[0088] The present 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 located on the first side and a motion component driving the first pushing component, a first bearing component located on the second side, and a motion component driving the first bearing component. The motion component is configured to drive the first pushing component and the first bearing component to their respective target positions; 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; the first bearing component is configured to receive the container on the movable carrier pushed out by the first pushing component from the second side. Through the first pushing component of the container loading and unloading mechanism in the workstation, the container on the movable carrier can be automatically pushed out to the first carrying component for receiving. In this embodiment, the process of removing the container does not require human participation, which shortens the time for removing the container and thus improves the efficiency of loading and unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] Figure 1 This is a schematic structural diagram of a workstation provided by an embodiment of the present disclosure;

[0090] Figure 2 This is a structural diagram of a container loading and unloading system provided by one embodiment of the present disclosure;

[0091] Figure 3 is a structural diagram of another workstation provided by an embodiment of the present disclosure;

[0092] Figure 4 This is a structural diagram of a first carrying assembly and a second pushing assembly combined together in a workstation provided by an embodiment of the present disclosure;

[0093] Figure 5 is a schematic structural diagram of another workstation provided by an embodiment of the present disclosure;

[0094] Figure 6 is a structural schematic diagram of another container loading and unloading system provided by an embodiment of the present disclosure;

[0095] Figure 7 This is a flow chart of a container loading and unloading method provided by one embodiment of the present disclosure. DETAILED DESCRIPTION

[0096] 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.

[0097] 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.

[0098] 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".

[0099] First, the terms involved in one or more embodiments of the present disclosure are explained.

[0100] 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.

[0101] 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.

[0102] Storage location: A location on a movable vehicle used to store containers. It can also be empty, meaning no container is stored.

[0103] Automatic handling equipment: An automated device that can carry movable carriers.

[0104] 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.

[0105] 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.

[0106] 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;

[0107] The container loading and unloading mechanism comprises at least a first pushing assembly 5 and a motion assembly driving the first pushing assembly 5, a first bearing assembly 4 and a motion assembly driving the first bearing assembly 4, respectively, located on the first side.

[0108] The motion assembly is configured to drive the first pushing assembly 5 and the first carrying assembly 4 to their respective target positions;

[0109] The first pushing assembly 5 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;

[0110] The first carrying assembly 4 is configured to receive, from the second side, the container on the movable carrier that is pushed out by the first pushing assembly 5 .

[0111] The workstation in this embodiment may be a storage workstation or a workstation for transferring workpieces in a factory scenario, which is not specifically limited here.

[0112] 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, a first side is provided with a first pushing component 5, and a second side is provided with a first bearing component 4.

[0113] The first pushing assembly 5 can propel the container and can be a push rod, a push block, a push disc, or other structure. The number of first pushing assemblies 5 can be one or more, and the first pushing assembly 5 is movable. Driven by the motion assembly, the first pushing assembly 5 can move to a target position. Once in position, the first pushing assembly 5 can push out the container placed at the target position on the movable carrier.

[0114] The first carrying assembly 4 can provide the function of receiving the container. Similar to the first pushing assembly 5, the number of first carrying assemblies 4 can also be set to one or more, and the first carrying assembly 4 is also configured to be movable. The first 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, and the first carrying assembly 4 receives the container on the movable carrier from the second side.

[0115] In order to realize the function of automatic loading and unloading containers, the workstation of the embodiment of the present disclosure can also be provided with a control mechanism (the control mechanism can be a control chip integrated in the workstation, or it can be a server independent of the workstation). The control mechanism is used to send instructions to the motion component and the first pushing component 5. After receiving the instructions, the motion component can drive the first pushing component 5 and the first bearing component 4 to move according to the instructions. After receiving the instructions, the first pushing component 5 can start to push the container according to the instructions.

[0116] Applying the embodiment of the present disclosure, the workstation includes a movable carrier docking position 3 and a container loading and unloading mechanism. The movable carrier docking position 3 is configured to dock the movable carrier; the two opposite sides of the movable carrier docking position 3 are respectively recorded as the first side and the second side. The container loading and unloading mechanism includes at least a first pushing component 5 and a motion component that drives the first pushing component 5, respectively located on the first side, a first bearing component 4 and a motion component that drives the first bearing component 4. The motion component is configured to drive the first pushing component 5 and the first bearing component 4 to their respective target positions; the first pushing component 5 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; the first bearing component 4 is configured to receive the container on the movable carrier pushed out by the first pushing component 5 from the second side. Through the first pushing component 5 of the container loading and unloading mechanism in the workstation, the container on the movable carrier can be automatically pushed out to the first carrying component 4 for receiving. It can be seen that the process of taking out the container in this embodiment does not require human participation, which shortens the time for taking out the container and thus improves the efficiency of container loading and unloading.

[0117] In actual application scenarios, such as Figure 2 As shown, Figure 2 A structural schematic diagram of a container loading and unloading system provided by an embodiment of the present disclosure is shown.

[0118] The movable carrier 6 is transported by the automated handling equipment to the movable carrier docking station 3, where the movable carrier 6 enters and docks. To ensure that the movable carrier 6 can fully enter the movable carrier docking station 3, the width of the two sides of the movable carrier docking station 3 must be greater than the width of the movable carrier 6. To ensure the structural stability of the workstation and to protect it from dust and falling objects, a cover can be installed above the movable carrier docking station 3.

[0119] The movable carrier 6 typically houses multiple containers 60, each containing the same or different items. However, if a first pusher assembly 5 and a first carrier assembly 4 were provided for each storage location on the movable carrier 6, the workstation structure would be overly complex. Therefore, to simplify the workstation structure, the disclosed embodiment provides for movable first pusher assembly 5 and first carrier assembly 4. Specifically, the first pusher assembly 5 and first carrier assembly 4 are driven by a motion assembly to move.

[0120] In one implementation of the embodiment of the present disclosure, 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, and at least one container storage unit is constructed to pass through in the Z-axis direction and is constructed to accommodate at least one container 60 in the Z-axis direction.

[0121] In practical applications, to improve the efficiency of container transfer and increase the utilization rate of the movable carrier 6, 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 are located. At least one container storage unit is configured to be continuous in the Z-axis direction. In other words, such a continuous structure allows the first pushing assembly 5 to directly push the container 60 from the first side to the second side. Furthermore, the container storage unit is configured to accommodate at least one container 60 in the Z-axis direction.

[0122] 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 a Y-axis motion component that moves along the vertical Y-axis direction; the Y-axis motion components respectively located on the first side and the second side are constructed to respectively drive the first pushing component 5 and the first carrying component 4 to move along the vertical direction on their respective sides to the position of the target row on the movable carrier 6.

[0123] Since the container storage unit is configured to be arranged in rows, when there is a need to load and unload the container 60, the motion component is required to drive the first pushing component 5 and the first carrying component 4 to move to the corresponding row. Therefore, the motion component may include a Y-axis motion component that moves along the vertical Y-axis direction. The Y-axis motion component can drive the first pushing component 5 and the first carrying component 4 to move along the vertical direction on their respective sides to the position of the target row on the movable carrier 6.

[0124] In another implementation of the embodiment of the present disclosure, 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, and at least one container storage unit is constructed to pass through in the Z-axis direction and is constructed to accommodate at least one container 60 in the Z-axis direction.

[0125] In practical applications, to improve the efficiency of container 60 transfer and increase the utilization rate of movable carrier 6, 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 configured to be continuous in the Z-axis direction. In other words, such a continuous structure enables the first pushing assembly 5 to directly push the container 60 from the first side to the second side. Furthermore, the container storage unit is configured to accommodate at least one container 60 in the Z-axis direction.

[0126] 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 components respectively located on the first side and the second side are constructed to respectively drive the first pushing component 5 and the first carrying component 4 to move along the extension direction of the movable carrier stop 3 on their respective sides to the position of the target row on the movable carrier 6.

[0127] Since the container storage unit is configured to be arranged in columns, when there is a need to load and unload the container 60, the motion component is required to drive the first pushing component 5 and the first carrying component 4 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 4 to move along the extension direction of the movable carrier stop 3 on their respective sides to the position of the target column on the movable carrier 6.

[0128] 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, and 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; and / or,

[0129] At least two first carrying assemblies 4 are provided. The at least two first carrying assemblies 4 are spaced apart on the second side along the extension direction of the movable carrier parking position 3 and correspond one-to-one to different columns on the movable carrier 6 .

[0130] 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 where the X-axis and the Y-axis are located. In this embodiment, the motion assembly can move the first pushing assembly 5 and the first carrying assembly 4 to their respective target positions through corresponding driving.

[0131] like Figure 1 and Figure 2 As shown in the figure, at least two first pushing assemblies 5 can be provided (the figure is only an example and the specific number is not limited). These first pushing assemblies 5 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 corresponds one-to-one to a corresponding column of the movable carrier 6. In this way, one first pushing assembly 5 can push a column of containers 60, achieving the purpose of accurately loading and unloading multiple containers 60 on the movable carrier 6. Each first pushing assembly 5 can be controlled independently, that is, the containers 60 in each column can be pushed simultaneously, achieving the purpose of loading and unloading multiple containers 60 at the same time.

[0132] Similarly, at least two first load-bearing assemblies 4 can be provided (the figure is merely an example, and the specific number is not limited). These first load-bearing assemblies 4 are spaced apart and arranged along the second side along the extension direction of the movable carrier parking position 3. Moreover, each first load-bearing assembly 4 corresponds one-to-one to a different column on the movable carrier 6. Thus, one first load-bearing assembly 4 can accommodate a column of containers 60, achieving the purpose of accurately loading and unloading multiple containers 60 on the movable carrier 6.

[0133] 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 carrying assembly 4 can be moved to the target position corresponding to the corresponding container storage unit on the movable carrier 6.

[0134] 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 4.

