CN217576690U

CN217576690U - Workstation, container handling system

Info

Publication number: CN217576690U
Application number: CN202220257875.XU
Authority: CN
Inventors: 李洪波; 谢良
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2022-02-08
Filing date: 2022-02-08
Publication date: 2022-10-14
Anticipated expiration: 2032-02-08

Abstract

The present disclosure provides a workstation, a container handling system, the workstation including a mobile carrier docking station and a container handling mechanism. The container loading and unloading mechanism at least comprises a first pushing assembly and a moving assembly, wherein the first pushing assembly and the moving assembly are respectively positioned on a first side of the mobile carrier berth, the moving assembly drives the first pushing assembly, the first bearing assembly is positioned on a second side of the mobile carrier berth, and the moving assembly drives the first bearing assembly. The moving assembly respectively drives the first pushing assembly and the first bearing assembly to move to respective target positions; the first pushing assembly pushes the container on the movable carrier from the first side to the second side along the Z-axis direction, and the first bearing assembly receives the container pushed out by the first pushing assembly on the movable carrier from the second side. The first pushing assembly can automatically push the container on the movable carrier out to the first bearing assembly for carrying, and the loading and unloading efficiency of the container is improved.

Description

Workstation, container handling system

Technical Field

The disclosure relates to the technical field of warehousing, in particular to a workstation and container loading and unloading system.

Background

In recent years, with the rapid development of electronic commerce, the number of orders of users increases in geometric multiples, a warehouse needs to store a large number of articles, and how to sort the articles becomes a key for improving the warehousing efficiency.

In current warehouse management, different types of articles are packaged into different containers, then each container is placed on a movable carrier, the movable carrier is transported to a designated position, a worker at the designated position takes out the container from the movable carrier, and then the articles in the container are picked. It can be seen that the sorting process is complex and inefficient.

SUMMERY OF THE UTILITY MODEL

In view of this, the disclosed embodiments provide a workstation to solve the technical defects in the prior art. The disclosed embodiments also provide a container handling system.

According to a first aspect of embodiments of the present disclosure, there is provided a workstation comprising a mobile vehicle dock, a container handling mechanism;

the mobile vehicle docking station is configured for docking a mobile vehicle; the two opposite sides of the parking position of the movable carrier are respectively marked as a first side and a second side;

the container loading and unloading mechanism at least comprises a first pushing assembly and a moving assembly which drive the first pushing assembly, a first bearing assembly and a moving assembly which drive the first bearing assembly, wherein the first pushing assembly and the moving assembly are respectively positioned on the first side;

the moving assembly is configured to drive the first pushing assembly and the first bearing assembly to move to respective target positions;

the first pushing assembly is configured for pushing the container on the mobile carrier from the first side to the second side in a Z-axis direction so as to push the container on the mobile carrier out from the second side;

the first carrier assembly is configured to receive a container on the mobile carrier pushed out by the first pusher assembly from the second side.

In one embodiment of the present disclosure, the mobile carrier is provided with at least two rows of container storage units on a plane on which an X axis and a Y axis are located, at least one of the container storage units is configured to penetrate in a Z-axis direction and is configured to accommodate at least one container in the Z-axis direction.

In one embodiment of the present disclosure, the motion assembly includes a Y-axis motion assembly that moves in a vertical Y-axis direction; the Y-axis motion assemblies respectively located on the first side and the second side are configured to respectively drive the first pushing assembly and the first carrying assembly to move along a vertical direction to a position of a target row on the movable carrier on the respective sides.

In one embodiment of the present disclosure, the mobile carrier is provided with at least two rows of container storage units on a plane on which an X axis and a Y axis are located, at least one of the container storage units is configured to penetrate in a Z axis direction and is configured to accommodate at least one container in the Z axis direction.

In one embodiment of the present disclosure, at least two first pushing assemblies are provided, and at least two first pushing assemblies are arranged at intervals on the first side along the extending direction of the mobile vehicle parking lot and correspond to different rows on the mobile vehicle one to one;

and/or the presence of a gas in the gas,

the first bearing assemblies are arranged at least two, and the at least two first bearing assemblies are arranged on the second side at intervals along the extending direction of the parking positions of the movable carriers and correspond to different rows on the movable carriers one to one.

In one embodiment of the present disclosure, the motion assembly includes an X-axis motion assembly that moves in a direction of extension of the mobile vehicle dock; the X-axis motion assemblies respectively located on the first side and the second side are configured to respectively drive the first pushing assembly and the first carrying assembly to move on the respective sides along the extending direction of the mobile carrier dock to the position of the target row on the mobile carrier.

In one embodiment of the present disclosure, the movable carrier is configured to move in the X-axis direction under the driving of the automatic handling equipment, so that the movable carrier moves to make its target row correspond to the first pushing assembly and the first carrying assembly.

In one embodiment of the present disclosure, the mobile carrier further comprises a first sensor unit for determining a first attitude offset between the first pushing assembly and a container on the mobile carrier.

In an embodiment of the present disclosure, the moving component is further configured to adjust the pose of the first pushing component according to the first attitude deviation determined by the first sensor unit, so as to eliminate the first attitude deviation.

In one embodiment of the present disclosure, the mobile carrier further comprises a second sensor unit for determining a second attitude deviation between the first carrier assembly and a container on the mobile carrier.

In an embodiment of the present disclosure, the moving assembly is further configured to adjust the pose of the first bearing assembly according to the second attitude deviation determined by the second sensor unit, so as to eliminate the second attitude deviation.

In one embodiment of the present disclosure, the moving assembly includes a sky rail and/or a ground rail, and the moving assemblies respectively located at the first side and the second side are configured to respectively drive the first pushing assembly and the first bearing assembly to move on the sky rail and/or the ground rail respectively located at the first side and the second side.

In one embodiment of the present disclosure, the moving assembly located at the first side includes two upright columns, and at least one first pushing assembly is distributed on each of opposite sides of the two upright columns; the motion assembly positioned on the second side comprises two upright posts, and at least one first bearing assembly is distributed on one side opposite to the two upright posts.

In one embodiment of the present disclosure, at least one of the container storage units is configured to receive a container, and the first pushing assembly is configured to push the container on the mobile carrier in a Z-axis direction from the first side to the second side so as to push the container on the mobile carrier out from the second side; the first carrier assembly is configured to receive a container from the second side that is pushed directly off of the mobile carrier by the first pusher assembly.

In one embodiment of the present disclosure, at least one of the container storage units is provided with a first storage bit disposed adjacent to the first side and a second storage bit disposed adjacent to the second side in the Z-axis direction; the container accommodated on the first storage position is recorded as a first container, and the container accommodated on the second storage position is recorded as a second container;

the first pushing assembly is configured to push the first container on the mobile carrier in a Z-axis direction from the first side to the second side to push the second container out of the second side by movement of the first container; the first carrier assembly is configured to receive the pushed out second container from the second side.

In one embodiment of the present disclosure, at least one of the container storage units is provided with at least three storage locations along the Z-axis direction, including a first storage location adjacent to the first side, at least one second storage location in a middle region, and a third storage location adjacent to the second side; the container accommodated on the first storage position is recorded as a first container, the container accommodated on at least one second storage position is recorded as a second container, and the container accommodated on the third storage position is recorded as a third container;

the first pushing assembly is configured to push the first container on the mobile carrier in a Z-axis direction from the first side to the second side to push the second container through the first container and push the third container out of the second side through movement of the second container; the first carrier assembly is configured to receive the third container pushed out from the second side.

In one embodiment of the present disclosure, the first pushing assembly is configured to: and pushing the target container from the first side to the second side for a corresponding distance 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 between the target container and the first pushing assembly so as to directly or indirectly push out the target container.

In one embodiment of the present disclosure, the first carrier assembly is configured to transfer the received third container onto a conveyor line or buffer location;

the first pushing assembly is configured to push the first container on the mobile carrier from the first side to the second side in a Z-axis direction to push the second container located at the third storage location out of the second side by movement of the first container; the first carrier assembly is configured to receive the pushed out second container from the second side.

In one embodiment of the present disclosure, the moving assembly on the second side is configured to drive the first carrier assembly to move to a position corresponding to a conveyor line or buffer location to transfer containers located on the first carrier assembly onto the conveyor line or buffer location; or to transfer containers located on the conveyor line or buffer location to the first carrier assembly.

In one embodiment of the present disclosure, the container handling mechanism further comprises a second pushing assembly located on the second side; the second pushing assembly is configured to push the container on the first carrier assembly to at least one of a mobile carrier, a conveyor line, a buffer location;

alternatively, the first and second electrodes may be,

the second pushing assembly is configured for pushing the container on the mobile carrier in a Z-axis direction from the second side toward the first side so as to push the container on the mobile carrier out of the first side.

In one embodiment of the present disclosure, the container handling mechanism further comprises a second pushing assembly configured to push a container on the first carrier assembly into a corresponding container storage unit on a mobile carrier and to move another container in the container storage unit from an original storage position to an adjacent storage position for storage by movement of the container.

In one embodiment of the present disclosure, the container handling mechanism further comprises a second pushing assembly configured to push a container on the first carrier assembly into a corresponding container storage unit of the mobile carrier and push another container in the container storage unit out of the first side by movement of the container.

In one embodiment of the present disclosure, the container handling mechanism further comprises a second carrier assembly, the second carrier assembly located on the first side; the second carrier assembly is configured to receive a container from the first side that is pushed out of the mobile carrier by the second pusher assembly.

In one embodiment of the present disclosure, the first and second carriage assemblies on the first side are configured to move independently of each other; and/or the second pushing assembly and the first bearing assembly positioned on the second side are configured to move independently.

In one embodiment of the present disclosure, the moving assembly at the first side is configured to drive the first pushing assembly and the second carrying assembly to move synchronously to a target position; and/or the moving assembly positioned on the second side is configured to drive the second pushing assembly and the first bearing assembly to synchronously move to the target position.

In one embodiment of the present disclosure, the second bearing assembly includes a base, on which a bearing position for accommodating a container is disposed; the first pushing assembly comprises a pushing portion configured to push out a container on a mobile carrier from the first side to the second side in a Z-axis direction;

and/or the presence of a gas in the gas,

the first bearing assembly comprises a base, and a bearing position for accommodating a container is arranged on the base; the second pushing assembly includes a pushing portion configured to push out a container on the mobile carrier from the second side toward the first side in a Z-axis direction.

In one embodiment of the present disclosure, the carrying positions and the pushing portions on the base are spaced apart in the height direction and are configured to correspond to two adjacent rows of container storage units on the same row on the mobile carrier respectively; the pushing part is configured to push the container in the container storage unit corresponding to the pushing part, and the bearing position is used for bearing the container pushed out from the container storage unit corresponding to the pushing part.

In one embodiment of the present disclosure, the workstation further comprises a transport line and/or a buffer location, the transport line and/or buffer location being disposed at the second side; the workstation further comprises an operating station located at the second side, the containers being configured to be transferred from the conveyor line and/or buffer station to the operating station, or from the operating station to the conveyor line and/or buffer station.

In one embodiment of the present disclosure, the workstation further comprises a conveyor extending from the first side to the second side; the moving assembly is configured to drive the second bearing assembly to move to a position corresponding to the conveying device so as to transfer the container on the second bearing assembly to the conveying device; or transferring the container on the conveyor to the second carrier assembly;

the transfer device is configured for transferring containers from the first side to the second side, for transferring containers to or from a conveyor line, buffer station or operating station located at the second side.

In one embodiment of the present disclosure, the conveyor is located above the mobile vehicle docking station, and the movement assembly is configured to drive the first and/or second carrier assemblies to move to a position corresponding to the conveyor to transfer containers located on the conveyor onto the first and/or second carrier assemblies; or transferring the container on the first carrier assembly and/or the second carrier assembly to the conveying device.

In one embodiment of the present disclosure, the mobile vehicle dock has a first end and a second end, the first end and the second end being located at opposite ends of the mobile vehicle dock, respectively;

the conveying device is a telescopic conveying line which is arranged at the first end and/or the second end; and configured to be deployed by a drive device to extend from the first side to the second side; or to retract to the first side or the second side to avoid an entry path and/or an exit path of the mobile vehicle dock.

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

In one embodiment of the present disclosure, the mobile vehicle dock has a first end and a second end, the first end and the second end being located at opposite ends of the mobile vehicle dock, respectively; the mobile carrier is configured to enter from the first end and exit from the first end.

In one embodiment of the present disclosure, the conveyor is a stationary conveyor line disposed at the second end.

In one embodiment of the present disclosure, a visual detection device is further included, the visual detection device being configured for detecting the type and/or quantity of the items in the container.

