A cargo box hooking device and its control method

Abstract

This invention relates to a cargo box hooking device and its control method, comprising: a base, rotatably and vertically mounted; a sliding telescopic device mounted on the base, including multi-stage slide rails arranged along the length of the base and a first drive mechanism for driving the multi-stage slide rails to extend and retract relative to a mobile cabinet; wherein, in the fully extended state, the first-stage slide rail is located at the foremost point in the telescopic direction; a hooking mechanism slidably connected to the first-stage slide rail, including a lifting bracket, on which a hook is slidably connected, the hook being driven to move up and down along the lifting bracket by a second drive mechanism; a positioning device for locating the target cargo box and identifying its position and orientation in three-dimensional space; and a controller for adjusting the hooking action based on information fed back from the positioning device. The above solution can adapt to the retrieval needs of deeper storage locations and maintain the stability of the hooking structure during the hooking process.

Description

Technical Field

[0001] This invention relates to the field of intelligent warehousing system technology, and in particular to a cargo box hooking device and its control method. Background Technology

[0002] With the development of the logistics industry, handling robots are gradually being applied to cargo handling, which can improve the efficiency of cargo handling; therefore, handling robots have become a research hotspot in the logistics industry.

[0003] Based on their cargo retrieval methods, material handling robots can be categorized into clamping, lifting, and side-hooking retrieval mechanisms. Clamping and side-hooking robots have two extendable arms on either side of the cargo box, requiring space between adjacent cargo boxes for the arms to insert and for the clamping arms to move towards each other, thus wasting lateral storage space on the rack. Lifting robots insert their forks into the bottom of the cargo box, requiring space between the bottom of the cargo box and the rack for the forks to insert, as well as space above the cargo box for movement, wasting vertical storage space on the rack. Furthermore, current cargo retrieval mechanisms can only retrieve cargo boxes up to double-deep (i.e., the depth of two rows of cargo boxes), failing to meet the retrieval needs of deeper storage locations, resulting in underutilization of warehouse vertical space. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a cargo box hooking device and its control method, which can improve the picking depth and warehouse storage efficiency while reducing the space occupied in operation.

[0005] A cargo box hooking device, comprising:

[0006] The base is rotatable and height-adjustable.

[0007] A sliding telescopic device is mounted on a base and includes a multi-stage slide rail arranged along the length of the base and a first drive mechanism that drives the multi-stage slide rail to extend and retract relative to the mobile cabinet; wherein, in the fully extended state, the first-stage slide rail is located at the foremost end in the extension and retraction direction.

[0008] The hooking mechanism is slidably connected to the first-stage slide rail and includes a lifting bracket. A hook is slidably connected to the lifting bracket. The hook is driven by a second driving mechanism to move up and down along the lifting bracket.

[0009] A positioning device for locating a target cargo box and identifying its position and orientation in three-dimensional space;

[0010] The controller adjusts the hooking action based on the information fed back by the positioning device.

[0011] The above solution, through the extension and retraction of multi-stage sliding rails, allows the device to reach deep into the shelving to retrieve goods, expanding the retrieval depth and overcoming the limitation of existing technologies that only support double-deep storage boxes. The height and angle of the base are adjustable, facilitating precise alignment of the box and adapting to shelving storage positions of varying heights, while ensuring smooth entry of the sliding telescopic device into the depths of the shelving. The hook achieves stable lifting and lowering via a lifting bracket, maintaining structural stability even when dragging heavy boxes and reducing the risk of mechanical vibration or displacement. The positioning device and controller work together, using three-dimensional spatial positioning and real-time feedback to dynamically adjust the hooking action, improving retrieval accuracy and success rate while minimizing manual intervention.

[0012] Preferably, the positioning device includes a code reader for locating the cargo box and identifying its information by scanning the coded information on the cargo box.

[0013] By scanning the cargo box's coding information (such as QR codes or barcodes), the location and attributes of the target cargo box can be quickly determined, and the identified cargo box information can be linked with the warehouse management system to achieve automated recording and tracking of cargo box information.

[0014] Preferably, the positioning device includes a laser sensor for identifying the position and orientation of the cargo container. The laser sensor can accurately acquire the outline of the cargo container, adapting to complex scenarios such as tilted or stacked containers, ensuring precise adaptation of the hooking action. Based on the information fed back from the laser sensor, the extension and retraction length of the sliding telescopic device and the lifting and lowering height of the hook can be controlled for hooking actions.