[0135] Since the movable carrier 6 is driven by the automatic handling equipment to move in the X-axis direction, in the process of transporting the movable carrier 6, the position of the movable carrier 6 in the X-axis direction is finely adjusted so that the target column of the movable carrier 6 can correspond to the first pushing component 5 and the first carrying component 4. In this embodiment, there can be one first pushing component 5 and one first carrying component 4, 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 4, 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 4, that is, the first pushing component 5 can push the container 60 on the target column, and the first carrying component 4 can receive the container 60 pushed out from the target column.

[0136] The container storage unit can be constructed to accommodate one container 60, two containers 60 or more containers 60. According to different situations, the first pushing component 5 pushes the container 60 in different ways, which will be introduced below.

[0137] 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.

[0138] Combine Figure 1 In the embodiment shown, when there are container storage units in different columns and rows on the movable carrier 6, then depending on the number of the first pushing assembly 5 and the first bearing assembly 4, it is necessary to drive the first pushing assembly 5 and the first bearing assembly 4 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 4 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 4 in the X-axis and Y-axis directions are diverse and will not be described in detail here.

[0139] First case: at least one container storage unit is configured to accommodate one container 60 .

[0140] In this case, the first pushing component 5 is configured to push the container 60 on the movable carrier 6 from the first side to the second side along the Z-axis direction so as to push the container 60 on the movable carrier 6 out from the second side; the first supporting component 4 is configured to receive the container 60 on the movable carrier 6 directly pushed out by the first pushing component 5 from the second side.

[0141] Since the container storage unit only accommodates one container 60, the container 60 will not be blocked by other containers 60 in the Z-axis direction. Therefore, the first pushing component 5 can directly push the container 60 from the first side to the second side along the Z-axis direction, and can be directly pushed out from the second side, so that the first supporting component 4 can directly receive the container 60 from the second side.

[0142] In the second scenario, at least one container storage unit is provided with a first storage position adjacent to a first side and a second storage position adjacent to a second side along the Z-axis. The container 60 stored in the first storage position is referred to as the first container, and the container stored in the second storage position is referred to as the second container. In other words, the container storage unit stores two containers 60 along the Z-axis.

[0143] In this case, the first pushing assembly 5 is configured to push the first container on the movable carrier 6 from the first side to the second side along the Z-axis direction so as to push the second container out from the second side through the movement of the first container; the first carrying assembly 4 is configured to receive the second container pushed out from the second side.

[0144] Because the container storage unit stores two containers 60 in the Z-axis direction, when the first pushing assembly 5 pushes the first container, the first container pushes the second container toward the second side. In other words, when the first pushing assembly 5 pushes the first container, it first pushes the second container out of the second side. Specifically, the first pushing assembly 5 pushes the first container from the first side toward the second side along the Z-axis direction. The movement of the first container pushes the second container out of the second side, allowing the first carrying assembly 4 to receive the second container from the second side.

[0145] In one implementation of the embodiment of the present disclosure, 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 number of containers in the container storage unit located between the target container and the first pushing component, so as to push the target container out directly or indirectly.

[0146] 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, if containers 60 are stored in both storage positions, the first pushing component 5 can push a first distance (the first distance is equal to the depth of the first container) from the first side to the second side, and by pushing the first container, the second container can be indirectly pushed out from the second side. If only one storage position stores a container 60, regardless of whether the container 60 is located in the first storage position adjacent to the first side or the second storage position adjacent to the second side, the first pushing component 5 can push a second distance from the first side to the second side to directly push the container 60 out from the second side. Ignoring the clearance between the various components, the second distance is equal to the depth of the container storage unit along the Z-axis direction.

[0147] In the third scenario, at least one container storage unit is provided with at least three storage positions along the Z-axis, including a first storage position adjacent to the first side, at least one second storage position in the middle, and a third storage position adjacent to the second side. The container 60 stored in the first storage position is referred to as the first container, the container 60 stored in the at least one second storage position is referred to as the second container, and the container 60 stored in the third storage position is referred to as the third container. In other words, the container storage unit stores at least three containers 60 along the Z-axis.

[0148] In this case, the first pushing component 5 is configured to push the first container on the movable carrier 6 from the first side to the second side along the Z-axis direction so as to push the second container through the first container and push the third container out from the second side through the movement of the second container; the first carrying component 4 is configured to receive the pushed out third container from the second side.

[0149] Because the container storage unit stores at least three containers 60 in the Z-axis direction, when the first pushing assembly 5 pushes the first container, it will push the second container to move, and the movement of the second container will push the third container to move toward the second side. In other words, when the first pushing assembly 5 pushes the first container, it will first push the third container out of the second side. Specifically, the first pushing assembly pushes the first container from the first side to the second side along the Z-axis direction, and the first container pushes the second container. The movement of the second container can push the third container out of the second side, so that the first carrying assembly 4 can receive the third container from the second side.

[0150] In one implementation of the embodiment of the present disclosure, 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 number of containers 60 located between the target container and the first pushing component in the container storage unit, so as to push the target container out directly or indirectly.

[0151] In the case where the container storage unit is provided with a first storage location adjacent to the first side, at least one second storage location located in the middle region, and a third storage location adjacent to the second side along the Z-axis direction, taking three storage locations as an example, if containers 60 are stored in all three storage locations, the first pushing assembly 5 can push a first distance (the first distance is equal to the depth of the first container) from the first side toward the second side. By pushing the first container, the second container can be indirectly pushed, and the third container can be indirectly pushed by the second container, thereby pushing the third container out of the second side. If containers 60 are stored in two storage locations, the first pushing assembly 5 can push a second distance (the second distance is equal to the depth of the two containers) from the first side toward the second side. By pushing one of the containers 60, the other container 60 can be indirectly pushed, thereby pushing the other container 60 out of the second side. If a container 60 is stored in only one storage location, the first pushing assembly 5 can push a third distance (the third distance is equal to the depth of the container storage unit along the Z-axis direction) from the first side toward the second side, thereby directly pushing the container 60 out of the second side. The implementation of setting more storage bits is similar to that of setting three storage bits, and will not be repeated here.

[0152] In one implementation of the embodiment of the present disclosure, the first carrying assembly 4 is configured to transfer the received third container to a conveying line or a buffer position;

[0153] The first pushing assembly 5 is configured to push the first container on the movable carrier 6 from the first side to the second side along the Z-axis direction so as to push the second container located at the third storage position out from the second side through the movement of the first container; the first carrying assembly is configured to receive the pushed-out second container from the second side.

[0154] In the third case described above, after receiving the third container, the first carrying assembly 4 can transfer the received third container to a conveyor line or a cache position, transporting it to another location or transferring it to a cache position for storage. After the first carrying assembly 4 transfers the third container, the first carrying assembly 4 is idle. At this time, the first pushing assembly 5 can continue to push the first container on the movable carrier 6 from the first side to the second side along the Z-axis direction. The movement of the first container can push the second container located in the third storage position out from the second side, so that the first carrying assembly 4 can receive the pushed-out second container from the second side. Furthermore, the first carrying assembly 4 can also transfer the second container to a conveyor line or a cache position.

[0155] In this embodiment, the selection needs to be made based on the actual situation. For example, when the first, second, and third storage positions of the container storage unit all have containers 60 stored, and the target container to be unloaded is the second container located between the first and third containers, it is necessary to first push down the third container adjacent to the second side using the first pushing component 5, and only then can the second container be unloaded. Since the third container is not the target container required by the workstation, the third container can be stored in the cache position at this time. That is, after the first carrying component 5 receives the third container, it is pre-stored in the cache position. After that, the second container is received and transferred to the conveyor line, and the second container is transported to the operating station via the conveyor line.

[0156] In an implementation of the embodiment of the present disclosure, the workstation may further include a first sensor unit, which is used to determine a first posture deviation between the first pushing assembly 5 and the container 60 on the movable carrier 6 .

[0157] In the process of the first pushing component 5 pushing the container, it is necessary to first move the first pushing component 5 to a position corresponding to the target position on the movable carrier 6. If the first pushing component 5 does not move into place, it is difficult to maintain the stability of the container pushing. Therefore, in an embodiment of the present disclosure, a first sensor unit is provided, and the first sensor unit can be an infrared sensor, a position sensor, a camera, a distance sensor, etc. Through the positioning of the first sensor unit, the first posture deviation between the first pushing component 5 and the container 60 on the movable carrier 6 can be determined. For example, in one embodiment of the present disclosure, the first sensor unit can be a two-dimensional camera, and the posture deviation of the first pushing component 5 relative to the container 60 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.

[0158] Those skilled in the art will appreciate that the first sensor unit can use the container 60 as a detection reference, or a 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 first sensor unit can determine the offset of the first pushing assembly 5 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 the container 60.

[0159] For those skilled in the art, the first sensor unit may also be a three-dimensional camera, which can be used to directly locate the position of the container 60 on the movable carrier 6, thereby calculating the three-dimensional deviation between the first pushing component 5 and the container 60.

[0160] 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 according to the first posture deviation determined by the first sensor unit to eliminate the first posture deviation.

[0161] If there is a first posture deviation, the motion component is required to adjust the posture of the first pushing component 5 based on the first posture deviation. This adjustment can eliminate the first posture deviation, so that the first pushing component 5 can push the container 60 to the center position as much as possible. For example, if the first sensor unit determines that the container 60 has a 15° deviation, the motion component can drive the first pushing component 5 to also deviate 15°, thereby eliminating the 15° deviation of the container 60.

[0162] In an implementation of the embodiment of the present disclosure, the workstation may further include a second sensor unit, which is used to determine a second posture deviation between the first carrying assembly 4 and the container 60 on the movable carrier 6.