In one embodiment of the present disclosure, the mobile vehicle docking station further comprises a positioning mechanism disposed in the mobile vehicle docking station and configured to position and/or limit the position of the mobile vehicle located in the mobile vehicle docking station.

According to a second aspect of the present disclosure, there is provided a container handling system comprising a server, at least one automated handling apparatus and at least one workstation as described above;

the server is configured to send a conveying instruction to the automatic conveying equipment and send a shelf unloading operation instruction to the work station;

the automated handling apparatus configured to handle a mobile vehicle based on the handling instructions and to handle the mobile vehicle into the mobile vehicle docking station;

the moving assembly in the workstation is configured to respectively drive the first pushing assembly and the first bearing assembly to move to respective target positions based on the undercarriage operation instruction;

the first pushing assembly is configured to push the container on the mobile carrier from the first side to the second side along the Z-axis direction based on the racking operation command so as to push the container on the mobile carrier out from the second side to the first bearing assembly for receiving.

The present embodiments provide a workstation, container handling system, the workstation including a mobile carrier dock and a container handling mechanism. Wherein the mobile vehicle docking station is configured for docking the mobile vehicle; the two opposite sides of the parking space of the movable carrier are respectively marked as a first side and a second side. The container loading and unloading mechanism at least comprises a first pushing assembly and a moving assembly, wherein the first pushing assembly and the moving assembly drive the first pushing assembly respectively, a first bearing assembly and a moving assembly drive the first bearing assembly respectively. The moving assembly is configured to drive the first pushing assembly and the first bearing assembly to move to respective target positions; the first pushing assembly is configured for pushing the container on the mobile carrier from the first side to the second side along the Z-axis direction so as to push the container on the mobile carrier out from the second side; the first carrier assembly is configured to receive from the second side a container on the mobile carrier pushed out by the first pusher assembly. The container on the movable carrier can be automatically pushed out to the first bearing component for bearing through the first pushing component of the container loading and unloading mechanism in the workstation, the process of taking out the container in the embodiment does not need manual participation, the time of taking out the container is shortened, and the loading and unloading efficiency is improved.

Drawings

FIG. 1 is a schematic diagram of a workstation according to an embodiment of the present disclosure;

FIG. 2 is a schematic block diagram of a container handling system according to an embodiment of the present disclosure;

FIG. 3 is a schematic block diagram of another workstation provided by an embodiment of the present disclosure;

FIG. 4 is a schematic structural view illustrating a first carrier assembly and a second pusher assembly coupled together in a workstation according to an embodiment of the present disclosure;

FIG. 5 is a schematic block diagram of another workstation provided by an embodiment of the present disclosure;

FIG. 6 is a schematic block diagram of another container handling system provided in accordance with an embodiment of the present disclosure;

fig. 7 is a flow chart of a container handling method according to an embodiment of the disclosure.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. This disclosure may be embodied in many different forms than described herein, and those skilled in the art will appreciate that the present disclosure is not limited to the specific embodiments disclosed below.

The terminology used in the one or more embodiments of the disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of the disclosure. As used in one or more embodiments of the present disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present disclosure refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It will be understood that, although the terms first, second, etc. may be used herein to describe various information in one or more embodiments of the present disclosure, such information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first can also be referred to as a second and, similarly, a second can also be referred to as a first without departing from the scope of one or more embodiments of the present disclosure. The word "if," as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination," depending on the context.

First, the noun terms to which one or more embodiments of the present disclosure relate are explained.

The movable carrier: the object is carried by an automatic carrying device, and one or more container storage units are arranged on a movable carrier and used for placing containers.

A container: also commonly referred to as a bin or a container, is a solid body for holding goods, materials and the like, and includes plastic boxes, cartons, plastic baskets and the like, and also includes the packing boxes, packing cases and the like of the goods themselves.

Storage bit: the position on the mobile carrier for storing containers may also be empty, i.e. not storing containers.

Automatic handling equipment: an automated apparatus capable of handling mobile carriers.

A workstation, a container handling system, and a container handling method are provided in the present disclosure and are described in detail in the examples below.

Fig. 1 shows a schematic structural diagram of a workstation including a mobile vehicle dock 3 and a container handling mechanism according to an embodiment of the present disclosure.

Wherein the mobile vehicle docking station 3 is configured for docking a mobile vehicle; the two opposite sides of the mobile carrier parking space 3 are respectively marked as a first side and a second side;

the container loading and unloading mechanism at least comprises a first pushing assembly 5 and a moving assembly for driving the first pushing assembly 5, a first bearing assembly 4 and a moving assembly for driving the first bearing assembly 4, which are respectively positioned on a first side;

the moving assembly is configured to drive the first pushing assembly 5 and the first carrying assembly 4 to move to respective target positions;

the first pushing assembly 5 is configured for pushing the container on the mobile carrier from the first side to the second side in the Z-axis direction so as to push the container on the mobile carrier out from the second side;

the first carrier assembly 4 is configured to receive from the second side a container on the mobile carrier that is pushed out by the first pusher assembly 5.

The workstation of this embodiment may be a warehousing workstation, and may also be a workstation used for transferring workpieces in a factory scene, which is not specifically limited herein.

The mobile vehicle docking station 3 can be accessed by a mobile vehicle and docked, as shown in fig. 1, the mobile vehicle docking station 3 can include two opposing sides, a first side provided with a first pushing assembly 5 and a second side provided with a first carrying assembly 4.

The first pushing assembly 5 can provide a function of pushing the container, and may be a pushing rod, a pushing block, a pushing disk, or the like. The number of the first pushing assemblies 5 can be one or more, the first pushing assemblies 5 are arranged to be movable, and the first pushing assemblies 5 can be driven by the moving assemblies to move to the target positions. When the first pushing assembly 5 is moved to the proper position, the container placed at the target position on the movable carrier can be pushed out.

The first bearing component 4 can provide the function of bearing the container, and like the first pushing component 5, the number of the first bearing components 4 can also be set to be one or more, and the first bearing components 4 can also be set to be movable, and the first bearing components 4 can be driven by the moving component to move to the target position. The container on the mobile carrier is pushed from the first side to the second side by the first pushing assembly 5, and the container is pushed out from the second side by the interaction force and is received by the first carrying assembly 4 from the second side by the first pushing assembly 5.

In order to realize the function of automatically loading and unloading the container, the workstation according to the embodiment of the present disclosure may further be provided with a control mechanism (the control mechanism may be a control chip integrated in the workstation, or may be a server independent from the workstation), the control mechanism is configured to issue an instruction to the moving assembly and the first pushing assembly 5, after receiving the instruction, the moving assembly may drive the first pushing assembly 5 and the first bearing assembly 4 to move according to the instruction, and after receiving the instruction, the first pushing assembly 5 may start to push the container according to the instruction.

With the disclosed embodiment, the workstation includes a mobile vehicle dock 3 and a container handling mechanism. Wherein the mobile vehicle docking station 3 is configured for docking a mobile vehicle; the two opposite sides of the mobile vehicle docking station 3 are respectively marked as a first side and a second side. The container loading and unloading mechanism at least comprises a first pushing assembly 5 and a moving assembly for driving the first pushing assembly 5, a first bearing assembly 4 and a moving assembly for driving the first bearing assembly 4, wherein the first pushing assembly 5 and the moving assembly are respectively positioned on a first side. The moving assembly is configured to drive the first pushing assembly 5 and the first bearing assembly 4 to move to respective target positions; the first pushing assembly 5 is configured for pushing the containers on the mobile carrier from the first side to the second side in the Z-axis direction so as to push the containers on the mobile carrier out from the second side; the first carrier assembly 4 is configured to receive from the second side a container on the mobile carrier that is pushed out by the first pusher assembly 5. The containers on the movable carrier can be automatically pushed out to the first bearing component 4 for bearing through the first pushing component 5 of the container loading and unloading mechanism in the workstation, and therefore, the process of taking out the containers in the embodiment does not need manual participation, the time for taking out the containers is shortened, and the container loading and unloading efficiency is improved.

In a practical application scenario, as shown in fig. 2, fig. 2 is a schematic structural diagram of a container loading and unloading system according to an embodiment of the present disclosure.

The movable vehicle 6 is carried into the movable vehicle parking space 3 by the automatic carrying equipment, and the movable vehicle parking space 3 is used for the movable vehicle 6 to enter and park. In order to ensure that the mobile vehicle 6 can completely enter the mobile vehicle parking space 3, the width of the two sides of the mobile vehicle parking space 3 is larger than that of the mobile vehicle 6. In order to ensure the stable structure of the workstation and to shield dust and falling objects, a cover plate can be arranged above the mobile carrier parking position 3.

A plurality of containers 60 are typically placed on mobile carrier 6, each container 60 being intended to hold the same or different items. However, if the first pushing assembly 5 and the first carrying assembly 4 are respectively arranged for all the storage positions on the mobile carrier 6, the structure of the workstation is too complex. Therefore, in order to simplify the structure of the workstation, the embodiment of the present disclosure provides that the first pushing assembly 5 and the first carrying assembly 4 are movable, and in particular, the first pushing assembly 5 and the first carrying assembly 4 are driven by the moving assembly to move.

In one implementation of the disclosed embodiment, the mobile carrier 6 is provided with at least two rows of container storage units on the plane of the X-axis and the Y-axis, at least one container storage unit is configured to penetrate in the Z-axis direction and configured to accommodate at least one container 60 in the Z-axis direction.

In practical applications, in order to improve the efficiency of container transportation and increase the utilization rate of the movable carrier 6, the movable carrier 6 may be provided with at least two rows of container storage units on the plane of the X axis and the Y axis, and at least one container storage unit is configured to penetrate in the Z axis direction, that is, such a penetrating structure may enable the first pushing assembly 5 to push the container 60 directly from the first side to the second side. Also, the container storage unit is configured to accommodate at least one container 60 in the Z-axis direction.

In embodiments where the mobile carrier 6 is provided with at least two rows of container storage units in the plane of the X-axis and Y-axis, the motion assembly may comprise a Y-axis motion assembly that moves in a vertical Y-axis direction; the Y-axis motion assemblies on the first and second sides, respectively, are configured to drive the first pushing assembly 5, the first carriage assembly 4, respectively, to move in a vertical direction to a position of a target row on the mobile carrier 6 on the respective side.

Since the container storage units are arranged in rows, when there is a need to load and unload the containers 60, the motion assembly is required to drive the first pushing assembly 5 and the first carrying assembly 4 to move to the corresponding rows, and therefore, the motion assembly may include a Y-axis motion assembly moving along a vertical Y-axis direction, and the Y-axis motion assembly may drive the first pushing assembly 5 and the first carrying assembly 4 to move to a position of a target row on the movable carrier 6 along the vertical direction on the respective sides.

In another implementation of the disclosed embodiment, the mobile carrier 6 is provided with at least two rows of container storage units on the plane of the X-axis and the Y-axis, at least one container storage unit is configured to penetrate in the Z-axis direction and is configured to accommodate at least one container 60 in the Z-axis direction.

In practical applications, in order to improve the efficiency of transporting the containers 60 and the utilization rate of the mobile carrier 6, the mobile carrier 6 may be provided with at least two rows of container storage units on the plane of the X-axis and the Y-axis, and at least one of the container storage units is configured to penetrate in the Z-axis direction, that is, such a penetrating structure may enable the first pushing assembly 5 to push the containers 60 directly from the first side to the second side. Also, the container storage unit is configured to accommodate at least one container 60 in the Z-axis direction.

In embodiments where the mobile carrier 6 is provided with at least two rows of container storage units in the plane of the X-axis and Y-axis, the motion assembly may comprise an X-axis motion assembly that moves in the direction of extension of the mobile carrier dock 3; the X-axis motion assemblies on the first and second sides, respectively, are configured to drive the first pushing assembly 5, the first carrier assembly 4, respectively, to move on the respective side along the direction of extension of the mobile carrier dock 3 to the position of the target column on the mobile carrier 6.

Since the container storage units are arranged in rows, when the containers 60 are required to be loaded or unloaded, the motion assemblies are required to drive the first pushing assemblies 5 and the first carrying assemblies 4 to move to the corresponding rows, so the motion assemblies can include X-axis motion assemblies moving along the extending direction of the mobile vehicle parking spaces 3, and the X-axis motion assemblies can drive the first pushing assemblies 5 and the first carrying assemblies 4 to move to the positions of the target rows on the mobile vehicles 6 along the extending direction of the mobile vehicle parking spaces 3 on the respective sides.