[0015] Preferably, the first drive mechanism of the sliding telescopic device includes a drive motor and a synchronous belt assembly that is driveably connected to the drive motor. Synchronous belt drive features low noise and high synchronization, ensuring the smoothness of the multi-stage slide rail telescopic movement. Furthermore, with the cooperation of the synchronous belt assembly, a single drive motor can drive multiple slide rail assemblies, reducing structural complexity and cost.

[0016] Preferably, the multi-level slide rail includes a first-level slide rail, a second-level slide rail, and a third-level slide rail. The hooking device is slidably mounted on the first-level slide rail. The first-level slide rail and the second-level slide rail are connected by a first synchronous belt assembly; the second-level slide rail and the third-level slide rail are connected by a second synchronous belt assembly. The second synchronous belt is driven to rotate by a first drive motor, and the second synchronous belt is linked with the first synchronous belt. Through the linkage design of the synchronous belt assembly, the coordinated extension and retraction of the multi-level slide rails are achieved, expanding the retrieval depth. Dividing the multi-level slide rail into a three-level structure can adapt to most shelf depths, and by adjusting the length of each level, the overall structure can be made more stable. The nested layout of the multi-level slide rails results in a small volume when retracted, reducing the space occupied by the device and improving the flexibility of warehouse layout.

[0017] Preferably, the second-stage slide rail includes a first transverse connecting seat located at the rear end of the movement direction and a second transverse connecting seat located at the front end of the movement direction. The first transverse connecting seat is fixed to the second synchronous belt, and a synchronous pulley on one side of the first synchronous belt is provided on the first transverse connecting seat. The synchronous pulley on the other side of the first synchronous belt is mounted on the second transverse connecting seat. The first-stage slide rail is fixed to the first synchronous belt, and the other end of the first synchronous belt is fixed to the base or the third-stage guide rail. By rationally distributing the positions of the synchronous pulleys through the transverse connecting seats, the space occupied by the transmission components is reduced, and a structure in which the first and second synchronous belts are driven by the same drive motor is achieved.

[0018] Preferably, the hooking device is driven by a third drive mechanism to move along the first-stage slide rail. The third drive mechanism includes a third drive motor and a gear and rack assembly. The third drive motor and the hooking device are mounted on the same slider, which is slidably connected to the first-stage slide rail. The rack is arranged along the first-stage slide rail, and the gear meshes with the rack and is driven to rotate by the third drive motor. The gear and rack transmission features high precision and high rigidity, ensuring the positional accuracy of the hooking mechanism as it moves along the first-stage slide rail. The gear and rack structure can withstand large loads, making it suitable for handling heavy cargo boxes, and the transmission structure is simple.

[0019] Preferably, when the multi-stage slide rail is fully extended, it can at least partially conform to the bottom surface of the target cargo box storage location on the shelf. This conforming design can distribute the impact force of the cargo box's weight on the slide rail, making its movement more stable when it retracts the cargo box.

[0020] Preferably, the rear of the first-stage slide rail is provided with a buffer block facing the cargo box. The buffer block can absorb impact energy when the cargo box retracts or there is a positioning error, preventing the cargo box from colliding hard with the slide rail and extending the service life of the device.

[0021] The present invention also provides a control method for a cargo box hooking device, comprising a cargo box hooking device as described in any of the preceding claims, the method comprising the following steps:

[0022] The control box hooking device moves to one side of the shelf, and the sliding telescopic device is in the retracted state;

[0023] When the target container is deep in the shelf, the sliding telescopic device that controls the container hook device to rise to it can enter the shelf.

[0024] The hooking mechanism is controlled to move to the front end of the first-stage slide rail, and the extension length of the sliding telescopic device is adjusted according to the position and orientation of the target cargo box in three-dimensional space.

[0025] After the sliding telescopic device drives the hooking mechanism to move to one side of the target cargo box, it controls the hook to rise to establish a connection with the connecting part of the target cargo box, and then the sliding telescopic device retracts to drive the target cargo box.

[0026] When the target box is at the shelf opening, control the box hook device to descend until the upper surface of its sliding telescopic device is aligned with the bottom surface of the target box storage position, and adjust the height of the hook to re-establish connection with the connection part of the target box.