[0163] When the first pushing assembly 5 pushes the container 60 to the second side, if there is a certain positional deviation between the container 60 and the first carrying assembly 4, it is very likely that the first carrying assembly 4 will not be able to properly receive the container 60. In order to avoid the first carrying assembly 4 being unable to properly receive the container 60 due to the deviation of the container 60 when receiving the container 60, a second sensor unit is provided in the embodiment of the present disclosure. The positioning of the second sensor unit can determine the second positional deviation between the first carrying assembly 4 and the container 60 on the movable carrier 6. In this embodiment, the second sensor unit can be the same sensor as the first sensor unit, or a different sensor. The detection principle can be the same as or different from the detection principle of the first sensor unit, and will not be described in detail here.

[0164] In the case where the second posture deviation exists, the motion component is further used to adjust the posture of the first supporting component 4 according to the second posture deviation determined by the second sensor unit to eliminate the second posture deviation.

[0165] If a second posture deviation exists, the motion component is required to adjust the posture of the first supporting assembly 4 based on the second posture deviation. This adjustment can eliminate the second posture deviation, so that the first supporting assembly 4 can receive the container 60 in the same direction and can be slightly lower than the container storage unit to ensure that the first supporting assembly 4 can normally receive the container 60. For example, if the second sensor unit determines that the container 60 has a 15° deviation, the motion component can drive the first supporting assembly 4 to also deflect by 15°, thereby eliminating the 15° deviation of the container 60.

[0166] In one implementation of the embodiment of the present disclosure, the motion component includes a ceiling rail and / or a ground rail, and the motion components located on the first side and the second side respectively are constructed to drive the first pushing component 5 and the first bearing component 4 to move on the ceiling rail and / or the ground rail on their respective sides.

[0167] 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.

[0168] 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 assembly 5 is set, the motion assembly includes a first gantry assembly 2, and at least one first column 20 (X-axis motion assembly) is connected to the first gantry assembly 2. The first pushing assembly 5 can move in the vertical direction along the first column 20. By setting the first gantry assembly 2 and the first column 20, the first pushing assembly 5 can move flexibly in the vertical direction, and the stability of the first pushing assembly 5 moving in the vertical direction is guaranteed.

[0169] In practical applications, 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 within 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 push assembly 5 to correspond to the target column on the movable carrier 6. The first push assembly 5 is connected to the first column 20 via the Y-axis motion assembly, thereby allowing the first push assembly 5 to move along the first column 20 in the Y-axis direction to correspond to the target row of the movable carrier 9.

[0170] Similarly, on the second side where the first bearing assembly 4 is provided, the motion assembly includes a second gantry assembly 1, to which is connected at least one second column 10 (X-axis motion assembly). The first 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 first bearing assembly 4 can move flexibly in the vertical direction, and the stability of the first bearing assembly 4 in the vertical direction is ensured. The structure of the movement of the first bearing assembly 4 in the second gantry assembly 1 can be consistent with the structure of the movement of the first pushing assembly 5 in the first gantry assembly 2, and will not be described in detail here.

[0171] In actual applications, the motion components on the first side and the second side are set accordingly, which can ensure the consistency of the movement of the first pushing component 5 and the first bearing component 4, which is not only conducive to control, but also can ensure the accuracy of the first pushing component 5 pushing and the first bearing component 4 receiving.

[0172] In one implementation of the embodiment of the present disclosure, the motion component located on the first side includes two columns, and at least one first pushing component 5 is distributed on each opposite side of the two columns; the motion component located on the second side includes two columns, and at least one first bearing component 4 is distributed on each opposite side of the two columns.

[0173] In a specific embodiment of the present disclosure, Figure 3 As shown in Figure 3 A schematic diagram of another workstation provided by an embodiment of the present disclosure is shown. Two first columns 20 are provided, and at least one first push assembly 5 is disposed on each opposing side of the two first columns 20. The first push assemblies 5 are disposed on opposing sides of the two first columns 20, allowing the first push assemblies on each column to simultaneously operate containers 60 located in two adjacent rows of container storage units on a movable carrier 6.

[0174] Based on the same principle, two second columns 10 are provided, and at least one first load-bearing assembly 4 is distributed on opposite sides of each of the two second columns 10. The first load-bearing assembly 4 is arranged on opposite sides of the two second columns 10, so that the first load-bearing assembly 4 on each column can simultaneously operate the containers 60 located in two adjacent rows of container storage units of the movable carrier 6.

[0175] In one implementation of the embodiment of the present disclosure, the motion component located on the second side is constructed to drive the first carrying component 4 to move to a position corresponding to the conveyor line or cache position to transfer the container 60 located on the first carrying component 4 to the conveyor line or cache position; or, to transfer the container 60 located on the conveyor line or cache position to the first carrying component 4.

[0176] During the process of unloading, the motion component located on the second side can drive the first bearing component 4 to move to a position corresponding to the conveyor line or the cache position, that is, after the first bearing component 4 receives the container 60, 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 first bearing component 4 moves to a position corresponding to the conveyor line or the cache position, the first bearing component 4 can transfer the container 60 thereon to the conveyor line or the cache position. For example, when the first bearing component 4 receives the target container, the first 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 first bearing component 4 receives a container 60 that needs to be cached, the first bearing component 4 moves to a position that docks with the cache position and transfers the cached container 60 to the cache position.

[0177] During the shelving process, when the first carrying component 4 moves to the 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 4, and then transported by the first carrying component 4 to the corresponding position of the movable carrier 6 for subsequent shelving operations.

[0178] In one implementation of the embodiment of the present disclosure, the container loading and unloading mechanism may further include a second pushing assembly 40, which is located on the second side; the second pushing assembly 40 is configured to push the container 60 located on the first carrying assembly 4 to at least one of the movable carrier 6, the conveyor line, and the cache position; or,

[0179] The second pushing assembly 40 is configured to push the container 60 on the movable carrier 6 from the second side to the first side along the Z-axis direction, so as to push the container 60 on the movable carrier 6 out from the first side.

[0180] In scenarios where containers 60 are being loaded onto shelves or transferred, a second pushing assembly 40 is provided on the second side, allowing the second pushing assembly 40 to push the containers 60 on the first carrier assembly 4 to at least one of the movable carrier 6, the conveyor line, or the buffer. For example, after the first carrier assembly 4 has moved to a position docking with the conveyor line, the second pushing assembly 40 can push the containers 60 on the first carrier assembly 4 onto the conveyor line, completing the transfer of the containers 60 between the second pushing assembly 40 and the conveyor line. Conversely, the second pushing assembly 40 can also push containers 60 on the conveyor line onto the first carrier assembly 4, which will not be described in detail here.

[0181] In one embodiment of the present disclosure, the second pushing assembly 40 can also push the container 60 on the movable carrier 6 from the second side toward the first side along the Z-axis direction, and the container 60 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 first carrying assembly 4.

[0182] In one implementation of the embodiment of the present disclosure, the second pushing assembly 40 is configured to push the container 60 located on the first carrying assembly 4 to the corresponding container storage unit on the movable carrier 6, and move another container 60 in the container storage unit from the original storage position to an adjacent storage position for storage through the movement of the container 60.

[0183] When the second pushing assembly 40 pushes the container 60 on the first carrying assembly 4, if a container 60 is already stored in the corresponding container storage unit of the movable carrier 6, the second pushing assembly 40 can move another container 60 in the container storage unit from its original storage location to an adjacent storage location for storage by pushing the container 60 on the first carrying assembly 4. While the container 60 is being stored, the container storage unit can store multiple containers 60 in the Z-axis direction, thereby improving the utilization rate of the movable carrier 6.

[0184] In one implementation of the embodiment of the present disclosure, the second pushing assembly 40 is configured to push the container 60 located on the first carrying assembly 4 into the corresponding container storage unit of the movable carrier 6, and to push another container 60 in the container storage unit out from the first side through the movement of the container 60.

[0185] When the second pushing assembly 40 pushes a container 60 to be loaded onto the first carrying assembly 4, if a container 60 is already stored on the corresponding container storage unit of the movable carrier 6, and the stored container 60 is the target container 6 to be unloaded, the second pushing assembly 40 pushes the container 60 on the first carrying assembly 4 to the container storage unit. The loaded container 60 can then be used to push the target container 60 in the container storage unit out from the first side. While loading a container 60, another container 60 can be unloaded simultaneously, allowing for simultaneous loading and unloading of two containers 60, thereby improving the efficiency of container 60 loading and unloading.

[0186] In one implementation of the embodiment of the present disclosure, on the basis that the container loading and unloading mechanism includes a second pushing assembly 40, the container loading and unloading mechanism may also include a second supporting assembly 50, and the second supporting assembly 50 is located on the first side; the second supporting assembly 50 is constructed to receive the container 60 pushed out by the second pushing assembly 40 on the movable carrier 6 from the first side.

[0187] Corresponding to the second pushing component 40, since the second pushing component 40 can push the container 60 from the second side to the first side, a carrying component is required to be able to receive the container 60 pushed out from the first side by the second pushing component 40. Therefore, accordingly, a second carrying component 50 is provided on the first side. The second carrying component 50 is used to receive the container 60 pushed out from the first side by the second pushing component 40 on the movable carrier 6. Specifically, the second carrying component 50 can have the same or similar structure as the first carrying component 4, and the second carrying component 50 can also be designed as an integrated whole with the first pushing component 5.

[0188] In one implementation of the embodiment of the present disclosure, the first pushing assembly 5 and the second supporting assembly 50 located on the first side are configured to move independently of each other; and / or, the second pushing assembly 40 and the first supporting assembly 4 located on the second side are configured to move independently of each other.

[0189] In the actual design, the first pushing component 5 and the second supporting component 50 located on the first side can move independently of each other, that is, the first pushing component 5 and the second 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 second supporting component 50, and the two move independently of each other.

[0190] Similarly, the second pushing assembly 40 and the first carrying assembly 4 located on the second side can also move independently, so as to meet the requirements of removing the container 60 from different sides.