In the embodiment where the mobile carrier 6 has at least two rows of container storage units on the plane of the X-axis and the Y-axis, the number of the first pushing assemblies 5 is at least two, and at least two of the first pushing assemblies 5 are arranged at intervals on the first side along the extending direction of the mobile carrier docking station 3 and correspond to different rows on the mobile carrier 6 one to one;

and/or the presence of a gas in the gas,

the first carrying assemblies 4 are provided with at least two, and the at least two first carrying assemblies 4 are arranged at intervals on the second side along the extending direction of the mobile carrier parking space 3 and correspond to different rows on the mobile carrier 6 one by one.

In one embodiment of the present disclosure, the mobile carrier 6 is provided with at least two rows and at least two columns of container storage units on the plane of the X-axis and the Y-axis. In this embodiment, the moving assembly can move the first pushing assembly 5 and the first carrying assembly 4 to the respective target positions by corresponding driving.

As shown in fig. 1 and 2, at least two first pushing assemblies 5 (only an example, not a specific number) may be provided, the first pushing assemblies 5 are arranged at intervals along the extending direction of the mobile vehicle docking station 3 on the first side, and each first pushing assembly 5 corresponds to a corresponding row of the mobile vehicles 6. A first pusher assembly 5 can push a row of containers 60 for precise loading and unloading of a plurality of containers 60 on mobile carrier 6. Each first pushing assembly 5 can be independently controlled, that is, each row of containers 60 can be pushed simultaneously, so as to load and unload a plurality of containers 60 simultaneously.

Similarly, at least two first bearing assemblies 4 (only an example, not a specific number) may be provided, the first bearing assemblies 4 are arranged at intervals along the extending direction of the mobile carrier dock 3 on the second side, and each first bearing assembly 4 corresponds to a different row of the mobile carriers 6. A row of containers 60 can be received by a single first carrier assembly 4 for accurate loading and unloading of a plurality of containers 60 on a mobile carrier 6.

In one embodiment of the present disclosure, the mobile carrier 6 is provided with at least two rows and at least two columns of container storage units on the plane of the X-axis and the Y-axis. In this embodiment, the moving assembly may include an X-axis moving assembly and a Y-axis moving assembly, and the first pushing assembly 5 and the first carrying assembly 4 may be moved to the target positions corresponding to the corresponding container storage units on the mobile carrier 6 by the cooperative movement of the X-axis moving assembly and the Y-axis moving assembly.

In yet another implementation manner of the embodiment of the present disclosure, the movable carrier 6 is configured to move in the X-axis direction under the driving of the automatic handling apparatus, so that the movable carrier 6 moves to make its target row correspond to the first pushing assembly 5 and the first carrying assembly 4.

Since the movable carrier 6 is moved in the X-axis direction by the automatic carrying apparatus, the position of the movable carrier 6 in the X-axis direction is finely adjusted during the process of carrying the movable carrier 6, so that the target row of the movable carrier 6 can correspond to the first pushing assembly 5 and the first carrying assembly 4. In this embodiment, the first pushing assembly 5 and the first carrying assembly 4 may be disposed one by one and fixed in position. When different rows of the mobile carrier 6 are required to correspond to the first pushing assembly 5 and the first carrying assembly 4, the automatic handling equipment can be controlled to drive the mobile carrier 6 to move a corresponding distance in the X-axis direction until the target row on the mobile carrier 6 corresponds to the first pushing assembly 5 and the first carrying assembly 4, that is, the first pushing assembly 5 can push the containers 60 on the target row, and the first carrying assembly 4 can receive the containers 60 pushed out from the target row.

The container storage unit may be configured to accommodate one container 60, two containers 60, or more containers 60, and the first pushing assembly 5 pushes the containers 60 differently for different situations, which will be described separately below.

In the above description, the movable carrier 6 has different rows or different columns, and in the practical application, a plurality of container storage units are disposed on the movable carrier 6 in different rows and different columns, and in the embodiment shown in fig. 1, a total of twelve container storage units are disposed on the movable carrier 6 in three rows and four columns. Of course, it will be apparent to those skilled in the art that the mobile carrier 6 may be provided with more or less container storage units according to the actual needs and carrying capacity.

With reference to the embodiment shown in fig. 1, when the movable carrier 6 has container storage units in different rows and different columns, the first pushing assembly 5 and the first carrying assembly 4 need to be driven to move in the X-axis direction or the Y-axis direction according to the number of the first pushing assembly 5 and the first carrying assembly 4, so that the first pushing assembly 5 and the first carrying assembly 4 can correspond to the container storage units in the target row and the target. That is, it is necessary to combine the above-described X-axis motion unit and Y-axis motion unit. Of course, the structure for realizing the movement of the first pushing assembly 5 and the first carrying assembly 4 in the X-axis and Y-axis directions is various for those skilled in the art, and will not be described in detail herein.

In the first case: at least one container storage unit is configured to receive one container 60.

In this case, the first pushing assembly 5 is configured to push the container 60 on the mobile carrier 6 from the first side to the second side in the Z-axis direction so as to push the container 60 on the mobile carrier 6 out from the second side; the first carrier assembly 4 is configured to receive from the second side the container 60 on the mobile carrier 6 pushed directly out by the first pusher assembly 5.

Since the container storage unit only accommodates one container 60, the container 60 is not blocked by other containers 60 in the Z-axis direction, and therefore, the first pushing member 5 can directly push the container 60 from the first side to the second side in the Z-axis direction, and can directly push the container from the second side, so that the first carrying member 4 can directly receive the container 60 from the second side.

In the second case: 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 60 received in the first storage position is designated as a first container and the container received in the second storage position is designated as a second container. That is, the container storage unit stores two containers 60 in the Z-axis direction.

In this case, the first pushing assembly 5 is configured to push the first container on the mobile carrier 6 from the first side to the second side in the Z-axis direction to push the second container out from the second side by the movement of the first container; the first carrier assembly 4 is configured for receiving the pushed-out second container from the second side.

Since 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 to move toward the second side, that is, the first pushing assembly 5 pushes the second container out from the second side in the process of pushing the first container. Specifically, the first pushing assembly 5 pushes the first container from the first side to the second side in the Z-axis direction, and the second container can be pushed out from the second side by the movement of the first container, so that the first carrier assembly 4 can receive the second container from the second side.

In one implementation of the disclosed embodiment, the first pushing assembly 5 is configured to: and pushing the target container from the first side to the second side for a corresponding distance 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 between the target container and the first pushing assembly so as to directly or indirectly push the target container out.

In the case where the container storage unit is provided with the first storage site arranged adjacent to the first side and the second storage site arranged adjacent to the second side in the Z-axis direction, if the containers 60 are stored on both the storage sites, the first pushing assembly 5 may push the first container by a first distance (the first distance is equal to the depth of the first container) from the first side toward the second side, and by pushing the first container, the second container may be indirectly pushed out from the second side. If only one storage position is provided with the container 60, the first pushing member 5 can push the container 60 from the first side to the second side for a second distance, and the container 60 can be pushed out from the second side directly, no matter whether the container 60 is located on the first storage position adjacent to the first side or on the second storage position adjacent to the second side. The second distance is equal to a depth of the container storage unit extending in the Z-axis direction, ignoring fit clearances between the components.

In the third case: at least one container storage unit is provided with at least three storage positions along the Z-axis direction, wherein the at least three storage positions comprise 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 60 accommodated in the first storage position is designated as a first container, the container 60 accommodated in the at least one second storage position is designated as a second container, and the container 60 accommodated in the third storage position is designated as a third container. That is, the container storage unit stores at least three containers 60 in the Z-axis direction.

In this case, the first pushing assembly 5 is configured to push the first container on the mobile carrier 6 from the first side to the second side in the Z-axis direction to push the second container by the first container and push the third container out from the second side by the movement of the second container; the first carrier assembly 4 is configured for receiving the pushed-out third container from the second side.

Since 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, the second pushing assembly pushes the second container to move, and when the second container moves, the third container is pushed to the second side, that is, when the first pushing assembly 5 pushes the first container, the third container is pushed out from the second side first. Specifically, the first pushing assembly pushes the first container from the first side to the second side in the Z-axis direction, the second container is pushed by the first container, and the third container can be pushed out from the second side by the movement of the second container, so that the first carrier assembly 4 can receive the third container from the second side.

In one implementation of the disclosed embodiment, the first pushing assembly 5 is configured to: the target container is pushed out directly or indirectly by a corresponding distance from the first side to the second side depending on the depth of the container storage unit extending in the Z-axis direction and the number of containers 60 in the container storage unit between the target container and the first pushing assembly.

For the case that the container storage unit is provided with a first storage location adjacent to the first side, at least one second storage location in the middle area, and a third storage location adjacent to the second side along the Z-axis direction, taking three storage locations as an example, if all three storage locations store the container 60, the first pushing assembly 5 can push the first container from the first side to the second side for a first distance (the first distance is equal to the depth of the first container), push the first container to indirectly push the second container, and then push the second container to indirectly push the third container to push the third container from the second side. If two storage positions have containers 60 stored thereon, the first pushing assembly 5 can push the containers 60 a second distance (the second distance being equal to the depth of the two containers) from the first side to the second side, and by pushing one of the containers 60, the other container 60 can be pushed indirectly, pushing the other container 60 out of the second side. If only one storage location has a container 60 stored thereon, the first pushing assembly 5 can push the container 60 directly from the second side by a third distance (the third distance is equal to the depth of the container storage unit extending in the Z-axis direction) from the first side to the second side. Setting more storage bits is similar to the implementation of setting three storage bits, and is not described here.

In one implementation of the disclosed embodiment, the first carrier assembly 4 is configured to transfer the received third container onto a conveyor line or buffer location;

the first pushing assembly 5 is configured to push the first container on the mobile carrier 6 from the first side to the second side in the Z-axis direction to push the second container located at the third storage position out from the second side by the movement of the first container; the first carrier assembly is configured for receiving the pushed out second container from the second side.

In the third case, after receiving the third container, the first carrier assembly 4 may transfer the received third container to a transport line or buffer station, transport it to another place or transfer it to a buffer station for storage. After the first carrying assembly 4 transfers the third container, the first carrying assembly 4 is idle, and at this time, the first pushing assembly 5 may continue to push the first container on the mobile carrier 6 from the first side to the second side along the Z-axis direction, and the second container located at the third storage position may be pushed out from the second side by the movement of the first container, so that the first carrying assembly 4 may receive the pushed-out second container from the second side. Further, the first carrier assembly 4 may also transfer the second container to a conveyor line or buffer location.

In this embodiment, the selection needs to be performed according to actual situations. For example, when the first, second and third storage positions of the container storage unit are all stored with the container 60, and the target container to be shelved is the second container located between the first and third containers, the third container adjacent to the second side needs to be pushed down by the first pushing assembly 5 first, and then the second container can be shelved. Since the third container is not the target container required by the workstation, the third container can be stored in the buffer position, i.e. the third container is stored in the buffer position after being received by the first carrying assembly 5. And then receiving the second container, transferring the second container to the conveying line, and conveying the second container to the operation station through the conveying line.

In one implementation of the disclosed embodiment, the workstation may further include a first sensor unit for determining a first attitude offset between the first pushing assembly 5 and the container 60 on the mobile carrier 6.

In the process of pushing the container by the first pushing assembly 5, the first pushing assembly 5 needs to be moved to a position corresponding to a target position on the mobile carrier 6 first, and if the first pushing assembly 5 is not moved in place, it is difficult to maintain the stability of pushing the container. Therefore, in the embodiment of the present disclosure, a first sensor unit is provided, and the first sensor unit may be an infrared sensor, a position sensor, a camera, a distance sensor, or the like. By the positioning of the first sensor unit, a first positional deviation between the first pusher assembly 5 and the container 60 on the mobile carrier 6 can be determined. For example, in one embodiment of the present disclosure, the first sensor unit may be a two-dimensional camera by which a deviation of the posture of the first push assembly 5 with respect to the container 60, for example, a deviation in the X-axis direction, the Y-axis direction, the Z-axis direction, may be detected.

It will be apparent to those skilled in the art that the first sensor unit may use the container 60 as a detection reference, and may also use the corresponding position on the mobile carrier 6 as a detection reference. For example, a positioning mark may be provided at a corresponding position of the mobile carrier 6, and the first sensor unit may determine an offset amount of the first pushing assembly 5 relative to the positioning mark based on the positioning mark, which is equivalent to obtaining a posture deviation between the first pushing assembly 5 and the container 60.

It will be apparent to those skilled in the art that the first sensor unit may also be a three-dimensional camera that can be directly used to locate the position of the container 60 on the mobile carrier 6, whereby a three-dimensional deviation of the first pushing assembly 5 from the container 60 can be calculated.

In case of a first attitude deviation, the motion assembly is further configured to adjust the attitude of the first pushing assembly 5 according to the first attitude deviation determined by the first sensor unit to eliminate the first attitude deviation.