[0027] The hook mechanism moves the cargo box onto the first-stage slide rail.

[0028] The above method, by dynamically adjusting the device height, slide rail extension length, and hook position, can adapt to the needs of retrieving boxes from different locations within the shelving, whether deep, shallow, or at openings. When retrieving boxes from deep storage locations, step-by-step control ensures a smooth and seamless retrieval process, reducing the risk of box shaking or falling, ensuring handling safety and efficiency, and optimizing the control flow. Combined with feedback information from the positioning device, it achieves fully automated control, reducing the need for manual intervention and making it suitable for high-density intelligent warehousing systems. Attached Figure Description

[0029] Figure 1 This is a structural schematic diagram of the present application (multi-stage slide rail extended state);

[0030] Figure 2 This is a schematic diagram of the base structure;

[0031] Figure 3 for Figure 1 Structural diagram after the base is hidden;

[0032] Figure 4 for Figure 3 A structural diagram from another angle;

[0033] Figure 5 for Figure 1 Enlarged view of point A in the image.

[0034] Figure label:

[0035] Base 1, surrounding panels 11

[0036] The sliding telescopic device 2 includes a first-stage slide rail 21, a buffer block 22, a second-stage slide rail 22, a first transverse connecting seat 221, a second transverse connecting seat 222, a third-stage slide rail 23, a rack 231, a first drive mechanism 24, a first drive motor 241, a first synchronous belt 242, and a second synchronous belt 243.

[0037] The components include: hook device 3, hook 31, third drive mechanism 32, second drive mechanism 33, lifting bracket 34, and movable base 35.

[0038] Code reading device 41, laser sensor 42. Detailed Implementation

[0039] The embodiments of the present invention are described in detail below.

[0040] Example 1:

[0041] This embodiment provides a cargo box hooking device, such as Figure 1-4 As shown, the cargo box hooking device includes a base 1; a sliding telescopic device 2 is provided on the base 1, wherein, in the fully extended state, the first-stage slide rail 21 is located at the foremost end in the telescopic direction; the hooking mechanism 3 is slidably connected to the first-stage slide rail 21, including a lifting bracket 34, and a hook 31 is slidably connected on the lifting bracket 34, the hook 31 being driven by the second driving mechanism 33 to move up and down along the lifting bracket 34.

[0042] In one embodiment, the base 1 is rotatable and liftable. Specifically, the bottom of the base 1 is mounted on a mounting base via crossed roller bearings. The mounting base is slidably and liftably mounted on the gantry. This structure enables the base 1 to be rotatable and liftable, allowing it to move to the side of the shelf where the target cargo box is located, preparing for subsequent retrieval of the target cargo box. In other embodiments, the base 1 can also be rotatable and liftable via other structures.

[0043] like Figure 3 As shown, in this embodiment, the base 1 includes a base plate and a surrounding plate 11 arranged circumferentially around the base plate. The base 1 opens to the front, and the surrounding plate 11 is inclined at the opening end towards the direction of widening the opening, facilitating the entry of the cargo box into the base 1. Along the length of the base 1, the width of the surrounding plate 11 and the base 1 narrows at the rear. The wider front portion is used to accommodate the target cargo box, while the narrower rear portion houses the retractable hook mechanism on the first-stage slide rail. Furthermore, the narrower rear portion houses the drive motor 241 for driving the extension and retraction of the first drive mechanism 24 of the sliding telescopic device 2. This effectively separates the drive device and the cargo box, preventing the cargo box from colliding with the hook mechanism and drive motor 241 due to excessive movement. The retractable rear structure also reduces the overall volume of the base 1, minimizing its overall space occupation.

[0044] Combination Figure 3 and Figure 4 The sliding telescopic device 2 includes a multi-stage slide rail (first-stage slide rail 21, second-stage slide rail 22, and third-stage slide rail 23) arranged along the length of the base 1, and a first drive mechanism 24 for driving the multi-stage slide rails to extend and retract relative to the mobile cabinet. In the fully extended state, the first-stage slide rail 21 is located at the foremost point in the extension direction. By adjusting the extension length of the multi-stage slide rails, goods can be retrieved from both deep and shallow storage locations on the shelf. The first drive mechanism 24 of the sliding telescopic device 2 includes a drive motor 241 and a synchronous belt assembly (first synchronous belt 242 and second synchronous belt 243) connected to the drive motor 241. The synchronous belt drive structure is simple and simplifies control.