[0191] In one implementation of the embodiment of the present disclosure, the motion component located on the first side is constructed to drive the first pushing component 5 and the second supporting component 50 to move synchronously to the target position; and / or, the motion component located on the second side is constructed to drive the second pushing component 40 and the first supporting component 4 to move synchronously to the target position.

[0192] In another implementation, since the first pushing component 5 and the second supporting component 50 are both arranged on the first side, and the second pushing component 40 and the first supporting component 4 are both arranged on the second side, in order to facilitate control, the components on the same side can be set to move synchronously, that is, the motion component located on the first side can drive the first pushing component 5 and the second supporting component 50 to move synchronously to the target position, and the motion component located on the second side can drive the second pushing component 40 and the first supporting component 4 to move synchronously to the target position.

[0193] In one implementation of the embodiment of the present disclosure, the second carrying assembly 50 includes a base, on which a carrying position for accommodating the container 60 is provided; the first pushing assembly 5 includes a pushing portion provided on the base, the pushing portion being configured to push the container 60 on the movable carrier 6 from the first side to the second side along the Z-axis direction; and / or,

[0194] The first supporting assembly 4 includes a base, on which a supporting position for accommodating the container 60 is provided; the second pushing assembly 40 includes a pushing portion provided on the base, which is configured to push the container 60 on the movable carrier 6 from the second side to the first side along the Z-axis direction.

[0195] Figure 4A schematic diagram illustrates the structure of a workstation provided by one embodiment of the present disclosure, wherein a first carrying assembly 4 and a second pushing assembly 40 are combined. The first carrying assembly 4 includes a base, on which a carrying position 400 is provided for accommodating a container 60. The second pushing assembly 40 includes a pushing portion 401 provided on the base, which can push the container 60 on the movable carrier 6 from the second side toward the first side along the Z-axis. This integrated design enables synchronized movement of components on the same side.

[0196] 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.

[0197] Based on the above disclosure, the first pushing assembly 5 and the second bearing assembly 50 may also adopt the above structure, which will not be described in detail here.

[0198] Based on the integrated design of the first bearing component 4 and the second pushing component 40, and the integrated design of the second bearing component 50 and the first pushing component 5, the bearing position 400 and the pushing part 401 on the base are spaced apart in the height direction, and are constructed to correspond to two adjacent rows of container storage units in the same column on the movable carrier 6; the pushing part 401 is constructed to push the container 60 in the container storage unit corresponding to it, and the bearing position 400 is used to receive the container 60 pushed out from the container storage unit corresponding to it.

[0199] The bearing position 400 can receive the container 60, and the pushing portion 401 can push the container 60. In order to achieve simultaneous receiving and pushing, the bearing position 400 and the pushing portion 401 on the base can be distributed in the height direction (such as Figure 3 As shown in FIG, the carrier position 400 and the pusher 401 correspond to two adjacent rows of container storage units in the same column on the movable carrier 6. The pusher 401 can push the container 60 in the corresponding container storage unit, while the carrier position 400 can simultaneously receive the container 60 pushed out of the corresponding container storage unit. In other words, the pusher 401 and the carrier position 400 can simultaneously perform pushing and receiving operations, improving the efficiency of loading and unloading containers 60.

[0200] In one implementation of the embodiment of the present disclosure, the workstation also includes a conveyor line and / or a cache position, and the conveyor line and / or the cache position are arranged on the second side; the workstation also includes an operating station located on the second side, and the container 60 is configured to be transferred from the conveyor line and / or the cache position to the operating station, or from the operating station to the conveyor line and / or the cache position.

[0201] like Figure 2As shown in , the workstation also includes a conveyor line 8 and / or a cache position on the second side. After receiving the container 60, the first carrying assembly 4 on the second side can transfer the received container 60 to the conveyor line 8 and / or the cache position. The workstation can also include an operating station on the second side, which is mainly used to process the container 60, and is docked with the conveyor line 8 and / or the cache position. After the container 60 is transferred to the conveyor line 8 and / or the cache position, it can also be transferred from the conveyor line 8 and / or the cache position to the operating station for processing. In addition, when the container 60 is processed at the operating station, it can be transported to a corresponding position via the conveyor line 8, for example, it can be transported to a position docked with the first carrying assembly 4.

[0202] In one implementation of the embodiment of the present disclosure, the workstation may further include a conveyor extending from the first side to the second side; the motion assembly is configured to drive the second carrying assembly 50 to a position corresponding to the conveyor to transfer the container 60 on the second carrying assembly 50 to the conveyor; or to transfer the container 60 on the conveyor to the second carrying assembly 50;

[0203] The conveying device is configured to transport the container 60 from the first side to the second side to transfer the container 60 to a conveying line, a buffer position or an operating station located on the second side, or to transport the container 60 from the conveying line, a buffer position or an operating station located on the second side to the first side.

[0204] In one practical scenario, the operating station and the carrying assembly are arranged on different sides. For example, the operating station is arranged on the second side, and the container 60 is pushed out from the first side and received by the second carrying assembly 50. To facilitate the transportation of the container 60 from the first side to the second side, a conveyor device can be arranged between the first side and the second side. The conveyor device extends from the first side to the second side. The motion assembly can drive the second carrying assembly 50 to a position corresponding to the conveyor device, and transfer the container 60 on the second carrying assembly 50 to the conveyor device, or transfer the container 60 on the conveyor device to the second carrying assembly 50. The conveyor device can transport the container 60 from the first side to the second side, and transfer the container 60 to the conveyor line, buffer position, or operating station on the second side. For example, in one embodiment of the present disclosure, the conveyor device extends from the first side to the second side and docks with the conveyor line on the second side. In this way, the container 60 pushed off the first side can be transferred to the conveyor line on the second side via the conveyor device, and then transported to the operating station for processing via the conveyor line. In one embodiment of the present disclosure, the conveying device may also be directly docked with the operating station located on the second side, so that the container 60 pushed down from the first side can be directly transferred to the operating station located on the second side for processing via the conveying device. In one embodiment of the present disclosure, the conveying device may also be docked with the buffer station located on the second side, which will not be described in detail here. In addition, when the container 60 is processed, or when the container 60 needs to be put on the shelf from the first side, the conveying device may also transport the container 60 from the conveyor line, buffer position or operating station located on the second side to the first side. By providing a conveying device, the container 60 can be transferred between the first side and the second side.

[0205] In one implementation of the embodiment of the present disclosure, the conveying device is located above the movable carrier parking position 3, and the moving component is constructed to drive the first carrying component 4 and / or the second carrying component 50 to move to a position corresponding to the conveying device to transfer the container 60 located on the conveying device to the first carrying component 4 and / or the second carrying component 50; or transfer the container 60 located on the first carrying component 4 and / or the second carrying component 50 to the conveying device.

[0206] Specifically, the conveying device can be arranged above the movable carrier parking position 3. For example, Figure 1In the embodiment, a cover plate or a support structure can be provided above the first gantry assembly 2 and the second gantry assembly 1, and a conveying device can be provided on the cover plate or the support structure to enable the container 60 to be transferred from the first side to the second side or from the second side to the first side over the movable carrier parking position 3. The motion assembly can drive the first carrying assembly 4 and / or the second carrying assembly 50 to a position corresponding to the conveying device, and transfer the container 60 on the conveying device to the first carrying assembly 4 and / or the second carrying assembly 50, or transfer the container 60 on the first carrying assembly 4 and / or the second carrying assembly 50 to the conveying device. Such a structure does not take up too much space and can also enable the container 60 to be transferred between the first side and the second side.

[0207] In one implementation of the disclosed embodiment, the docking position of the movable carrier 6 has a first end and a second end, and the first end and the second end are respectively located at opposite ends of the docking position 3 of the movable carrier;

[0208] The conveying device is a telescopic conveyor line, which is arranged at the first end and / or the second end; and is configured to be controlled by a driving device to expand from the first side to the second side; or retract to the first side or the second side to avoid the entry path and / or exit path of the movable vehicle parking position 3.

[0209] like Figure 5 As shown, Figure 5 This is a schematic diagram of the structure of another workstation provided by an embodiment of the present disclosure. The conveying device is a telescopic conveyor line 91. The telescopic conveyor line 91 is arranged at the first end and / or the second end of the movable carrier docking position 3, wherein the first end and the second end are respectively located at opposite ends of the movable carrier docking position 3. The telescopic conveyor line 91 is controlled by a drive device and can be extended from a first side to a second side, or can be retracted to the first side or the second side. After the telescopic conveyor line 91 is retracted, it can avoid the entry path and / or exit path of the movable carrier docking position 3.

[0210] refer to Figure 5 In the viewing direction, the telescopic conveyor line 91 is arranged in the right end area of ​​the workstation; for those skilled in the art, based on the above disclosure, the telescopic conveyor line 91 can also be arranged in the left end area of ​​the workstation, or two telescopic conveyor lines 91 are arranged, respectively located in the right end area and the left end area of ​​the workstation.

[0211] The telescopic conveyor line 91 can be expanded or retracted. The telescopic conveyor line 91 can adopt a structure well known to those skilled in the art and will not be described in detail here.

[0212] In one embodiment of the present disclosure, the movable carrier 6 is configured to enter from a first end and exit from a second end.

[0213] The telescopic conveyor line 91 can be positioned at the second end, and the movable carrier 6 can be configured to enter from the first end and exit from the second end. That is, when a movable carrier 6 passes through the movable carrier docking position 3, the telescopic conveyor line 91 can be controlled to retract to the first side or the second side, allowing the movable carrier 6 to enter from the first end and exit from the second end. If no movable carrier 6 passes through the movable carrier docking position 3, the telescopic conveyor line 91 can be controlled to expand from the first side to the second side.

[0214] For example, when the telescopic conveyor line 91 is set at the second end, the movable carrier 6 is not affected by the telescopic conveyor line 91 and can enter the movable carrier parking position 3 through the first end of the workstation. When the movable carrier 6 at the movable carrier parking position 3 needs to exit through the second end of the workstation, the telescopic conveyor line 91 needs to be controlled to retract to clear the exit path of the movable carrier 6 from the second end.