If the first position deviation exists, the moving assembly is required to adjust the position of the first pushing assembly 5 according to the first position deviation, and the first position deviation can be eliminated through adjustment, so that the first pushing assembly 5 can push the middle position of the container 60 as much as possible. For example, if a 15 ° deviation of the container 60 is determined by the first sensor unit, the motion assembly may drive the first pusher assembly 5 to also be offset by 15 °, thereby eliminating the 15 ° deviation of the container 60.

In one implementation of the disclosed embodiment, the workstation may further include a second sensor unit for determining a second attitude offset between the first carrier assembly 4 and the container 60 on the mobile carrier 6.

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 likely that the first carrying assembly 4 cannot normally receive the container 60, and in order to avoid that the container 60 cannot normally receive due to the offset of the container 60 when the first carrying assembly 4 receives the container 60, in the embodiment of the present disclosure, a second sensor unit is provided, and through the positioning of the second sensor unit, a second positional deviation between the first carrying assembly 4 and the container 60 on the movable carrier 6 can be determined. In this embodiment, the second sensor unit may use the same sensor as the first sensor unit, or may use a different sensor, and the detection principle of the second sensor unit may be the same as or different from that of the first sensor unit, and will not be described in detail herein.

And under the condition that the second position deviation exists, the motion assembly is also used for adjusting the position of the first bearing assembly 4 according to the second position deviation determined by the second sensor unit so as to eliminate the second position deviation.

If the second position deviation exists, the moving assembly is required to adjust the position of the first bearing assembly 4 according to the second position deviation, and the second position deviation can be eliminated through adjustment, so that the first bearing assembly 4 can bear the container 60 in the same direction, the first bearing assembly 4 can be slightly lower than the container storage unit, and the first bearing assembly 4 can normally bear the container 60. For example, if a 15 ° deviation of the container 60 is determined by the second sensor unit, the movement assembly can drive the first carrier assembly 4 to also shift by 15 °, so that the 15 ° deviation of the container 60 is eliminated.

In one implementation of the embodiment of the present disclosure, the motion assembly includes a sky rail and/or a ground rail, and the motion assemblies on the first side and the second side are configured to drive the first pushing assembly 5 and the first bearing assembly 4 to move on the sky rail and/or the ground rail on the respective sides.

In the embodiment of the disclosure, the motion assembly may include a sky rail and/or a ground rail, and the X-axis motion assembly in the motion assembly may be in guiding fit with the sky rail and/or the ground rail, so that the X-axis motion assembly may move along the extending direction of the sky rail and/or the ground rail.

In a specific embodiment of the present disclosure, as shown in fig. 1 and 2, the moving assembly includes a first gantry assembly 2 on a first side where the first pushing assembly 5 is disposed, at least one first upright post 20 (X-axis moving assembly) is connected to the first gantry assembly 2, the first pushing assembly 5 can move in a vertical direction along the first upright post 20, and by disposing the first gantry assembly 2 and the first upright post 20, the first pushing assembly 5 can flexibly move in the vertical direction, and the stability of the first pushing assembly 5 moving in the vertical direction is ensured.

In a specific practical application, the first upright column 20 can be guided and matched on the top rail and the bottom rail of the first mast assembly 2, the support and the guidance of the first upright column 20 can be realized through the top rail and the bottom rail, and the first upright column 20 can move in the X-axis direction under the limitation of the top rail and the bottom rail of the first mast assembly 2, so that the first upright column 20 can drive the first pushing assembly 5 to correspond to the target column on the movable carrier 6. The first pushing assembly 5 is connected to the first upright 20 through a Y-axis moving assembly, so that the first pushing assembly 5 can move along the first upright 20 in the Y-axis direction to correspond to the target row of the mobile carrier 9.

Similarly, on the second side where the first bearing assembly 4 is disposed, the moving assembly includes a second mast assembly 1, the second mast assembly 1 is connected to at least one second column 10 (X-axis moving assembly), the first bearing assembly 4 can move in the vertical direction along the second column 10, and by disposing the second mast 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 moving in the vertical direction is ensured. The structure of the first carriage assembly 4 moving within the second mast assembly 1 may correspond to the structure of the first pusher assembly 5 moving within the first mast assembly 2 and will not be described in detail herein.

In practical application, the moving assemblies on the first side and the second side are correspondingly arranged, so that the consistency of the movement of the first pushing assembly 5 and the first bearing assembly 4 can be ensured, the control is facilitated, and the accuracy of pushing by the first pushing assembly 5 and bearing by the first bearing assembly 4 can be ensured.

In one implementation manner of the embodiment of the present disclosure, the motion assembly located at the first side includes two vertical columns, and at least one first pushing assembly 5 is distributed at each of opposite sides of the two vertical columns; the motion assembly at the second side comprises two upright posts, and at least one first bearing assembly 4 is distributed at one side opposite to each upright post.

In a specific embodiment of the present disclosure, as shown in fig. 3, fig. 3 illustrates a schematic structural diagram of another workstation provided in an embodiment of the present disclosure. The first upright columns 20 are provided with two, and at least one first pushing assembly 5 is distributed on one opposite side of each of the two first upright columns 20. The first pushing assemblies 5 are disposed on opposite sides of the two first columns 20 so that the first pushing assemblies on each column can simultaneously operate the containers 60 located in two adjacent columns of container storage units of the mobile carrier 6.

Based on the same principle, the second upright columns 10 are provided with two, and at least one first bearing component 4 is distributed on one opposite side of each of the two second upright columns 10. The first carrier assemblies 4 are disposed on opposite sides of the two second columns 10 such that the first carrier assemblies 4 on each column can simultaneously operate on the containers 60 located in two adjacent columns of container storage units of the mobile carrier 6.

In one implementation of the disclosed embodiment, the moving assembly on the second side is configured to drive the first carrier assembly 4 to move to a position corresponding to the conveyor line or buffer location to transfer the containers 60 located on the first carrier assembly 4 onto the conveyor line or buffer location; or to transfer the containers 60 located on the conveyor line or buffer level to the first carrier assembly 4.

During the unloading process, the moving assembly on the second side may drive the first carrier assembly 4 to move to a position corresponding to the conveying line or the buffer position, that is, the first carrier assembly 4 may be driven by the moving assembly on the second side to move to a position corresponding to the conveying line or the buffer position after receiving the container 60. After the first carrier assembly 4 has moved to a position corresponding to the conveyor line or buffer site, the first carrier assembly 4 may transfer the containers 60 thereon to the conveyor line or buffer site. For example, when the target container is received by the first carrier module 4, the first carrier module 4 is moved to a position where it is butted against the conveyor line, and the target container is transferred to the conveyor line, so that the target container can be conveyed to the operation station through the conveyor line for operation. When the first carrier 4 receives a container 60 to be buffered, the first carrier 4 is moved to a position to interface with the buffer location and the buffered container 60 is transferred to the buffer location.

During racking, when the first carrier assembly 4 is moved to a position for docking with the conveyor line or buffer station, the containers 60 on the conveyor line or buffer station may be transferred onto the first carrier assembly 4 and then transported by the first carrier assembly 4 to a corresponding position on the mobile carrier 6 for subsequent racking operations.

In one implementation of the disclosed embodiment, the container loading and unloading mechanism may further include a second pushing assembly 40, the second pushing assembly 40 being located at the second side; the second pushing assembly 40 is configured to push the container 60 located on the first carrier assembly 4 onto at least one of the mobile carrier 6, the conveyor line, the buffer location;

alternatively, the first and second electrodes may be,

the second pushing assembly 40 is configured for pushing the container 60 on the mobile carrier 6 from the second side to the first side in the Z-axis direction so as to push the container 60 on the mobile carrier 6 out of the first side.

In the scenario of the container 60 being on the shelf and the container 60 being transported, the second pushing assembly 40 is arranged on the second side, so that the container 60 on the first carrying assembly 4 is pushed to at least one of the movable carrier 6, the conveying line and the buffer position by the second pushing assembly 40. For example, after the first carrier module 4 moves to the position where it is docked with the conveyor line, the containers 60 on the first carrier module 4 can be pushed onto the conveyor line by the second pusher module 40, and the transfer of the containers 60 on the second pusher module 40 and the conveyor line is completed. Conversely, the second pushing assembly 40 can also push the containers 60 on the conveying line onto the first carrier assembly 4, which will not be described in detail here.

In one embodiment of the present disclosure, the second pushing assembly 40 may also push the container 60 on the mobile carrier 6 from the second side to the first side along the Z-axis direction, and the container 60 may be pushed out from the first side by the second pushing assembly 40. The structure of the second pushing assembly 40 may be the same as or similar to that of the first pushing assembly 5, and the second pushing assembly 40 may also be designed integrally with the first carrier assembly 4.

In one implementation of the disclosed embodiment, the second pushing assembly 40 is configured to push a container 60 located on the first carrier assembly 4 into a corresponding container storage unit on the mobile carrier 6, and to move another container 60 in the container storage unit from the original storage location to an adjacent storage location for storage by movement of the container 60.

When the second pushing assembly 40 pushes the container 60 on the first carrying assembly 4, if the container 60 is already stored on the corresponding container storage unit of the mobile carrier 6, the second pushing assembly 40 can move another container 60 in the container storage unit from the original storage position to the adjacent storage position for storage by pushing the container 60 on the first carrying assembly 4. The container storage unit can store a plurality of containers 60 in the Z-axis direction while the containers 60 are put on the shelf, and the utilization rate of the movable carrier 6 is improved.

In one implementation of the disclosed embodiment, the second pushing assembly 40 is configured to push a container 60 located on the first carrier assembly 4 into a corresponding container storage unit of the mobile carrier 6 and push another container 60 in the container storage unit out from the first side by the movement of the container 60.

The second pushing assembly 40 pushes the container 60 to be shelved on the first carrying assembly 4 if the corresponding container storage unit of the mobile carrier 6 has the container 60 stored thereon, and the stored container 60 is the target container 6 to be shelved. The second pushing assembly 40 pushes the target container 60 in the container storage unit from the first side by pushing the container 60 on the first carriage assembly 4 to the container storage unit, and then the target container 60 in the container storage unit can be pushed out from the first side by the container 60 on the shelf. When the container 60 is put on shelf, the other container 60 can be put off shelf, so that the requirement that two containers 60 are put on shelf and put off shelf simultaneously can be met, and the loading and unloading efficiency of the containers 60 is improved.

In one implementation of the disclosed embodiment, on the basis that the container handling mechanism includes the second pushing assembly 40, the container handling mechanism may further include a second bearing assembly 50, the second bearing assembly 50 being located at the first side; the second carrier assembly 50 is configured to receive from the first side the container 60 on the mobile carrier 6 pushed out by the second pusher assembly 40.

Corresponding to the second pushing assembly 40, since the second pushing assembly 40 can push the container 60 from the second side to the first side, a carrying assembly capable of receiving the container 60 pushed out from the first side by the second pushing assembly 40 is required, and accordingly, a second carrying assembly 50 is provided at the first side, the second carrying assembly 50 is used for receiving the container 60 pushed out by the second pushing assembly 40 on the mobile carrier 6 from the first side, specifically, the second carrying assembly 50 may have the same or similar structure as the first carrying assembly 4, and the second carrying assembly 50 may also be integrally designed with the first pushing assembly 5.

In one implementation of the disclosed embodiment, the first pushing assembly 5 and the second carriage assembly 50 on the first side are configured to move independently of each other; and/or the second pushing assembly 40 and the first carrier assembly 4 located at the second side are configured to move independently of each other.

In practical designs, the first pushing assembly 5 and the second carriage assembly 50 on the first side can be independently movable, that is, the first pushing assembly 5 and the second carriage assembly 50 are controlled by the respective moving assemblies, and there is no relationship between the movement of the first pushing assembly 5 and the second carriage assembly 50, and the two move independently.

Similarly, the second pushing assembly 40 and the first carriage assembly 4 on the second side may be independently movable. In this way, the need for the containers 60 to be shelved from different sides can be met separately.

In one implementation of the disclosed embodiment, the moving assembly on the first side is configured to drive the first pushing assembly 5 and the second carrying assembly 50 to move synchronously to the target position; and/or the moving assembly on the second side is configured to drive the second pushing assembly 40 and the first carrying assembly 4 to move synchronously to the target position.

In another implementation manner, since the first pushing assembly 5 and the second bearing assembly 50 are both disposed on the first side and the second pushing assembly 40 and the first bearing assembly 4 are both disposed on the second side, for convenience of control, the assemblies on the same side may be set to move synchronously, that is, the moving assembly on the first side may drive the first pushing assembly 5 and the second bearing assembly 50 to move synchronously to the target position, and the moving assembly on the second side may drive the second pushing assembly 40 and the first bearing assembly 4 to move synchronously to the target position.