[0045] In this embodiment, the multi-stage slide rail includes a first-stage slide rail 21, a second-stage slide rail 22, and a third-stage slide rail 23. The hooking device 3 is slidably mounted on the first-stage slide rail 21. The first-stage slide rail 21 and the second-stage slide rail 22 are connected by a first synchronous belt assembly; the second-stage slide rail 22 and the third-stage slide rail 23 are connected by a second synchronous belt assembly. The second synchronous belt 243 is driven to rotate by a first drive motor 241, and the second synchronous belt 243 is linked with the first synchronous belt 242. In this embodiment, the multi-stage slide rails are nested, resulting in a small overall space occupied after retraction. Furthermore, a positioning sensor is provided to control the maximum extension and retraction position of each stage of the slide rail. The structure and working principle of the positioning sensor are conventional techniques in this field and will not be described in detail here.

[0046] like Figure 4 As shown, the second-stage slide rail 22 includes a first transverse connecting seat 221 disposed at the rear end of the movement direction and a second transverse connecting seat 222 disposed at the front end of the movement direction. The first transverse connecting seat 221 is fixed to the second synchronous belt 243, and a synchronous pulley on one side of the first synchronous belt 242 is provided on the first transverse connecting seat 221. The synchronous pulley on the other side of the first synchronous belt 242 is mounted on the second transverse connecting seat 222. The first-stage slide rail 21 is fixed to the first synchronous belt 242, and the other end of the first synchronous belt 242 is fixed to the base 1 or the third-stage slide rail 23. In this embodiment, the second synchronous belt 243 is arranged along the centerline of the third-stage slide rail 23. In the multi-stage slide rail retracted state, a pair of first synchronous belts 242 are located on both sides of the width direction of the first synchronous belt 242 to avoid mutual interference between the synchronous belts in the multi-stage slide rail retracted state. Furthermore, a pair of first synchronous belts 242 are used to connect the first-stage slide rail 21 further forward in the movement direction, making its movement more stable. In this embodiment, the third-level slide rail 23 is fixed on the base 1, and the second-level slide rail 22 and the third-level slide rail 23 can extend forward relative to the third-level slide rail 23, so that the sliding telescopic device 2 can extend forward relative to the base 1 and enter the depth of the shelf storage location.

[0047] In a preferred embodiment, when the multi-stage slide rails are fully extended, they can at least partially conform to the bottom surface of the target box storage location on the shelf. This conformal design disperses the impact force of the box's weight on the slide rails, making their movement more stable when retracting the box.

[0048] Combination Figure 5As shown, the hooking mechanism 3 is slidably connected to the first-stage slide rail 21 via a slider, and can move back and forth along the first-stage slide rail 21. In this embodiment, the hooking device 3 is driven by a third drive mechanism 32 to move along the first-stage slide rail 21. The third drive mechanism 32 includes a third drive motor and a gear and rack assembly. The third drive motor and the hooking device 3 are mounted on the same slider, which is slidably connected to the first-stage slide rail 21. The rack 231 is arranged along the first-stage slide rail 21, and the gear meshes with the rack 231 and is driven to rotate by the third drive motor. The gear and rack transmission has the characteristics of high precision and high rigidity, ensuring the positional accuracy of the hooking mechanism 3 when moving along the first-stage slide rail 21; the gear and rack structure can withstand a large load, making it suitable for handling heavy cargo boxes, and the transmission structure is simple.

[0049] After the cargo box, carried by the hook mechanism 3, is moved onto the first-stage slide rail 21, the sliding telescopic device 2 retracts and moves it onto the base 1. In this embodiment, as... Figure 1 As shown, the rear of the first-stage slide rail 21 is provided with a buffer block 22 facing the cargo box. The buffer block 22 can absorb impact energy when the cargo box retracts or there is a positioning error, preventing the cargo box from colliding hard with the slide rail.