[0215] Based on the above disclosure, it should be understood that when the telescopic conveyor line 91 is located at the first end of the workstation, the telescopic conveyor line 91 needs to be retracted, and the movable carrier 6 enters the movable carrier parking position 3 through the first end, while the path of the movable carrier 6 leaving from the second end is not affected by the telescopic conveyor line 91.

[0216] In one implementation of the embodiment of the present disclosure, the movable carrier docking position has a first end and a second end, and the first end and the second end are respectively located at two opposite ends of the movable carrier docking position 3; the movable carrier 6 is configured to enter from the first end and leave from the first end.

[0217] In actual scenarios, the movable vehicle 6 can also be configured to enter from the first end and leave from the first end.

[0218] Correspondingly, the conveying device is a fixed conveyor line arranged at the second end.

[0219] That is to say, if the movable carrier 6 enters and leaves from the first end, there is no need to set the conveying device to be retractable, and a fixed conveying line can be directly used to be set at the second end.

[0220] It should be noted that the first end and the second end mentioned above in the present disclosure are only for explaining the two opposite ends of the movable vehicle docking position 3 and the direction in which the movable vehicle 6 enters or leaves the movable vehicle docking position 3 .

[0221] In one 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 60 .

[0222] A visual inspection device can be installed at the location where the container 60 passes in the workstation. The visual inspection device can capture two-dimensional or three-dimensional images. When a container 60 passes through the visual inspection device, the visual inspection device can capture an image of the interior of the container 60, obtain an image of the interior of the container 60, and then identify the image of the interior of the container 60. Based on the identification result, the type and / or quantity of the items in the container 60 are detected. This increases the verification of the correctness of the items in the container 60 and improves the security of item supervision.

[0223] 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.

[0224] like Figure 1 、 Figure 2 、 Figure 3 and Figure 5 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 60 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 60 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.

[0225] 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.

[0226] Figure 6 FIG. 1 shows a structural diagram of another container loading and unloading system provided by an embodiment of the present disclosure, such as Figure 6 As shown, the container handling system 300 includes a server 310 , at least one automatic handling device 320 and at least one workstation 330 .

[0227] 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 at least a first pushing assembly 3321 located on the first side, a first motion assembly 3322 driving the first pushing assembly 3321, a first bearing assembly 3323 located on the second side, and a second motion assembly 3324 driving the first bearing assembly 3323.

[0228] The server 310 is configured to send a transport instruction to the automatic transport device 320 and a destocking operation instruction to the workstation;

[0229] 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;

[0230] The first motion component 3322 and the second motion component 3324 in the workstation are configured to respectively drive the first pushing component 3321 and the first carrying component 3323 to their respective target positions based on the unloading operation instruction;

[0231] The first pushing component 3321 is configured to push the container 60 on the movable carrier 6 from the first side to the second side along the Z-axis direction based on the unloading operation instruction, so as to push the container 60 on the movable carrier 6 from the second side to the first carrying component 3323 for receiving.

[0232] Specifically, server 310 is a server that handles container loading and unloading tasks and is used to send a handling instruction for movable carrier 6 to automatic handling equipment 320 and a removal instruction to a workstation. Therefore, when server 310 receives a container loading and unloading instruction, it indicates that the removal of container 60 needs to be performed. To improve the efficiency of container 60 loading and unloading, and thus improve operational efficiency, a handling instruction can be sent to automatic handling equipment 320 based on the container loading and unloading instruction. At the same time, a de-shelfing operation instruction is sent to the workstation. Furthermore, the workstation can generate a motion instruction and a first push instruction based on the de-shelfing operation instruction, and send the motion instruction to the first motion component 3322 and the second motion component 3324 of the container loading and unloading mechanism 332, and send the first push instruction for the container 60 to the first push component 3321. Of course, the de-shelfing operation instruction can also directly carry the motion instruction and / or the first push instruction. After being parsed by the workstation, the motion instruction is sent to the first motion component 3322 and the second motion component 3324 of the container loading and unloading mechanism 332, and the first push instruction for the container 60 is sent to the first push component 3321. Among them, the container loading and unloading instruction includes the information of the movable carrier 6, the storage position information (the position information on the movable carrier, the storage position on the movable carrier can store the container or can be empty), and the container 60 information (which can refer to the information that the container carrying the items is stored at the storage position on the movable carrier), so that the automatic handling equipment 320 can move the movable carrier 6 to the movable carrier parking position 331 corresponding to the task, so that the container loading and unloading mechanism 332 can accurately load and unload the container 60; accordingly, the handling instruction can guide the automatic handling equipment to determine and carry the movable carrier 6, that is, the handling instruction The command carries the moving trajectory information of the automatic handling equipment; the unloading operation instruction can guide the first moving component 3322 and the second moving component 3324 to drive the first pushing component 3321 and the first carrying component 3323 to move to their respective target positions, that is, the unloading operation instruction carries the position information of the container 60 / the position information of the container 60 to be stored; the unloading operation instruction can guide the first pushing component 3321 to push the container 60 on the movable carrier 6 from the first side to the second side along the Z-axis direction, so as to push the container 60 on the movable carrier 6 from the second side to the first carrying component 3323 for receiving.

[0233] When there is a task to remove a container 60 from the shelves, the server 310 can also proactively send a transport instruction to the automatic transport device 320 and a removal instruction to the workstation. Alternatively, the server 310 can send a transport instruction to the automatic transport device 320 and a removal instruction to the workstation upon receiving a user instruction or an order instruction.

[0234] Furthermore, after receiving the transport instruction, the automatic transport equipment 320 indicates that the movable carrier 6 needs to be moved to the target position to perform the container loading and unloading task. At this time, the movable carrier 6 that needs to be transported can be determined according to the transport instruction, and then it can drive to the movable carrier 6 and transport the movable carrier 6 to the movable carrier parking position 331; at this time, the first movement component 3322 and the second movement component 3324 receive the unloading operation instruction, and based on the unloading operation instruction, respectively drive the first pushing component 3321 and the first bearing component 3323 to move to their respective target positions; then, the first pushing component 3321 receives the unloading operation instruction, and based on the unloading operation instruction, pushes the container 60 on the movable carrier 6 from the first side to the second side along the Z-axis direction, so as to push the container 60 on the movable carrier 6 from the second side to the first bearing component 3323 for taking over, thereby completing the container loading and unloading task.

[0235] For example, the server receives a container loading and unloading instruction corresponding to a container loading and unloading task and determines that a set number of items a need to be operated in container A on movable carrier S. At this time, the server will send a handling instruction to the automatic handling device P according to the container loading and unloading instruction, and simultaneously send a motion instruction to the motion component. After receiving the handling instruction, the automatic handling device P determines the position of movable carrier S in the storage area and moves to that position to transport movable carrier S. It then transports movable carrier S to movable carrier parking position 331. At this time, the motion component will drive the first pushing component 3321 and the first carrying component 3323 to their respective target positions based on the motion instruction. The first pushing component 3321 receives the first pushing instruction issued by the server and, based on the first pushing instruction, pushes container A on movable carrier S from the first side to the second side along the Z-axis direction, pushing container A from the second side of movable carrier S to the first carrying component 3323 for receipt.

[0236] In summary, by adopting a combination of servers, automatic handling equipment and workstations to achieve loading and unloading of containers, the loading and unloading efficiency of the container 60 can be effectively improved, and the operational efficiency can be further improved.

[0237] In one implementation of the embodiment of the present disclosure, the delisting operation instruction carries the location information of the target location;

[0238] Before the automatic transport device transports the movable carrier 6 to the movable carrier parking position 331, the first motion component 3322 and the second motion component 3324 are further configured to pre-drive the first pushing component 3321 and the first carrying component 3323 to their respective target positions based on the position information.

[0239] When the unloading operation instruction is transmitted to the first motion component 3322 and the second motion component 3324, since the unloading operation instruction can carry the location information of the target position, the location information represents the position of the container 60 to be ejected on the movable carrier 6. In order to improve efficiency, the first motion component 3322 and the second motion component 3324 can move in advance to the target position corresponding to the location information based on the unloading operation instruction.

[0240] In one implementation of the embodiment of the present disclosure, the first motion component 3322 and the second motion component 3324 are also configured to stop driving the first pushing component 3321 and the first bearing component 3323 to their respective target positions if a cancellation instruction sent by the server 310 is received; or to drive the first pushing component 3321 and the first bearing component 3323 to reset.

[0241] Since the first motion component 3322 and the second motion component 3324 are pre-moved, the container loading and unloading 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 cancellation instruction to the first motion component 3322 and the second motion component 3324. Upon receiving the cancellation instruction, the first motion component 3322 and the second motion component 3324 will stop driving the first pushing component 3321 and the first bearing component 3323 to move to the target position, or drive the first pushing component 3321 and the first bearing component 3323 to reset. This solution can avoid task execution confusion when performing container loading and unloading tasks for different movable carriers 6. If the container loading and unloading tasks for different movable carriers 6 are switched, the server 310 can stop the container loading and unloading tasks in a timely manner by sending a cancellation instruction.

[0242] In one implementation of the embodiment of the present disclosure, the server 310 is further configured to send a shelving operation instruction to the first motion component 3322 and the second motion component 3324 according to the first position information of the container 60 to be shelved;

[0243] The first motion component 3322 and the second motion component 3324 are 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.

[0244] The first pushing component 3321 is further configured to push the container 60 to be shelved onto the movable carrier 6 based on the shelving operation instruction.