In one implementation of the disclosed embodiment, the second carrying assembly 50 includes a base, on which a carrying position for accommodating the container 60 is disposed; the first pushing assembly 5 comprises a pushing portion provided on the base, configured for pushing out the container 60 on the mobile carrier 6 from the first side to the second side in the Z-axis direction;

and/or the presence of a gas in the gas,

the first bearing component 4 comprises a base, wherein a bearing position for accommodating the container 60 is arranged on the base; the second pushing assembly 40 comprises a pushing portion provided on the base, configured for pushing out the container 60 on the mobile carrier 6 from the second side to the first side in the Z-axis direction.

Fig. 4 shows a schematic structural diagram of a workstation in which a first carriage assembly 4 and a second pushing assembly 40 are combined together, the first carriage assembly 4 includes a base, and a carriage position 400 for accommodating a container 60 is disposed on the base; the second pushing assembly 40 includes a pushing portion 401 provided on the base, and the pushing portion 401 can push out the container 60 on the mobile carrier 6 from the second side to the first side in the Z-axis direction. Through such an integrated design, synchronous movement of components on the same side is achieved.

When the embodiment of the present disclosure is applied to a specific application, the base may be mounted on a moving assembly, and the moving assembly may drive the base to move in the X-axis and/or Y-axis directions, so as to drive the bearing position 400 and the pushing portion 401 to the target position.

On the basis of the above disclosure, the first pushing assembly 5 and the second carrying assembly 50 may also adopt the above structure, and will not be described in detail herein.

Based on the integrated design of the first bearing assembly 4 and the second pushing assembly 40 and the integrated design of the second bearing assembly 50 and the first pushing assembly 5, the bearing positions 400 and the pushing parts 401 on the base are distributed at intervals in the height direction and are configured to respectively correspond to two adjacent rows of container storage units on the same row on the movable carrier 6; the pushing portion 401 is configured to push the container 60 in the container storage unit corresponding thereto, and the carrying position 400 is used to receive the container 60 pushed out from the container storage unit corresponding thereto.

The carrying positions 400 can receive the containers 60, the pushing portions 401 can push the containers 60, and in order to simultaneously receive and push, the carrying positions 400 and the pushing portions 401 on the base can be distributed in the height direction (as shown in fig. 3), so that the carrying positions 400 and the pushing portions 401 respectively correspond to two adjacent rows of container storage units on the same column of the mobile carrier 6. The pushing part 401 may push the container 60 in the container storage unit corresponding thereto, and at the same time, the carrying site 400 may receive the container 60 pushed out from the container storage unit corresponding thereto. That is, the pushing unit 401 and the loading position 400 can simultaneously perform pushing and receiving operations, thereby improving the efficiency of loading and unloading the container 60.

In one implementation manner of the embodiment of the present disclosure, the workstation further includes a transmission line and/or a cache location, and the transmission line and/or the cache location is disposed on the second side; the workstation further comprises an operation station at the second side, the containers 60 being configured to be transferred from the transport line and/or the buffer station to the operation station or from the operation station to the transport line and/or the buffer station.

As shown in fig. 2, the workstation further comprises a conveyor line 8 and/or a buffer station at the second side, to which the received containers 60 can be transferred by the first carrier module 4 after receiving the containers 60. The workstation may also comprise an operating station on the second side, mainly for handling the containers 60, which is docked with the conveyor line 8 and/or the buffer station. After the containers 60 have been transferred to the conveyor line 8 and/or the buffer station, they can also be transferred from the conveyor line 8 and/or the buffer station to an operating station for processing. Alternatively, after the containers 60 have been processed at the station, they may be transported to a corresponding position, for example, to a position for docking with the first carrier module 4, by means of the transport line 8.

In one implementation of the disclosed embodiment, the workstation may further include a conveyor extending from the first side to the second side; the movement assembly is configured to drive the second carrier assembly 50 to move to a position corresponding to the conveyor to transfer the container 60 located on the second carrier assembly 50 onto the conveyor; or transferring the container 60 on the conveyor to the second carrier assembly 50;

the conveyor is configured for transporting the containers 60 from the first side to the second side, for transferring the containers 60 to a conveyor line, buffer station or operating station located at the second side, or for transporting the containers 60 from a conveyor line, buffer station or operating station located at the second side to the first side.

In a practical scenario, the operation station and the carrier assembly are disposed on different sides, for example, the operation station is disposed on the second side, and the container 60 is pushed out from the first side to the second carrier assembly 50 for receiving, in order to facilitate transporting the container 60 from the first side to the second side, a conveyor may be disposed between the first side and the second side, the conveyor extends from the first side to the second side, and the moving assembly may drive the second carrier assembly 50 to move to a position corresponding to the conveyor, and transfer the container 60 on the second carrier assembly 50 to the conveyor, or transfer the container 60 on the conveyor to the second carrier assembly 50. The transfer device may transport the containers 60 from the first side to the second side and transfer the containers 60 to a conveyor line, buffer station or operating station located at the second side. For example, in one embodiment of the present disclosure, the conveyor extends from a first side to a second side and interfaces with a conveyor line on the second side such that a container 60 pushed down from the first side can be transferred by the conveyor onto the conveyor line on the second side and transported by the conveyor line to an operating station for processing. In one embodiment of the present disclosure, the conveyor may also interface directly with the operator station on the second side, such that a container 60 pushed down from the first side may be transferred directly to the operator station on the second side for processing via the conveyor. In one embodiment of the present disclosure, the transfer device may also interface with a buffer station located on the second side, which is not specifically described herein. Alternatively, the conveyor may transport the containers 60 from the conveyor line, buffer station or work station on the second side to the first side when the containers 60 are processed or when it is desired to rack the containers 60 from the first side. By providing a transfer device, the transfer of the containers 60 between the first side and the second side can be achieved.

In one implementation of the disclosed embodiment, a conveyor is located above the mobile carrier dock 3, and the moving assembly is configured to drive the first carrier assembly 4 and/or the second carrier assembly 50 to move to a position corresponding to the conveyor to transfer a container 60 located on the conveyor onto the first carrier assembly 4 and/or the second carrier assembly 50; or to transfer the containers 60 located on the first carrier assembly 4 and/or the second carrier assembly 50 to a conveyor.

In particular, the conveyor may be disposed above the mobile vehicle docking station 3. For example, in the embodiment of fig. 1, a cover or support structure may be provided over the first mast assembly 2, the second mast assembly 1, and a conveyor may be provided on the cover or support structure to effect first side-to-second side or second side-to-first side transfer of the container 60 over the mobile vehicle dock 3. The moving assembly may drive the first carrier assembly 4 and/or the second carrier assembly 50 to move to a position corresponding to the conveyor, transfer the containers 60 located on the conveyor to the first carrier assembly 4 and/or the second carrier assembly 50, or transfer the containers 60 located on the first carrier assembly 4 and/or the second carrier assembly 50 to the conveyor. Such a configuration does not take up excessive space and also enables the transfer of the container 60 between the first and second sides.

In one implementation of the disclosed embodiment, the mobile vehicle dock has a first end and a second end, the first end and the second end being located at opposite ends of the mobile vehicle dock 3, respectively;

the conveying device is a telescopic conveying line which is arranged at the first end and/or the second end; and configured to be deployed by the drive device to extend from the first side to the second side; or to the first or second side to avoid the entry and/or exit path of the mobile vehicle dock 3.

As shown in fig. 5, fig. 5 is a schematic structural diagram of another workstation according to an embodiment of the present disclosure, the conveying device is a telescopic conveying line 91, the telescopic conveying line 91 is disposed at a first end and/or a second end of the mobile carrier docking station 3, wherein the first end and the second end are respectively located at two opposite ends of the mobile carrier docking station 3. The telescopic conveyor line 91 is controlled by a driving device, and can be expanded to extend from the first side to the second side, or can be retracted to the first side or the second side, and after the telescopic conveyor line 91 is retracted, the entry path and/or the exit path of the mobile vehicle parking place 3 can be avoided.

With reference to the orientation of the view of fig. 5, a telescopic conveyor line 91 is provided in the right-hand end region of the workstation; for those skilled in the art, based on the above disclosure, the retractable conveyor line 91 may be provided in the left end region of the workstation, or the retractable conveyor line 91 may be provided in two, respectively in the right end region and the left end region of the workstation.

The retractable conveyor line 91 may be extended or retracted, and the retractable conveyor line 91 may have a structure known to those skilled in the art and will not be described in detail herein.

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

A telescoping conveyor line 91 may be provided at the second end and the mobile carrier 6 may be provided entering from the first end and exiting from the second end. That is, when the mobile carrier 6 passes through the mobile carrier docking station 3, the telescopic conveyor line 91 can be controlled to retract to the first side or the second side so that the mobile carrier 6 can enter from the first end and exit from the second end. If no mobile carrier 6 passes in the mobile carrier docking station 3, the telescopic conveyor line 91 can be controlled to be deployed to extend from the first side to the second side.

For example, when the telescopic conveyor line 91 is provided at the second end, then the mobile carrier 6 is not affected by the telescopic conveyor line 91, which can enter the mobile carrier docking station 3 through the first end of the workstation. When the mobile vehicle docking station 3 needs to exit through the second end of the workstation, the telescopic conveyor line 91 needs to be controlled to retract so as to clear the exit path of the mobile vehicle 6 from the second end.

Based on the above disclosure, it should be appreciated that when the telescopic conveyor line 91 is at the first end of the workstation, it is necessary to retract the telescopic conveyor line 91, the mobile carrier 6 takes a path into the mobile carrier docking station 3 through the first end, while the path of the mobile carrier 6 exiting from the second end is not affected by the telescopic conveyor line 91.

In one implementation of the disclosed embodiment, the mobile carrier docking station has a first end and a second end, the first end and the second end being located at two opposite ends of the mobile carrier docking station 3, respectively; the mobile carrier 6 is configured to enter from the first end and exit from the first end.

In a practical scenario, the mobile vehicle 6 may also be arranged to enter from the first end and exit from the first end.

Correspondingly, the transfer device is a stationary conveyor line arranged at the second end.

That is, if the mobile carrier 6 enters from the first end and leaves from the first end, the fixed conveying line can be directly arranged at the second end without setting the conveying device to be telescopic.

It should be noted that the first end and the second end of the present disclosure are only used for illustrating the opposite ends of the mobile vehicle docking station 3 and the direction of the mobile vehicle 6 entering or leaving the mobile vehicle docking station 3.

In one implementation of the disclosed embodiment, the workstation may further comprise a visual detection device configured to detect the type and/or quantity of the items in the container 60.

At the position where the container 60 passes through the workstation, a visual inspection device may be provided, which may collect two-dimensional or three-dimensional images, and when the container 60 passes through the visual inspection device, the visual inspection device may collect images of the inside of the container 60 to obtain images of the inside of the container 60, and then identify the images of the inside of the container 60, and based on the identification result, detect the type and/or quantity of the articles in the container 60. The verification of the correctness of the articles in the container 60 is added, and the safety of article supervision is improved.

In one implementation of the disclosed embodiment, the workstation may further include a positioning mechanism disposed in the mobile carrier dock 3 and configured to position, and/or limit, the position of the mobile carrier 6 located in the mobile carrier dock 3.

As shown in fig. 1, 2, 3 and 5, the mobile carrier docking station 3 is further provided with a positioning mechanism 7, which positioning mechanism 7 is used for positioning and/or limiting the mobile carrier 6 located in the mobile carrier docking station 3. After the mobile carrier 6 enters the mobile carrier docking station 3, since the container 60 thereon is pushed by the first pushing assembly 5 to be put down or put up, in order to prevent the mobile carrier 6 from following the container during pushing the container 60, a positioning mechanism 7 is provided in the present embodiment. The positioning mechanism 7 limits the movable carrier 6, and the movable carrier 6 cannot shift randomly under the action of the positioning mechanism 7.

Of course, the positioning mechanism 7 can also function as a positioning mechanism, and during the process of transporting the mobile carrier 6 to the mobile carrier parking space 3 by the automatic transporting equipment, the positioning mechanism 7 can be used for positioning the position so as to accurately park the mobile carrier 6 at the proper position.

Fig. 6 is a schematic diagram illustrating another container handling system according to an embodiment of the present disclosure, and as shown in fig. 6, the container handling system 300 includes a server 310, at least one automated handling equipment 320, and at least one workstation 330.

The workstation 330 includes a mobile vehicle dock 331, a container handling mechanism 332. The two opposite sides of the mobile vehicle docking station 331 are respectively marked as a first side and a second side; the container handling mechanism 332 includes at least a first pushing assembly 3321 and a first moving assembly 3322 for driving the first pushing assembly 3321, a first carrying assembly 3323 and a second moving assembly 3324 for driving the first carrying assembly 3323.