[0050] The hooking mechanism 3 includes a lifting bracket 34, on which a hook 31 is slidably connected. The hook 31 is driven by a second driving mechanism 33 to move up and down along the lifting bracket 34. Figure 5 As shown, in this embodiment, the hook 31 is slidably connected to the lifting bracket 34 via a movable seat 35. The movable seat 35 includes a hook connecting part located on the front side of the lifting bracket 34 and a lifting connecting part located on the upper end of the lifting bracket 34. The hook 31 is installed on the front side of the hook connecting part, and the hook 31 is positioned close to the lower end of the lifting bracket 34. When it moves to the side of the target cargo box, the hook 31 can move up and down against the side of the cargo box. Thus, after the foremost hook 31 is close to the target cargo box, it can have a large vertical lifting distance, which is convenient for establishing a connection with cargo boxes of different sizes. The movable seat 35 is lowered by the lifting connecting part cooperating with the upper end of the lifting bracket 34. The second drive mechanism 33 is located on the rear side of the lifting bracket 34, and its output end is connected to the lifting connecting part, driving the movable seat 35 to move the hook 31 up and down. In this embodiment, the hook 31 is L-shaped with its orientation facing upwards. By moving up and down, it can connect or disconnect with the cargo box hooking part, and the structure is simple.

[0051] Preferably, in this embodiment, the second drive mechanism 33 includes a second drive motor, the motor shaft of which is arranged along the lifting direction of the hook 31. The output end of the second drive motor drives the lifting bracket 34 to lift after being reversed by the ball screw assembly, resulting in a compact structure.

[0052] To achieve automated control of the cargo box hooking device, the cargo box hooking device also includes a positioning device and a controller. The positioning device is used to identify and locate the target cargo box and determine its position and posture in three-dimensional space; the controller adjusts the hooking action based on the information fed back by the positioning device.

[0053] In one specific embodiment, the positioning device includes a barcode reader 41, used to locate and identify the cargo box by scanning the coded information on the cargo box. The barcode reader 41 can be a QR code recognition device, with a QR code containing material information provided on the cargo box or a storage location on the shelf. The QR code is positioned facing outwards from the shelf, allowing the barcode reader 41 to determine the cargo box information and identify the target cargo box. In this embodiment, the barcode reader 41 is located at the front end of the base 1, below the extended slide rails when the multi-stage slide rails are extended.

[0054] The positioning device also includes a laser sensor 42 for identifying the three-dimensional spatial position and orientation of the cargo box. The laser sensor 42 can identify the outline of the cargo box, adapting to complex scenarios such as tilted or stacked cargo boxes, ensuring precise adaptation of the hooking action. Based on the information fed back by the laser sensor 42, the extension and retraction length of the sliding telescopic device 2 and the lifting and lowering height of the hook 31 can be controlled for hooking actions. In a specific embodiment, the laser sensor 42 can be a 2D laser sensor or a 3D laser sensor 42. The specific implementation of laser sensors identifying the position and orientation of objects in space is a conventional technical means in the field of automatic pathfinding, and will not be described in detail here. In this embodiment, the laser sensor 42 is located at the front end of the hooking device 3. In a specific embodiment, the laser sensor 42 is mounted on the lifting bracket 34, located at the lower end of the hook 31.

[0055] Example 2:

[0056] This embodiment provides a control method for a cargo box hooking device, including the cargo box hooking device described in Embodiment 1. The method includes the following steps:

[0057] The control box hooking device moves to one side of the shelf, and the sliding telescopic device 2 is in the retracted state.

[0058] In this step, the barcode reader 41 identifies the cargo box information, and the laser sensor 42 identifies the outline and posture of the cargo box. By combining the above information, the target cargo box can be automatically located, and the cargo box hooking device can be controlled to move to one side of the shelf. To ensure the stability of the cargo box hooking device during movement, the sliding telescopic device 2 is in a retracted state during the movement of the base 1.

[0059] When the target container is deep in the shelf, the sliding telescopic device 2, which controls the container hook device to rise above it, can enter the shelf.

[0060] The hooking mechanism 3 is controlled to move to the front end of the first-stage slide rail 21, and the extension length of the sliding telescopic device 2 is adjusted according to the position and posture of the target cargo box in three-dimensional space.

[0061] After the sliding telescopic device 2 drives the hooking mechanism 3 to move to one side of the target cargo box, it controls the hook 31 to rise to establish a connection with the connection part of the target cargo box, and then the sliding telescopic device 2 retracts to drive the target cargo box.