[0245] In the case of putting the container 60 on the shelf, the server 310 will receive a shelving instruction, which carries the carrier identifier of the movable carrier 6 and the container identifier of the container 60 to be put on the shelf. In this case, the server 310 will send a transport instruction for the movable carrier 6 to the automatic transport device 320 based on the carrier identifier, so that the automatic transport device 320 can move the movable carrier 6 based on the transport 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 target position information corresponding to the container 60 to be put on the shelf based on the container identifier, and send a shelving operation instruction to the workstation based on the target position information. In the case of putting the container 60 on the shelf, the server can also automatically generate a carrier identifier and a container identifier, and then send a transport instruction to the automatic transport device 320 based on the carrier identifier, and obtain the target position information corresponding to the container 60 to be put on the shelf based on the container identifier.

[0246] The first motion component 3322 and the second motion component 3324 receive the shelving operation instruction, and can respectively drive the first pushing component 3321 and the first supporting component 3323 to move to the target position corresponding to the target position information based on the shelving operation instruction.

[0247] After receiving the shelving operation instruction, the first pushing component 3321 can push the container 60 to be shelved onto the movable carrier 6 for storage, thereby realizing automatic shelving of the container 60 .

[0248] Through this solution, the container 60 is put on the shelf by combining the server, automatic handling equipment, motion components, the first pushing component 3321 and the first bearing component 3323, which can effectively improve the efficiency of putting the container 60 on the shelf.

[0249] In one implementation of the embodiment of the present disclosure, the server 310 is further configured to obtain the position information of the container 60 to be put on the shelf on the movable carrier 6 and update the record of the position information.

[0250] In the embodiment of the present disclosure, after the container 60 to be put on the shelf is put on the shelf, the server 310 can obtain the position information of the container 60 to be put on the shelf on the movable carrier 6, that is, the specific position where the container 60 to be put on the shelf is placed on the movable carrier 6, and then update and record the position information as inventory information. When the container 60 needs to be taken off the shelf later, operations can be performed based on the inventory information.

[0251] In one implementation of the embodiment of the present disclosure, the server 310 is further configured to send a de-shelfing operation instruction to the workstation according to the second position information of the container 60 to be de-shelved.

[0252] The first motion component 3322 and the second motion component 3324 are further configured to drive the first pushing component 3321 and the first carrying component 3323 to move to the target position corresponding to the second position information based on the unloading operation instruction.

[0253] When removing a container 60 from a shelf, server 310 obtains the second position information of the container 60 to be removed. Accordingly, server 310 sends a removal instruction to the workstation based on the second position information. Upon receiving the removal instruction, first motion component 3322 and second motion component 3324 can respectively drive first pushing component 3321 and first supporting component 3323 to the target position corresponding to the second position information based on the removal instruction.

[0254] Through this solution, the container 60 is taken off the shelf by combining the server, automatic handling equipment, motion components, the first pushing component 3321 and the first bearing component 3323, which can effectively improve the efficiency of taking the container 60 off the shelf.

[0255] The above describes the technical solutions for loading and unloading containers 60. Based on the above disclosure, those skilled in the art will appreciate that containers 60 can be loaded and unloaded on the same movable carrier 6. After processing is completed on the same movable carrier 6, the automatic handling equipment can move it out of the movable carrier docking position 331 and transfer it to a storage area for storage.

[0256] The above-mentioned disclosed server directly sends control instructions to each mechanism. In one embodiment of the present disclosure, the server may also include a server end and a control end of a workstation. The server end sends corresponding instructions to the control end of the workstation. After receiving the corresponding instructions, the control end can control the corresponding mechanism to perform corresponding actions. The setting of such a server and control end is common knowledge to those skilled in the art and will not be described in detail here.

[0257] The present disclosure also provides a container loading and unloading method, which is as follows:

[0258] Figure 7 A flowchart of a container loading and unloading method provided by an embodiment of the present disclosure is shown. The container loading and unloading method is applied to the above-mentioned container loading and unloading system, and the method includes the following steps:

[0259] In step 402, the server sends a transport instruction to the automatic transport device and a de-shelfing operation instruction to the workstation.

[0260] In step 404 , the automatic transport device transports the movable carrier to the movable carrier parking position based on the transport instruction.

[0261] In step 406 , the motion component in the workstation drives the first pushing component and the first carrying component to move to their respective target positions based on the unloading operation instruction.

[0262] In step 408 , the first pushing component pushes the container on the movable carrier from the first side to the second side along the Z-axis direction based on the unloading operation instruction, so as to push the container on the movable carrier from the second side to the first carrying component for receiving.

[0263] Specifically, the server refers to the service end that handles container loading and unloading tasks, and is used to send moving instructions for movable carriers to the automatic handling equipment, and to send unloading operation instructions to the workstation. Based on this, when the server receives a container loading and unloading instruction, it indicates that the container needs to be unloaded. In order to improve the efficiency of container loading and unloading, and thus improve operational efficiency, it can send a moving instruction to the automatic handling equipment based on the container loading and unloading instruction, and simultaneously send an unloading operation instruction to the workstation. Among them, the container loading and unloading instructions include information of the movable carrier, storage position information, and container information (specifically, information about the storage position where the container carrying the items is stored on the movable carrier), so that the automatic handling 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 load and unload the container; accordingly, the handling instructions can guide the automatic handling equipment to determine and transport the movable carrier, that is, the handling instructions carry the movement trajectory information of the automatic handling equipment; the unloading operation instructions can guide the motion component to drive the first pushing component and the first carrying component to their respective target positions, that is, the motion instructions carry the position information of the container / the position information of the container to be stored; the unloading operation instructions can also guide the first pushing component 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 from the second side to the first carrying component for acceptance.

[0264] Furthermore, after receiving the handling instruction, the automatic handling equipment indicates that the movable carrier needs to be moved to the target position to perform the container loading and unloading task. At this time, the movable carrier that needs to be transported can be determined according to the handling 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 unloading operation instruction, and the motion component drives the first pushing component and the first carrying component to their respective target positions based on the unloading operation instruction; then, the first pushing component pushes the container on the movable carrier from the first side to the second side along the Z-axis direction based on the unloading operation instruction, so as to push the container on the movable carrier from the second side to the first carrying component for taking over, thereby completing the container loading and unloading task.

[0265] When there is a container removal task, the server can also proactively send a transport instruction to the automatic transport device and a removal operation instruction to the workstation. Alternatively, the server can send a transport instruction to the automatic transport device and a removal operation instruction to the workstation when receiving a user operation instruction or an order instruction.

[0266] In summary, by combining servers, automatic handling equipment and workstations to achieve container loading and unloading, the efficiency of container loading and unloading can be effectively improved, and operational efficiency can be further improved.

[0267] In one implementation of the embodiment of the present disclosure, the delisting operation instruction includes location information of the target location;

[0268] Step 406 can be implemented as follows:

[0269] 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 their respective target positions based on the position information.

[0270] When the unloading operation instruction is transmitted to the motion component, since the unloading operation instruction can carry the location information of the target position, the location information represents the position of the container to be pushed out on the movable carrier. In order to improve efficiency, before the automatic handling equipment transports the movable carrier to the movable carrier parking position, the motion component can move in advance to the target position corresponding to the location information based on the unloading operation instruction.

[0271] 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 carrying component to move to their respective target positions based on the position information, the container loading and unloading method further includes:

[0272] 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 their respective target positions based on the cancellation instruction, or drives the first pushing component and the first bearing component to reset.

[0273] Because the motion component is pre-moved, the container loading and unloading 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 propulsion component and the first bearing component to move toward the target position. This solution can avoid task execution confusion when performing container loading and unloading tasks for different movable carriers. If the container loading and unloading task for different movable carriers is switched, the server can promptly stop the container loading and unloading task by sending a cancel command.

[0274] In one implementation of the disclosed embodiment, the container loading and unloading method further includes: the server transmitting a shelving operation instruction to the workstation based on information about the first position of the container to be shelved. In this embodiment, the motion component drives the first pushing component to move to a target position corresponding to the first position information based on the shelving operation instruction. The first pushing component pushes the container to be shelved onto the movable carrier based on the shelving operation instruction.

[0275] In the case of shelving containers, the server will receive a shelving instruction, which carries the first carrier identifier of the first target movable carrier and the first container identifier of the container to be shelved. In this case, the server will send a transport instruction for the first target movable carrier to the automatic transport equipment based on the first carrier identifier, so that the automatic transport equipment can move the first target movable carrier based on the transport instruction, and transport the first target movable carrier to the movable carrier parking position. At the same time, the server determines the first target position information corresponding to the container to be shelved, and sends a shelving operation instruction to the workstation based on the first target position information. The motion component receives the shelving operation instruction and can drive the first pushing component to move to the target position corresponding to the first position information based on the shelving operation instruction. When the first pushing component moves to the target position, the first pushing component can push the container to be shelved to the storage position of the movable carrier for storage based on the shelving operation instruction.

[0276] When operating a movable carrier that has already been docked at the movable carrier, the server can directly issue corresponding operation instructions until all containers on the movable carrier have been processed. The automatic handling equipment will then move them to the storage area for storage based on the handling instructions issued by the server.

[0277] In addition, the information of each storage location in the movable carrier is stored in the server. When the container is put on the shelf, the server can select a suitable storage location for storage based on the first container identifier of the container to be put on the shelf and according to a predetermined strategy.

[0278] 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.

[0279] In one implementation of the embodiment of the present disclosure, after the first pushing component pushes the container to be put on the shelf onto the movable carrier based on the putting operation instruction, the container loading and unloading method may further include:

[0280] The server obtains the position information of the container to be put on the movable carrier, and updates and records the position information.

[0281] 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.

[0282] In one implementation of the embodiment of the present disclosure, step 402 may be specifically implemented in the following manner: the server sends a de-shelfing operation instruction to the workstation according to the second position information of the container to be de-shelfed;

[0283] Step 406 can be specifically implemented in the following manner: the motion component drives the first pushing component and the first carrying component to move to the target position corresponding to the second position information based on the unloading operation instruction.