A server 310 configured to send a carrying instruction to the automatic carrying apparatus 320, and a rack off operation instruction to the workstation;

an automatic handling apparatus 320 configured to handle the mobile vehicle 6 based on the handling instruction and to handle the mobile vehicle 6 into the mobile vehicle docking station 331;

a first motion assembly 3322 and a second motion assembly 3324 in the workstation, configured to drive the first pushing assembly 3321 and the first carrying assembly 3323 to move to respective target positions based on the undercarriage operation instructions;

the first pushing assembly 3321 is configured to push the container 60 on the mobile carrier 6 from the first side to the second side in the Z-axis direction based on the racking operation command, so as to push the container 60 on the mobile carrier 6 out from the second side to the first carrying assembly 3323 for receiving.

Specifically, the server 310 is a server for handling the container loading/unloading task, and is configured to send a transfer command for the mobile carrier 6 to the automatic transfer device 320 and a rack unloading operation command to the workstation. Based on this, when the server 310 receives the container loading/unloading command, it will be described that the task of unloading the container 60 is required, and in order to improve the efficiency of loading/unloading the container 60 and further improve the operation efficiency, a transport command may be transmitted to the automatic transport facility 320 based on the container loading/unloading command. Meanwhile, a racking operation instruction is sent to the workstation, further, the workstation may generate a movement instruction and a first pushing instruction according to the racking operation instruction, send the movement instruction to the first movement component 3322 and the second movement component 3324 of the container handling mechanism 332, and send the first pushing instruction for the container 60 to the first pushing component 3321, of course, the racking operation instruction may also directly carry the movement instruction and/or the first pushing instruction, and after being analyzed by the workstation, the movement instruction is sent to the first movement component 3322 and the second movement component 3324 of the container handling mechanism 332, and the first pushing instruction for the container 60 is sent to the first pushing component 3321. The container loading and unloading command includes information of the mobile carrier 6, information of a storage location (position information on the mobile carrier, where the storage location on the mobile carrier may be used for storing a container, or may be empty), and information of the container 60 (which may be information of a container carrying an article stored in the storage location on the mobile carrier), so that the automatic carrying apparatus 320 may move the mobile carrier 6 to the mobile carrier parking location 331 corresponding to the task, and the container loading and unloading mechanism 332 may accurately load and unload the container 60; accordingly, the carrying instruction can guide the automatic carrying equipment to determine and carry the movable carrier 6, that is, the carrying instruction carries the moving track information of the automatic carrying equipment; the shelf unloading operation command may guide the first moving assembly 3322 and the second moving assembly 3324 to drive the first pushing assembly 3321 and the first carrying assembly 3323 to move to their respective target positions, that is, the shelf unloading operation command carries the position information of the container 60/the position information of the container 60 to be stored; the rack-down operation command may direct the first pushing assembly 3321 to push the container 60 on the mobile carrier 6 from the first side to the second side along the Z-axis direction, so as to push the container 60 on the mobile carrier 6 out from the second side to the first carrying assembly 3323 for receiving.

When the container 60 is set to the off-shelf job, the server 310 may actively transmit a transport command to the automatic transport facility 320 and a set-off operation command to the workstation. When a user operation instruction or an order instruction is received, the server 310 may transmit a transport instruction to the automatic transport apparatus 320 and a shelf-off operation instruction to the workstation.

Further, after receiving the transporting instruction, the automatic transporting apparatus 320 indicates that the mobile carrier 6 needs to be moved to the target position for the container loading and unloading task, and then may determine the mobile carrier 6 that needs to be transported according to the transporting instruction, and then move to the mobile carrier 6 to transport the mobile carrier 6 to the mobile carrier docking station 331; at this time, the first moving assembly 3322 and the second moving assembly 3324 receive the lowering operation command, and respectively drive the first pushing assembly 3321 and the first carrying assembly 3323 to move to their respective target positions based on the lowering operation command; then, the first pushing assembly 3321 receives the rack unloading operation command, and based on the rack unloading operation command, 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 out from the second side to the first carrying assembly 3323 for carrying, thereby completing the task of loading and unloading the container.

For example, the server receives a container loading/unloading command corresponding to the container loading/unloading task, determines that a set number of articles a need to be handled in the container a on the mobile carrier S, and then sends a transport command to the automatic transport apparatus P according to the container loading/unloading command and a motion command to the motion component. After receiving the carrying command, the automatic carrying apparatus P determines the position of the movable carrier S in the storage area, moves to the position to carry the movable carrier S, and then carries the movable carrier S to the movable carrier parking location 331, at this time, the motion component drives the first pushing component 3321 and the first carrying component 3323 to move to respective target positions based on the motion command, the first pushing component 3321 receives the first pushing command sent by the server, pushes the container a on the movable carrier S from the first side to the second side along the Z-axis direction based on the first pushing command, and pushes the container a from the second side of the movable carrier S to the first carrying component 3323 for carrying.

In conclusion, the container is loaded and unloaded by combining the server, the automatic conveying equipment and the workstation, so that the loading and unloading efficiency of the container 60 can be effectively improved, and the operation efficiency is further improved.

In an implementation manner of the embodiment of the present disclosure, the undercarriage operation instruction carries position information of a target position;

the first motion assembly 3322 and the second motion assembly 3324 are further configured to pre-drive the first pushing assembly 3321 and the first carrying assembly 3323 to move to respective target positions based on the position information before the automated handling equipment carries the mobile carrier 6 to the mobile carrier dock 331.

When the undercarriage operation command is transmitted to the first moving assembly 3322 and the second moving assembly 3324, since the undercarriage operation command may carry position information of a target position, the position information represents a position of the container 60 to be pushed out on the mobile carrier 6, and for improving efficiency, the first moving assembly 3322 and the second moving assembly 3324 may move in advance to the target position corresponding to the position information based on the undercarriage operation command.

In one implementation manner of the embodiment of the present disclosure, the first moving component 3322 and the second moving component 3324 are further configured to stop driving the first pushing component 3321 and the first bearing component 3323 to move to their respective target positions if receiving a cancel command sent by the server 310; or drive the first pushing assembly 3321 and the first bearing assembly 3323 to reset.

Since the first moving component 3322 and the second moving component 3324 are pre-moved, the container loading and unloading task for the mobile vehicle 6 can be canceled before the mobile vehicle 6 is actually moved to the mobile vehicle docking station 331, and at this time, the server 310 can send a cancel command to the first moving component 3322 and the second moving component 3324, and the first moving component 3322 and the second moving component 3324 receive the cancel command, and stop driving the first pushing component 3321 and the first carrying component 3323 to move to the target position, or drive the first pushing component 3321 and the first carrying component 3323 to reset. According to the scheme, the situation that task execution is disordered when container loading and unloading tasks are carried out on different movable carriers 6 can be avoided, and if the container loading and unloading tasks on different movable carriers 6 are switched, the server 310 can stop the container loading and unloading tasks in time by sending a cancel command.

In one implementation of the embodiment of the present disclosure, the server 310 is further configured to send a racking operation instruction to the first moving component 3322 according to the first position information of the to-be-racking receptacle 60;

the first moving assembly 3322 is further configured to drive the first pushing assembly 3321 to move to the target position corresponding to the first position information based on the racking operation command.

The first pushing assembly 3321 is further configured to push the container to be shelved 60 onto the mobile carrier 6 based on a shelving operation command.

For the case of shelving a container 60, the server 310 receives a shelving command that carries the carrier identification of the mobile carrier 6 and the container identification of the container 60 to be shelved. In this case, the server 310 sends a transporting command for the mobile carrier 6 to the automated transporting apparatus 320 according to the carrier identifier, so that the automated transporting apparatus 320 can move the mobile carrier 6 based on the transporting command and transport the mobile carrier 6 to the mobile carrier docking station 331. Meanwhile, the server 310 obtains the target position information corresponding to the container 60 to be shelved according to the container identifier, and sends a shelving operation instruction to the workstation according to the target position information. For the situation of putting the container 60 on the shelf, the server may also automatically generate a carrier identifier and a container identifier, and then send a carrying instruction to the automatic carrying device 320 according to the carrier identifier, and obtain the target position information corresponding to the container 60 to be put on the shelf according to the container identifier.

The first moving assembly 3322 receives the racking operation command, and may drive the first pushing assembly 3321 to move to the target position corresponding to the target position information based on the racking operation command.

After receiving the racking operation command, the first pushing assembly 3321 can push the container 60 to be racked onto the mobile carrier 6 for storage, so as to realize automatic racking of the container 60.

Through this scheme, realized the container 60 and put on the shelf through the mode that adopts server, automatic handling equipment, motion subassembly, first promotion subassembly 3321 to combine, can improve the efficiency that container 60 put on the shelf effectively.

In one implementation of the embodiment of the present disclosure, the server 310 is further configured to obtain the position information of the container to be shelved 60 on the mobile carrier 6, and update and record the position information.

In the embodiment of the present disclosure, after the container 60 to be shelved is shelved, the server 310 may obtain the position information of the container 60 to be shelved on the mobile carrier 6, that is, the specific position of the container 60 to be shelved on the mobile carrier 6, and then update and record the position information as the inventory information, and when the container 60 needs to be shelved later, the operation may be performed based on the inventory information.

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

The first moving assembly 3322 and the second moving assembly 3324 are further configured to drive the first pushing assembly 3321 and the first carrying assembly 3323 to move to the target positions corresponding to the second position information, respectively, based on the shelf-off operation command.

For the case of the container 60 being placed on the shelf, the server 310 would obtain the second position information of the container 60 to be placed on the shelf, and accordingly, the server 310 would send a placing operation instruction to the workstation according to the second position information. The first moving assembly 3322 and the second moving assembly 3324 receive the shelf-off operation command, and can respectively drive the first pushing assembly 3321 and the first carrying assembly 3323 to move to the target positions corresponding to the second position information based on the shelf-off operation command.

Through this scheme, realized the container 60 undercarriage through the mode that adopts server, automatic handling equipment, motion subassembly, first promotion subassembly 3321 and first carrier assembly 3323 to combine, can improve the efficiency of container 60 undercarriage effectively.

While the above description describes the racking and racking of the containers 60, those skilled in the art will appreciate that the racking and racking of the containers 60 may be performed on the same mobile carrier 6 based on the above disclosure. After the same mobile carrier 6 is processed, the automated handler may remove it from the mobile carrier docking station 331 and transport it to a storage area for storage.

In an embodiment of the present disclosure, the server may also include a server end and a control end of the workstation, where the server end sends a corresponding instruction to the control end of the workstation, and the control end may control the corresponding mechanism to perform a corresponding action after receiving the corresponding instruction.

The disclosure also provides a container loading and unloading method, which specifically comprises the following steps:

fig. 7 is a flowchart illustrating a container handling method according to an embodiment of the present disclosure, which is applied to the container handling system, and includes the following steps:

step 402, the server sends a conveying instruction to the automatic conveying equipment and sends a shelf-off operation instruction to the workstation.

In step 404, the automated handling equipment carries the mobile carrier to the mobile carrier docking station based on the carrying command.

In step 406, the moving assembly in the workstation drives the first pushing assembly and the first carrying assembly to move to respective target positions based on the undercarriage operation command.

In step 408, the first pushing assembly pushes the container on the mobile carrier from the first side to the second side along the Z-axis direction based on the racking operation command, so as to push the container on the mobile carrier out from the second side to the first carrying assembly for carrying.

Specifically, the server is a server for handling container loading and unloading tasks, and is used for sending a carrying instruction of the movable carrier to the automatic carrying equipment and sending a shelf unloading operation instruction to the workstation. In this case, the server may transmit the transport command to the automatic transport facility and the racking operation command to the workstation based on the container loading/unloading command in order to improve the efficiency of loading/unloading the container and further improve the operation efficiency. The container loading and unloading command comprises information of the movable carrier, storage position information and container information (specifically information of the container bearing the articles stored in the storage position 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, and the container loading and unloading mechanism can accurately load and unload the container; accordingly, the carrying instruction can guide the automatic carrying equipment to determine and carry the movable carrier, that is, the carrying instruction carries the moving track information of the automatic carrying equipment; the lower rack operation instruction can guide the moving assembly to drive the first pushing assembly and the first bearing assembly to move to respective target positions, namely, the moving instruction carries the position information of the container/the position information to be stored in the container; the off-shelf operating instructions may also direct the first pushing assembly to push the containers on the mobile carrier from the first side to the second side in the Z-axis direction so as to push the containers on the mobile carrier out of the second side to the first carrier assembly for receiving.