[0284] When removing a container from a shelf, the server obtains the second position information of the container to be removed. Based on the second position information, the server sends a removal operation instruction to the workstation. Upon receiving the removal operation instruction, the motion component can drive the first pushing component and the first supporting component to move to the target position corresponding to the second position information based on the removal operation instruction.

[0285] This solution realizes container unloading by combining a server, an automatic handling device, a motion component, a first pushing component and a first bearing component, which can effectively improve the efficiency of container unloading.

[0286] In one implementation of the embodiment of the present disclosure, step 408 may be implemented as follows:

[0287] The first pushing assembly pushes the container on the movable carrier from the first side to the second side along the Z-axis direction based on the unloading operation instruction, so as to directly push the container on the movable carrier from the second side to the first carrying assembly for receiving; or

[0288] The first pushing assembly pushes the first container on the movable carrier from the first side to the second side along the Z-axis direction based on the unloading operation instruction, so as to push the second container from the second side to the first carrying assembly for receiving through the movement of the first container, wherein the first container and the second container are two containers stored adjacent to each other along the Z-axis direction in a container storage unit that passes through the Z-axis direction; or

[0289] Based on the unloading operation instruction, the first pushing component pushes the first container on the movable carrier from the first side to the second side along the Z-axis direction, so as to push the second container through the first container, and push the third container from the second side to the first carrying component for receiving through the movement of the second container, wherein the first container, the second container and the third container are multiple containers stored adjacent to each other along the Z-axis direction in a container storage unit that passes through the Z-axis direction.

[0290] The movable carrier can store containers in various ways, including interconnected, symmetrical, and multiple container arrangements. In the interconnected arrangement, at least one container storage unit is configured to accommodate a single container. Based on the unloading command, the first pusher assembly pushes the container on the movable carrier from the first side toward the second side along the Z-axis, allowing the container to be directly pushed from the second side to the first carrier assembly for reception. This interconnected container storage method ensures that the container storage unit only stores a single container, resulting in greater precision when pushing containers.

[0291] In a symmetrical manner, at least one 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 container accommodated in the first storage position is recorded as the first container, and the container accommodated in the second storage position is recorded as the second container. Then, based on the unloading operation instruction, the first pushing component pushes the first container on the movable carrier from the first side to the second side along the Z-axis direction, so as to push the second container from the second side to the first carrying component for receiving through the movement of the first container, wherein the first container and the second container are two containers stored adjacent to each other along the Z-axis direction in the container storage unit that passes through the Z-axis direction. This symmetrical storage method of containers allows the container storage unit to store two containers, which can improve the utilization rate of the movable carrier for storing containers, and through indirect pushing, the accuracy of pushing the containers can be guaranteed.

[0292] In a symmetrical manner, if containers are stored in both storage locations, the first pushing assembly can push a first distance from the first side toward the second side, thereby indirectly pushing the second container out of the second side by pushing the first container. Ignoring the gaps between the components, the first distance is equal to the length or depth of the first container along the Z-axis. If a container is stored in only one storage location, regardless of whether the container is in the first or second storage location, the first pushing assembly can push a second distance from the first side toward the second side to directly push the container out of the second side. Ignoring the gaps between the components, the second distance is equal to the depth of the container storage unit along the Z-axis.

[0293] In a multiple container arrangement, at least one container storage unit is provided with at least three storage positions along the Z-axis direction, including a first storage position adjacent to the first side, at least one second storage position located in the middle area, and a third storage position adjacent to the second side; the container accommodated in the first storage position is recorded as the first container, the container accommodated in at least one second storage position is recorded as the second container, and the container accommodated in the third storage position is recorded as the third container. Based on the unloading operation instruction, the first pushing component pushes the first container on the movable carrier from the first side to the second side along the Z-axis direction, so as to push the second container through the first container, and push the third container from the second side to the first carrying component for receiving through the movement of the second container, wherein the first container, the second container, and the third container are multiple containers stored adjacent to each other along the Z-axis direction in a container storage unit that passes through the Z-axis direction. This multiple container arrangement can store at least three containers per row, which can improve the utilization rate of the movable carrier storage containers, and through indirect pushing, the accuracy of pushing the containers can be guaranteed.

[0294] In the case of multiple container arrangements, taking three storage locations as an example, if containers are stored in all three storage locations, the first pushing component 5 can push a first distance (the first distance is equal to the depth of the first container) from the first side to the second side, and by pushing the first container, the second container can be indirectly pushed, and then the second container can indirectly push the third container to push the third container out from the second side. If there are two storage locations with containers stored, the first pushing component 5 can push a second distance (the second distance is equal to the depth of the two containers) from the first side to the second side, and by pushing one of the containers, the other container can be indirectly pushed to push the other container out from the second side. If there is only one storage location with a container stored, the first pushing component 5 can push a third distance (the third distance is equal to the depth of the container storage unit extending along the Z-axis direction) from the first side to the second side, and can directly push the container out from the second side. Setting more storage locations is similar to the implementation of setting three storage locations, and will not be repeated here.

[0295] In an implementation of the embodiment of the present disclosure, the container loading and unloading method may further include: the server obtaining location information of the container after movement, and updating and recording the location information.

[0296] In the embodiment of the present disclosure, after pushing the container by indirect pushing, the server can obtain the location information of the moved container, and then update and record the location information as inventory information. When the container needs to be removed from the shelf later, operations can be performed based on the inventory information.

[0297] In one implementation of the embodiment of the present disclosure, the container loading and unloading method may further include the following steps:

[0298] 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.

[0299] 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 in the container being swapped. This enhanced verification of the correctness of the items within the container improves the security of item supervision.

[0300] In one implementation of the embodiment of the present disclosure, the container loading and unloading method may further include the following steps:

[0301] When determining that a movable carrier passes through the movable carrier parking position, the server sends a retraction instruction to the telescopic conveyor line to retract the telescopic conveyor line to the first side or the second side to avoid the entry path and / or exit path of the movable carrier parking position; or

[0302] When determining that no movable carrier passes through the movable carrier parking position, the server sends an expansion instruction to the telescopic conveyor line to expand the telescopic conveyor line to extend from the first side to the second side.

[0303] In this embodiment, the movable carrier enters the movable carrier parking position from one side and exits from the other side. The movable carrier parking position has a first end and a second end, and the first end and the second end are respectively located at opposite ends of the movable carrier parking position; the conveying device extends from the first side to the second side, and the conveying device is a telescopic conveyor line, which is arranged at the first end and / or the second end of the movable carrier parking position. The telescopic conveyor line can be placed on the left or right side of the movable carrier parking position, or multiple telescopic conveyor lines can be arranged. The telescopic conveyor line can specifically be a conveying mechanism with a telescopic function such as a roller or a telescopic fork.

[0304] The functions of the telescopic conveyor line mainly include: when a movable carrier passes through the movable carrier parking position, the server sends a retraction command to the telescopic conveyor line to retract the telescopic conveyor line to the first side or the second side to avoid the entry path and / or exit path of the movable carrier parking position; when no movable carrier passes through the movable carrier parking position, the server sends an expansion command to the telescopic conveyor line to expand the telescopic conveyor line to extend from the first side to the second side.

[0305] By setting up a telescopic conveyor line, container transfer between the corresponding two sides of the movable carrier parking position can be achieved. When there is no operating station on the side where the container is pushed out, the container is transferred to the other side through the telescopic conveyor line. Moreover, when a movable carrier passes through the movable carrier parking position, the telescopic conveyor line contracts to ensure the normal passage of the movable carrier.

[0306] 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.

[0307] For example, the above describes the second carrying component and the second pushing component. The second pushing component can be used in conjunction with the first carrying component. For example, the second pushing component can push the container on the first carrying component to the movable carrier, and the first pushing component can also 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.

[0308] 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 position 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 a storage location that facilitates unloading operations. This will not be further explained here.

[0309] 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.

[0310] 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.

[0311] 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 comprises at least a first pushing assembly and a motion assembly driving the first pushing assembly, a first bearing assembly and a motion assembly driving the first bearing assembly, and a second pushing assembly, respectively, located on the first side. The second pushing assembly is located on the second side. The motion component is configured to respectively drive the first pushing component and the first carrying component to move to their respective target positions, wherein the driving of the first pushing component and the first carrying component to move to their respective target positions is completed by the motion component based on an operation instruction of a server, wherein the operation instruction includes a putting operation instruction and a taking down operation instruction, and the taking down operation instruction includes position information of the target position; 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; The first carrying assembly is configured to receive, from the second side, a container on the movable carrier pushed out by the first pushing assembly; The second pushing assembly is configured to push the container on the first carrying assembly onto at least one of a movable carrier, a conveyor line, and a cache location; or, to push the container on the movable carrier from the second side toward the first side along the Z-axis direction so as to push the container on the movable carrier out 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 component includes a Y-axis motion component that moves along the vertical Y-axis direction; the Y-axis motion components located on the first side and the second side are respectively constructed to drive the first pushing component and the first supporting component to move along the vertical direction on their respective sides to the position of the 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 spaced apart on the second side along the extension direction of the movable carrier parking position 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 components located on the first side and the second side are respectively constructed to drive the first pushing component and the first supporting component to move along the extension direction of the movable carrier parking position on their respective sides 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 first sensor unit, which is used to determine a first posture deviation between the first pushing component and the container on 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 according to the first posture deviation determined by the first sensor unit to eliminate the first posture deviation.

10. The workstation according to claim 1, wherein: It also includes a second sensor unit, which is used to determine a second posture deviation between the first carrying component and the container on the movable carrier.

11. The workstation according to claim 10, characterized in that: The motion component is further configured to adjust the posture of the first bearing component according to the second posture deviation determined by the second sensor unit, so as to eliminate the second posture deviation.