Further, after receiving the carrying instruction, the automatic carrying equipment indicates that the movable carrier needs to be moved to a target position for carrying out a container loading and unloading task, and then the movable carrier needing to be carried can be determined according to the carrying instruction, and then the movable carrier is driven to the movable carrier position to carry the movable carrier to the movable carrier stop position; at the moment, the workstation receives a lower frame operation instruction, and the moving assembly respectively drives the first pushing assembly and the first bearing assembly to respective target positions based on the lower frame operation instruction; then, 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 racking operation instruction, so that the container on the movable carrier is pushed out from the second side to the first bearing assembly to be received, and the container loading and unloading task is completed.

The server may also actively transmit a transport command to the automatic transport facility and a racking operation command to the workstation when there is a container racking job. The server may send a transport instruction to the automatic transport apparatus and a shelf-off instruction to the workstation when a user operation instruction or an order instruction is received.

In conclusion, the container can be loaded and unloaded by combining the server, the automatic conveying equipment and the workstation, so that the loading and unloading efficiency of the container can be effectively improved, and the operation efficiency is further improved.

In one implementation of the disclosed embodiment, the undercarriage operation command includes position information of a target position;

step 406 may be specifically implemented as follows:

before the automatic carrying equipment carries the movable carrier to the movable carrier parking position, the moving assembly drives the first pushing assembly and the first bearing assembly to move to respective target positions in advance based on the position information.

When the undercarriage operation command is transmitted to the moving assembly, since the undercarriage operation command may carry position information of a target position, where the position information represents a position of a container to be pushed out on the movable carrier, in order to improve efficiency, before the automatic handling equipment carries the movable carrier to the mobile carrier parking space, the moving assembly may move in advance to the target position corresponding to the position information based on the undercarriage operation command.

In one implementation manner of the embodiment of the present disclosure, in a process that the moving assembly drives the first pushing assembly and the first carrying assembly to move to respective target positions in advance based on the position information, the container loading and unloading method further includes:

under the condition that the workstation receives a cancel instruction sent by the server, the moving assembly stops driving the first pushing assembly and the first bearing assembly to move to respective target positions or drives the first pushing assembly and the first bearing assembly to reset based on the cancel instruction.

Since the motion assembly is moved in advance, the container loading and unloading task for the mobile carrier can be cancelled before the mobile carrier is actually moved to the mobile carrier parking space, at this time, the server can send a cancellation command to the workstation, and the motion assembly stops driving the first pushing assembly and the first bearing assembly to move to the target position when receiving the cancellation command. According to the scheme, the situation that tasks are disordered when container loading and unloading tasks are carried out on different movable carriers can be avoided, and if the container loading and unloading tasks on the different movable carriers are switched, the server can stop the container loading and unloading tasks in time by sending a cancel command.

In one implementation of the disclosed embodiment, the container handling method further includes: and the server sends a racking operation instruction to the workstation according to the information of the first position of the container to be racked. In this embodiment, the moving assembly drives the first pushing assembly to move to the target position corresponding to the first position information based on the racking operation instruction. The first pushing assembly pushes the container to be placed on the shelf to the movable carrier based on the placing operation instruction.

For the container racking condition, the server receives a racking instruction, and the racking instruction carries a first carrier identifier of a first target movable carrier and a first container identifier of a container to be racked. In this case, the server sends a transport instruction for the first target mobile vehicle to the automated transport equipment according to the first vehicle identifier, so that the automated transport equipment can move the first target mobile vehicle based on the transport instruction and transport the first target mobile vehicle to the mobile vehicle parking lot. Meanwhile, the server determines first target position information corresponding to the container to be placed on the shelf, and sends a placing operation instruction to the workstation according to the first target position information. The moving assembly receives the racking operation instruction and can respectively drive the first pushing assembly to move to the target position corresponding to the first position information based on the racking operation instruction. When the first pushing assembly moves to the target position, the first pushing assembly can push the container to be shelved to the storage position of the movable carrier for storage based on the shelving operation instruction.

When the mobile carrier at the mobile carrier parking position is operated, the server directly issues a corresponding operation instruction, and the automatic carrying equipment carries the mobile carrier to a storage area for storage based on the carrying instruction issued by the server until all containers on the mobile carrier are processed.

In addition, the information of each storage position in the movable carrier is stored in the server, and when the container is shelved, the server can select a proper storage position according to a preset strategy to be shelved and stored based on the first container identifier of the container to be shelved.

Through this scheme, realized the container and put on the shelf through the mode that adopts server, automatic handling equipment, motion subassembly, first promotion subassembly to combine, can improve the efficiency that the container put on the shelf effectively.

In one implementation manner of the embodiment of the present disclosure, after the step of pushing the container to be shelved onto the mobile carrier by the first pushing assembly based on the shelving operation command, the container loading and unloading method may further include:

and the server acquires the position information of the container to be placed on the shelf on the movable carrier and updates and records the position information.

In the embodiment of the disclosure, after the container to be shelved is shelved, the server may obtain the position information of the container to be shelved on the mobile carrier, that is, the specific position of the container to be shelved on the mobile carrier, and then update and record the position information as the inventory information, and when the container needs to be shelved later, the server may perform operations based on the inventory information.

In an implementation manner of the embodiment of the present disclosure, step 402 may be specifically implemented by the following method: the server sends a racking operation instruction to the workstation according to the second position information of the container to be racked;

step 406 may be specifically implemented as follows: the moving assembly drives the first pushing assembly and the first bearing assembly to move to the target positions corresponding to the second position information respectively based on the lower rack operation instruction.

And correspondingly, the server sends a racking operation instruction to the workstation according to the second position information. The moving assembly receives the undercarriage operation instruction, and can respectively drive the first pushing assembly and the first bearing assembly to move to the target positions corresponding to the second position information based on the undercarriage operation instruction.

This scheme has realized the container undercarriage through the mode that adopts server, automatic handling equipment, motion subassembly, first promotion subassembly and first carrier assembly to combine, can improve the efficiency of container undercarriage effectively.

In an implementation manner of the embodiment of the present disclosure, step 408 may be specifically implemented by the following method:

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 racking operation instruction, so that the container on the movable carrier is directly pushed out from the second side to the first bearing assembly to be received;

alternatively, the first and second electrodes may be,

the first pushing assembly pushes a first container on the movable carrier from a first side to a second side along the Z-axis direction based on a lower rack operation instruction, so that a second container is pushed out from the second side to the first bearing assembly for bearing through the movement of the first container, wherein the first container and the second container are two containers which are adjacently stored along the Z-axis direction in a container storage unit which penetrates through the Z-axis direction;

alternatively, the first and second electrodes may be,

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 racking operation instruction, so that the second container is pushed by the first container, and the third container is pushed out from the second side to the first bearing assembly for bearing by the movement of the second container, wherein the first container, the second container and the third container are a plurality of containers which are adjacently stored in a container storage unit penetrating in the Z-axis direction along the Z-axis direction.

The movable carrier storage container mode comprises a communication mode, a symmetrical mode and a plurality of container arrangement modes. In this communication mode, the at least one container storage unit is configured to accommodate a container, and the first pushing assembly pushes the container on the mobile carrier from the first side to the second side in the Z-axis direction based on the racking operation command, so as to push the container on the mobile carrier directly from the second side to the first carrying assembly for receiving. This way of communicating the storage containers ensures that the container storage unit will only store one container, which is more accurate when pushing the containers.

In a symmetrical mode, 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 designated as a first container, and the container accommodated in the second storage position is designated as a second container. The first pushing assembly pushes the first container on the mobile carrier from the first side to the second side along the Z-axis direction based on the racking operation command, so as to push the second container out from the second side to the first carrying assembly for carrying by the movement of the first container, wherein the first container and the second container are two containers adjacently stored along the Z-axis direction in a container storage unit penetrating in the Z-axis direction. The container storage unit can store two containers in a symmetrical container storage mode, the utilization rate of the containers stored in the movable carrier can be improved, and the precision of pushing the containers can be guaranteed through indirect pushing.

In a symmetrical manner, if containers are stored in both storage locations, the first pushing assembly may push the first container a first distance from the first side to the second side, and by pushing the first container, the second container may be pushed indirectly out of the second side. The first distance is equal to the length or depth of the first container extending in the Z-axis direction when the gap dimension between the components is ignored. If a container is stored in only one of the storage locations, the first pushing assembly may push the container a second distance from the first side to the second side to push the container directly from the second side, regardless of whether the container is located in the first storage location or the second storage location. The second distance is equal to a depth of the container storage unit extending in the Z-axis direction when the gap dimension between the components is ignored.

Under the arrangement mode of a plurality of containers, at least one container storage unit is provided with at least three storage positions along the Z-axis direction, and the storage positions comprise a first storage position adjacent to a first side, at least one second storage position located in the middle area and a third storage position adjacent to a second side; the containers accommodated in the first storage position are designated as first containers, the containers accommodated in the at least one second storage position are designated as second containers, and the containers accommodated in the third storage position are designated as third containers. The first pushing assembly pushes the first container on the mobile carrier from the first side to the second side along the Z-axis direction based on the racking operation command, so as to push the second container by the first container, and push the third container out from the second side to the first carrying assembly for carrying by the movement of the second container, wherein the first container, the second container and the third container are a plurality of containers adjacently stored along the Z-axis direction in a container storage unit penetrating in the Z-axis direction. The arrangement mode of the plurality of containers can store at least three containers in each row, can improve the utilization rate of the containers stored in the movable carrier, and can ensure the precision of pushing the containers through indirect pushing.

In the case of a plurality of containers arranged in three storage positions, if the containers are stored in all of the three storage positions, the first pushing member 5 can push the second container indirectly by pushing the first container by a first distance (the first distance is equal to the depth of the first container) in a direction from the first side to the second side, and then push the third container indirectly by the second container to push the third container from the second side. If two storage positions have containers stored thereon, the first pushing assembly 5 can push the containers from the first side to the second side by a second distance (the second distance is equal to the depth of the two containers), and by pushing one of the containers, the other container can be indirectly pushed out from the second side. If only one storage location has a container stored thereon, the first pushing assembly 5 can push the container from the first side to the second side by a third distance (the third distance is equal to the depth of the container storage unit extending in the Z-axis direction), and can push the container out from the second side directly. Setting more storage bits is similar to the implementation of setting three storage bits and is not described here in detail.

In one implementation of the disclosed embodiment, the container loading and unloading method may further include: and the server acquires the position information of the container after the container is moved and updates and records the position information.

In the embodiment of the disclosure, after the container is pushed by an indirect pushing manner, the server may obtain the position information of the moved container, and then update and record the position information as the inventory information, and when the container needs to be taken off shelf later, the server may operate based on the inventory information.

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

the image acquisition equipment acquires an image in the container, identifies the image in the container, determines an article identification result in the container, and compares the article identification result with preset article information to obtain an article verification result.

The method comprises the steps that image acquisition equipment can be arranged above a container in a workstation, the image acquisition equipment can acquire two-dimensional or three-dimensional images, when the container passes through the image acquisition equipment, the image acquisition equipment can acquire images inside the container to obtain images inside the container, the images inside the container are identified to determine an article identification result inside the container, a specific identification means can adopt an image identification method based on deep learning, the identification result can comprise the type and the number of articles and the like, then the article identification result is compared with preset article information, for example, the preset article information is the type and the number of the articles actually contained in the container recorded in advance, and then the type and the number in the article identification result are compared with the type and the number in the preset article information to obtain an article verification result. The article verification result represents the correctness of the article type and/or the article quantity, for example, if the category difference in the comparison result is greater than a preset threshold value and the quantity difference is greater than a preset quantity, an alarm message is sent out to prompt that the articles in the container may be possibly exchanged. The verification of the correctness of the articles in the container is added, and the safety of article supervision is improved.

the server sends a contraction instruction to the telescopic conveying line under the condition that the movable carrier passes through the movable carrier parking place, so that the telescopic conveying line is contracted to the first side or the second side to avoid an entering path and/or an exiting path of the movable carrier parking place; alternatively, the first and second electrodes may be,

and the server sends a unfolding instruction to the telescopic conveying line to unfold the telescopic conveying line from the first side to the second side under the condition that no mobile vehicle passes through the mobile vehicle parking place.

In this embodiment, the mobile vehicle enters the mobile vehicle docking station from one side and exits from the other side. The movable carrier parking place is provided with a first end and a second end, and the first end and the second end are respectively positioned at two opposite ends of the movable carrier parking place; the conveying device extends from the first side to the second side and is a telescopic conveying line, the telescopic conveying line is arranged at the first end and/or the second end of the mobile carrier parking position, the telescopic conveying line can be arranged on the left side or the right side of the mobile carrier parking position, and a plurality of telescopic conveying lines can also be arranged. The telescopic conveying line can be a conveying mechanism with a telescopic function, such as a roller and a telescopic fork.