12. The workstation according to claim 1, wherein: The motion components include ceiling rails and / or floor rails. The motion components located on the first side and the second side are configured to drive the first pushing component and the first bearing component to move on the ceiling rails and / or floor rails on their respective sides.

13. The workstation according to claim 12, wherein: The motion component located on the first side includes two columns, and at least one first pushing component is distributed on each opposite side of the two columns; the motion component located on the second side includes two columns, and at least one first bearing component is distributed on each opposite side of the two columns.

14. The workstation according to claim 2 or 4, characterized in that: At least one of the container storage units is configured to accommodate a container, and 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; the first carrying component is configured to receive the container on the movable carrier directly pushed out by the first pushing component from the second side.

15. The workstation according to claim 2 or 4, characterized in that: At least one of the container storage units 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 container accommodated in the first storage position is recorded as the first container, and the container accommodated in the second storage position is recorded as the second container; The first pushing component is configured to push the first container on the movable carrier from the first side to the second side along the Z-axis direction so as to push the second container out from the second side through the movement of the first container; the first carrying component is configured to receive the second container pushed out from the second side.

16. The workstation according to claim 2 or 4, characterized in that: At least one of the container storage units is provided with at least three storage positions along the Z-axis direction, including a first storage position adjacent to the first side, at least one second storage position located in the middle region, and a third storage position adjacent to the second side; a container accommodated in the first storage position is denoted as a first container, a container accommodated in at least one of the second storage positions is denoted as a second container, and a container accommodated in the third storage position is denoted as a third container; The first pushing component is configured to push the first container on the movable carrier from the first side to the second side along the Z-axis direction, so as to push the second container through the first container, and to push the third container out from the second side through the movement of the second container; the first carrying component is configured to receive the pushed-out third container from the second side.

17. The workstation according to claim 15, wherein: The first pushing component 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 number of containers in the container storage unit located between the target container and the first pushing component, so as to directly or indirectly push the target container out.

18. The workstation according to claim 16, wherein: The first carrying assembly is configured to transfer the received third container to a conveying line or a buffer position; The first pushing component is configured to push the first container on the movable carrier from the first side to the second side along the Z-axis direction, so as to push the second container located at the third storage position out from the second side through the movement of the first container; the first carrying component is configured to receive the pushed-out second container from the second side.

19. The workstation according to claim 1, wherein: The motion assembly located on the second side is 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 located on the first 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 first carrying component.

20. The workstation according to claim 2 or 4, characterized in that: The second pushing assembly is further configured to push the container on the first carrying assembly into 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.

21. The workstation according to claim 2 or 4, characterized in that: The second pushing assembly is further configured to push the container on the first carrying assembly into a corresponding container storage unit of the movable carrier, and to push another container in the container storage unit out from the first side through the movement of the container.

22. The workstation according to claim 21, characterized in that: The container loading and unloading mechanism further includes a second carrying assembly, which is located at the first side; the second carrying assembly is configured to receive, from the first side, the container on the movable carrier pushed out by the second pushing assembly.

23. The workstation according to claim 21, wherein: The first pushing assembly and the second bearing assembly located on the first side are configured to move independently of each other; and / or the second pushing assembly and the first bearing assembly located on the second side are configured to move independently of each other.

24. The workstation according to claim 21, wherein: The motion component located on the first side is configured to drive the first pushing component and the second carrying component to move synchronously to the target position; and / or, the motion component located on the second side is configured to drive the second pushing component and the first carrying component to move synchronously to the target position.

25. The workstation according to claim 24, characterized in that: The second carrying assembly includes a base, the base being provided with a carrying position for accommodating a container; the first pushing assembly includes a pushing portion, the pushing portion being configured to push the container on the movable carrier from the first side toward the second side along the Z-axis direction; and / or, The first carrying assembly includes a base, on which a carrying position for accommodating a container is provided; the second pushing assembly includes a pushing portion, which is configured to push the container on the movable carrier from the second side to the first side along the Z-axis direction.

26. The workstation according to claim 25, characterized in that: The bearing position and pushing portion on the base are spaced apart in the height direction and are constructed to correspond to two adjacent rows of container storage units in the same column on the movable carrier; the pushing portion is constructed to push the container in the container storage unit corresponding to it, and the bearing position is used to receive the container pushed out from the container storage unit corresponding to it.

27. The workstation according to claim 22, wherein: The workstation also includes a conveyor line and / or a cache position, which are arranged on the second side; the workstation also includes an operating station located on the second side, and the container is configured to be transferred from the conveyor line and / or the cache position to the operating station, or from the operating station to the conveyor line and / or the cache position.

28. The workstation according to claim 27, characterized in that: The workstation further includes a conveying device extending from the first side to the second side; the motion assembly is configured to drive the second carrying assembly to a position corresponding to the conveying device to transfer the container on the second carrying assembly to the conveying device; or transferring the container on the conveying device to the second carrying assembly; The conveying device is configured to transport the container from the first side to the second side to transfer the container to a conveying line, a buffer position or an operating station located on the second side, or to transport the container from the conveying line, the buffer position or the operating station located on the second side to the first side.

29. The workstation according to claim 28, characterized in that: The conveying device is located above the parking position of the movable carrier, and the moving component is constructed to drive the first carrying component and / or the second carrying component to move to a position corresponding to the conveying device to transfer the container located on the conveying device to the first carrying component and / or the second carrying component; or to transfer the container located on the first carrying component and / or the second carrying component to the conveying device.

30. The workstation according to claim 28, wherein: The movable carrier parking position has a first end and a second end, wherein the first end and the second end are respectively located at two opposite ends of the movable carrier parking position; The conveying device is a telescopic conveyor line, which is arranged at the first end and / or the second end; and is configured to be controlled by a driving device to expand from the first side to the second side; or retract to the first side or the second side to avoid the entry path and / or exit path of the movable vehicle parking position.

31. The workstation according to claim 30, characterized in that: The movable carrier is configured to enter from the first end and exit from the second end.

32. The workstation according to claim 28, wherein: The movable carrier parking position has a first end and a second end, and the first end and the second end are respectively located at two opposite ends of the movable carrier parking position; the movable carrier is configured to enter from the first end and leave from the first end.

33. The workstation according to claim 32, characterized in that: The conveying device is a fixed conveying line arranged at the second end.

34. 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.

35. 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.

36. 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 35; The server is configured to send a transport instruction to the automatic transport device and a shelf removal 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 their respective target positions based on the unloading operation instruction; 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 based on the unloading operation instruction, so as to push the container on the movable carrier from the second side to the first carrying component for receiving.

37. A container loading and unloading method, characterized in that: Applied to the container handling system of claim 36, the method comprises: The server sends a transport instruction to the automatic transport equipment and a destocking instruction 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 their respective target positions based on the unloading operation instruction; Based on the unloading operation instruction, the first pushing component pushes 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 from the second side to the first carrying component for receiving.

38. The method according to claim 37, wherein The delisting operation instruction includes the location information of the target location; The step of the motion component in the workstation driving the first pushing component and the first carrying component to move to their respective target positions based on the unloading operation instruction includes: 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 their respective target positions based on the position information.

39. The method according to claim 38, characterized in that In the process in which the motion component pre-drives the first pushing component and the first bearing component to move to their respective target positions based on the position information, the method further includes: 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 their respective target positions based on the cancellation instruction, or drives the first pushing component and the first bearing component to reset.

40. The method according to any one of claims 37 to 39, characterized in that The method further comprises: The server sends a shelving operation instruction to the workstation according to the first position information of the container to be shelved; The motion component drives the first pushing component to move to a target position corresponding to the first position information based on the shelving operation instruction; The first pushing component pushes the container to be shelved onto the movable carrier based on the shelving operation instruction.

41. The method according to claim 40, characterized in that After the first pushing component pushes the container to be put on the shelf onto the movable carrier based on the putting 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.

42. The method according to claim 37, wherein The step of the server sending a delisting operation instruction to the workstation includes: The server sends a de-shelfing operation instruction to the workstation according to the second position information of the container to be de-shelved; The step of the motion component in the workstation driving the first pushing component and the first carrying component to move to their respective target positions based on the unloading operation instruction includes: The motion component drives the first pushing component and the first carrying component to move to the target position corresponding to the second position information based on the unloading operation instruction.

43. The method according to claim 37 or 42, characterized in that The step of the first pushing component pushing the container on the movable carrier from the first side to the second side along the Z-axis direction based on the unloading operation instruction includes: The first pushing assembly pushes the container on the movable carrier from the first side toward the second side along the Z-axis based on the unloading operation instruction, so as to directly push the container on the movable carrier from the second side to the first carrying assembly for receiving; or, The first pushing assembly pushes the first container on the movable carrier from the first side to the second side along the Z-axis direction based on the unloading operation instruction, so as to push the second container from the second side to the first carrying assembly for receiving through the movement of the first container, wherein the first container and the second container are two containers stored adjacent to each other along the Z-axis direction in a container storage unit that is connected in the Z-axis direction; or, Based on the unloading operation instruction, the first pushing component pushes the first container on the movable carrier from the first side to the second side along the Z-axis direction, so as to push the second container through the first container, and push the third container from the second side to the first carrying component for receiving through the movement of the second container, wherein the first container, the second container and the third container are multiple containers stored adjacent to each other along the Z-axis direction in a container storage unit that passes through the Z-axis direction.

44. The method according to claim 43, wherein The method further comprises: The server obtains the location information of the container after it moves, and updates and records the location information.

45. The method according to any one of claims 37 to 39, characterized in that The method further comprises: When determining that a movable carrier passes through the movable carrier parking position, the server sends a retraction instruction to the telescopic conveyor line to retract the telescopic conveyor line to the first side or the second side to avoid an entry path and / or an exit path of the movable carrier parking position; or, When determining that no movable carrier passes through the movable carrier parking position, the server sends an expansion instruction to the telescopic conveyor line to expand the telescopic conveyor line to extend from the first side to the second side.

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