The functions of the telescopic conveying line mainly comprise: in the case that the mobile vehicle passes through the mobile vehicle parking place, the server sends a contraction command to the telescopic conveying line so as to retract the telescopic conveying line to the first side or the second side to avoid an entering path and/or an exiting path of the mobile vehicle parking place; in the case where no mobile vehicle passes through the mobile vehicle docking station, the server sends a deployment command to the telescoping conveyor line to deploy the telescoping conveyor line from the first side to the second side.

Through setting up telescopic transfer chain, can realize that portable carrier stops the container conveying between the corresponding both sides in position, do not have under the condition of operation station in one side that pushes out the container, convey the container to the opposite side through telescopic transfer chain to, having portable carrier to stop under the condition in position through portable carrier, telescopic transfer chain shrink can guarantee that portable carrier normally passes through.

In a specific implementation, the container loading and unloading method provided in this embodiment is applied to the container loading and unloading system, and the same or corresponding descriptions as those of the container loading and unloading system in the container loading and unloading method provided in this embodiment can be referred to the descriptions in the above embodiments, and redundant descriptions are not repeated in this embodiment.

For example, the second carrier assembly and the second pushing assembly are described above, the second pushing assembly can be used in cooperation with the first carrier assembly, for example, the second pushing assembly can push the container on the first carrier assembly onto the mobile carrier, and the first pushing assembly can also push the container on the second carrier assembly onto the mobile carrier, and the corresponding control is similar to the loading and unloading method described above, and will not be described in detail here.

The workstation provided by the present disclosure may also be applied not only to the transfer of components in picking workstations, factory scenarios, but also to the configuration of the position of containers on mobile carriers. The position of the container on the mobile carrier may be adjusted according to a predetermined strategy. For example, containers that are hot or needed the next day can be dispensed to a storage location that is convenient for off-shelf operation, and will not be described here.

It should be noted that for simplicity and convenience of description, the above-described method embodiments are described as a series of combinations of acts, but those skilled in the art will appreciate that the present application is not limited by the order of acts, as some steps may, in accordance with the present application, occur in other orders and/or concurrently. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The preferred embodiments of the present application disclosed above are intended only to aid in the explanation of the application. Alternative embodiments are not exhaustive and do not limit the disclosure to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and its practical applications, to thereby enable others skilled in the art to best understand and utilize the application. The application is limited only by the claims and their full scope and equivalents.

Claims

1. A workstation is characterized by comprising a mobile carrier parking position and a container loading and unloading mechanism;

2. The workstation of claim 1, wherein: the mobile carrier is provided with at least two rows of container storage units on a plane where an X axis and a Y axis are located, at least one of the container storage units is configured to penetrate in a Z-axis direction and is configured to accommodate at least one container in the Z-axis direction.

3. The workstation of claim 2, wherein: the motion assembly comprises a Y-axis motion assembly moving along a vertical Y-axis direction; the Y-axis motion assemblies respectively located on the first side and the second side are configured to respectively drive the first pushing assembly and the first carrying assembly to move along a vertical direction to a position of a target row on the movable carrier on the respective sides.

4. The workstation according to claim 1, characterized in that: the mobile carrier is provided with at least two rows of container storage units on a plane where an X axis and a Y axis are located, and at least one container storage unit is configured to penetrate in a Z axis direction and is configured to accommodate at least one container in the Z axis direction.

5. The workstation of claim 4, wherein:

the first pushing assemblies are arranged at least two, and the at least two first pushing assemblies are arranged on the first side at intervals along the extending direction of the parking positions of the movable vehicles and correspond to different rows on the movable vehicles one by one;

and/or the presence of a gas in the gas,

the first bearing assemblies are arranged at least two, and the at least two first bearing assemblies are arranged on the second side at intervals along the extending direction of the parking positions of the movable carrier and correspond to different rows on the movable carrier one to one.

6. The workstation according to claim 4, characterized in that: the motion assembly comprises an X-axis motion assembly moving in a direction of extension of the mobile vehicle dock; the X-axis motion assemblies on the first and second sides, respectively, are configured to drive the first pushing assembly, the first carrier assembly, respectively, to move on the respective side to a position of a target column on the mobile vehicle along a direction of extension of the mobile vehicle dock.

7. The workstation of claim 4, wherein: the movable carrier is configured to move in the X-axis direction under the driving of the automatic handling equipment, so that the movable carrier moves to enable the target row of the movable carrier to correspond to the first pushing assembly and the first bearing assembly.

8. The workstation of claim 1, wherein: the mobile carrier further comprises a first sensor unit for determining a first attitude offset between the first pushing assembly and a container on the mobile carrier.

9. The workstation of claim 8, wherein: the motion assembly is further used for adjusting the pose of the first pushing assembly according to the first pose deviation determined by the first sensor unit so as to eliminate the first pose deviation.

10. The workstation of claim 1, wherein: the mobile carrier further comprises a second sensor unit for determining a second attitude deviation between the first load bearing assembly and a container on the mobile carrier.

11. The workstation according to claim 10, wherein: the motion assembly is further used for adjusting the pose of the first bearing assembly according to the second pose deviation determined by the second sensor unit so as to eliminate the second pose deviation.

12. The workstation of claim 1, wherein: the moving assembly comprises a sky rail and/or a ground rail, and the moving assemblies respectively positioned on the first side and the second side are configured to respectively drive the first pushing assembly and the first bearing assembly to move on the sky rail and/or the ground rail on the side where the moving assemblies are respectively positioned.

13. The workstation of claim 12, wherein: the motion assembly positioned on the first side comprises two upright posts, and at least one first pushing assembly is distributed on one opposite side of each upright post; the motion assembly positioned on the second side comprises two upright posts, and at least one first bearing assembly is distributed on one side opposite to the two upright posts.

14. The workstation of claim 2 or 4, wherein: at least one of the container storage units is configured to receive a container, and the first pushing assembly is configured to push the container on the mobile carrier in a Z-axis direction from the first side to the second side so as to push the container on the mobile carrier out of the second side; the first carrier assembly is configured to receive a container from the second side that is pushed directly off of the mobile carrier by the first pusher assembly.

15. The workstation of claim 2 or 4, wherein: at least one of the container storage units is provided with a first storage site arranged adjacent to the first side and a second storage site arranged adjacent to the second side in the Z-axis direction; the container accommodated on the first storage position is recorded as a first container, and the container accommodated on the second storage position is recorded as a second container;

16. The workstation of claim 2 or 4, wherein: at least one container storage unit is provided with at least three storage positions along the Z-axis direction, wherein the at least three storage positions comprise 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 on the first storage position is recorded as a first container, the container accommodated on at least one second storage position is recorded as a second container, and the container accommodated on the third storage position is recorded as a third container;

17. The workstation of claim 15, wherein: the first pushing assembly is configured to: and pushing the target container from the first side to the second side for a corresponding distance 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 between the target container and the first pushing assembly, so as to directly or indirectly push out the target container.

18. The workstation of claim 16, wherein: the first pushing assembly is configured to: and pushing the target container from the first side to the second side for a corresponding distance 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 between the target container and the first pushing assembly so as to directly or indirectly push out the target container.

19. The workstation of claim 16, wherein: the first carrier assembly is configured to transfer the received third container onto a conveyor line or buffer location;

the first pushing assembly is configured to push the first container on the mobile carrier in a Z-axis direction from the first side to the second side to push the second container located at the third storage location out of the second side by movement of the first container; the first carrier assembly is configured to receive the pushed out second container from the second side.

20. The workstation of claim 1, wherein: the moving assembly on the second side is configured to drive the first carrier assembly to move to a position corresponding to a conveyor line or a buffer position to transfer the containers on the first carrier assembly to the conveyor line or the buffer position; or to transfer containers located on the conveyor line or buffer location to the first carrier assembly.

21. The workstation of claim 1, wherein: the container handling mechanism further comprises a second pushing assembly located on the second side; the second pushing assembly is configured to push the container on the first carrier assembly to at least one of a mobile carrier, a conveyor line, a buffer location;

alternatively, the first and second electrodes may be,

22. The workstation of claim 2 or 4, wherein: the container handling mechanism further includes a second pushing assembly configured to push a container on the first carrier assembly into a corresponding container storage unit on a mobile carrier and move another container in the container storage unit from an original storage position to an adjacent storage position for storage by movement of the container.

23. The workstation of claim 2 or 4, wherein: the container handling mechanism further includes a second pushing assembly configured to push a container on the first carrier assembly into a corresponding container storage unit of the mobile carrier and push another container in the container storage unit out of the first side by movement of the container.

24. The workstation of claim 23, wherein: the container loading and unloading mechanism further comprises a second bearing component, and the second bearing component is positioned on the first side; the second carrier assembly is configured to receive from the first side a container on the mobile carrier pushed out by the second pusher assembly.

25. The workstation according to claim 23, wherein: the first pushing assembly and the second carrying assembly on the first side are configured to move independently; and/or the second pushing assembly and the first bearing assembly positioned on the second side are configured to move independently.

26. The workstation of claim 23, wherein: the moving assembly positioned on the first side is configured to drive the first pushing assembly and the second bearing assembly to synchronously move to a target position; and/or the moving assembly positioned on the second side is configured to drive the second pushing assembly and the first bearing assembly to synchronously move to the target position.

27. The workstation according to claim 26, wherein: the second bearing assembly comprises a base, and a bearing position for accommodating the container is arranged on the base; the first pushing assembly comprises a pushing portion configured to push out a container on a mobile carrier from the first side to the second side in a Z-axis direction;

and/or the presence of a gas in the gas,

the first bearing assembly comprises a base, and a bearing position for accommodating a container is arranged on the base; the second pushing assembly includes a pushing portion configured to push a container on the mobile carrier in a Z-axis direction from the second side toward the first side.

28. The workstation of claim 27, wherein: the bearing positions and the pushing parts on the base are distributed at intervals in the height direction and are constructed to respectively correspond to two adjacent rows of container storage units in the same row on the movable carrier; the pushing portion is configured to push the container in the container storage unit corresponding thereto, and the carrying position is used for receiving the container pushed out from the container storage unit corresponding thereto.

29. The workstation of claim 24, wherein: the workstation further comprises a conveying line and/or a buffer position, and the conveying line and/or the buffer position are arranged on the second side; the workstation further comprises an operation station located at the second side, the containers being configured to be transferred from the transfer line and/or buffer location to the operation station or from the operation station to the transfer line and/or buffer location.

30. The workstation of claim 29, wherein: the workstation further comprises a conveyor extending from the first side to the second side; the moving assembly is configured to drive the second bearing assembly to move to a position corresponding to the conveying device so as to transfer the container on the second bearing assembly to the conveying device; or transferring the container on the conveyor to the second carrier assembly;

the transfer device is configured for transferring containers from the first side to the second side, for transferring containers to or from a conveyor line, buffer station or operating station located at the second side to the first side.

31. The workstation of claim 30, wherein: the conveyor is positioned above the mobile vehicle docking station, and the moving assembly is configured to drive the first bearing assembly and/or the second bearing assembly to move to a position corresponding to the conveyor so as to transfer a container positioned on the conveyor onto the first bearing assembly and/or the second bearing assembly; or transferring the container on the first carrier assembly and/or the second carrier assembly to the conveying device.

32. The workstation of claim 30, wherein: the mobile vehicle dock has a first end and a second end, the first end and the second end being located at opposite ends of the mobile vehicle dock, respectively;

33. The workstation of claim 32, wherein: the mobile carrier is configured to enter from the first end and exit from the second end.

34. The workstation of claim 30, wherein: the mobile vehicle dock has a first end and a second end, the first end and the second end being located at opposite ends of the mobile vehicle dock, respectively; the mobile carrier is configured to enter from the first end and exit from the first end.

35. The workstation of claim 34, wherein: the conveyor is a stationary conveyor line disposed at the second end.

36. The workstation according to claim 1, characterized in that: further comprising visual detection means configured for detecting the type and/or amount of articles in the container.

37. The workstation of claim 1, wherein: the mobile vehicle parking space further comprises a positioning mechanism, wherein the positioning mechanism is arranged in the mobile vehicle parking space and is configured to position and/or limit the position of the mobile vehicle in the mobile vehicle parking space.

38. A container handling system, characterized by: the container handling system comprising a server, at least one automated handling apparatus and at least one workstation according to any of claims 1 to 37;

the server is configured to send a conveying instruction to the automatic conveying equipment and send a shelf-off operation instruction to the workstation;

the moving assembly in the workstation is configured to drive the first pushing assembly and the first bearing assembly to move to respective target positions respectively based on the undercarriage operation instruction;