[0062] When the target box is at the shelf opening, control the box hook device to descend until the upper surface of its sliding telescopic device 2 is aligned with the bottom surface of the target box storage position, and adjust the height of the hook 31 until it re-establishes a connection with the connection part of the target box.

[0063] The hook mechanism 3 moves the cargo box onto the first-stage slide rail 21 until it retracts to the predetermined position.

[0064] Understandably, for boxes located in shallow or open areas, it is not necessary to extend multi-stage slide rails. Simply move the hook device 3 to the front end of the first-stage slide rail 21, and then control the hook 31 to rise and fall to connect with the box. Directly execute the steps described above: when the target box is at the shelf opening, control the box hook device to descend until the upper surface of its sliding telescopic device 2 is aligned with the bottom surface of the target box storage position, and adjust the height of the hook 31 to re-establish a connection with the target box.

[0065] Therefore, by dynamically adjusting the device height, slide rail extension length, and hook 31 position using the above method, it can adapt to the needs of retrieving boxes from different locations in the depth, shallow layer, or opening of the shelf. When retrieving boxes from deep storage locations, step-by-step control ensures a smooth transition during the retrieval process, reducing the risk of box shaking or falling, ensuring handling safety and efficiency, and optimizing the control process. Combined with feedback information from the positioning device, it achieves fully automated control of the entire process, reducing the need for manual intervention and making it suitable for high-density intelligent warehousing systems. Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A control method for a cargo box hooking device, characterized in that, The cargo box hooking device includes: The base is rotatable and height-adjustable. A sliding telescopic device is mounted on a base and includes a multi-stage slide rail arranged along the length of the base and a first drive mechanism for driving the multi-stage slide rail to extend and retract relative to the mobile cabinet; wherein, the multi-stage slide rail includes a first-stage slide rail, a second-stage slide rail and a third-stage slide rail, and in the fully extended state, the first-stage slide rail is located at the foremost end in the extension and retraction direction; The hooking mechanism is slidably connected to the first-stage slide rail and includes a lifting bracket. A hook is slidably connected to the lifting bracket, and the hook is driven by a second driving mechanism to move up and down along the lifting bracket. A positioning device is used to identify and locate a target cargo box, and determine the position and orientation of the target cargo box in three-dimensional space. The controller adjusts the hooking action based on the information fed back by the positioning device; The method includes the following steps: The control box hooking device moves to one side of the shelf, and the sliding telescopic device is in the retracted state; When the target container is deep in the shelf, the sliding telescopic device that controls the container hook device to rise to it can enter the shelf. The hooking mechanism is controlled to move to the front end of the first-stage slide rail, and the extension length of the sliding telescopic device is adjusted according to the position and orientation of the target cargo box in three-dimensional space. After the sliding telescopic device drives the hooking mechanism to move to one side of the target box, it controls the hook to rise to establish a connection with the connecting part of the target box. Then the sliding telescopic device retracts and drives the target box to move towards the shelf opening. When the target box is at the shelf opening, control the box hook device to descend until the upper surface of its sliding telescopic device is aligned with the bottom surface of the target box storage position, and adjust the height of the hook to re-establish connection with the connection part of the target box. The hook mechanism moves the cargo box onto the first-level slide rail, so that the upper surface of the first-level slide rail directly supports the target cargo box.

2. The control method for a cargo box hooking device according to claim 1, characterized in that, The positioning device includes a barcode reader, which is used to locate the cargo box and identify its information by scanning the coded information on the cargo box.

3. A control method for a cargo box hooking device according to claim 1 or 2, characterized in that, The positioning device includes a laser sensor for identifying the position and orientation of the cargo box.

4. The control method for a cargo box hooking device according to claim 1, characterized in that, The first drive mechanism of the sliding telescopic device includes a drive motor and a synchronous belt assembly that is connected to the drive motor for transmission.

5. The control method for a cargo box hooking device according to claim 4, characterized in that, The first-stage slide rail and the second-stage slide rail are connected by a first synchronous belt assembly; the second-stage slide rail and the third-stage slide rail are connected by a second synchronous belt assembly. The second synchronous belt is driven to rotate by a first drive motor, and the second synchronous belt is linked with the first synchronous belt.

6. The control method for a cargo box hooking device according to claim 5, characterized in that, The second-stage slide rail includes a first transverse connecting seat disposed at the rear end of the movement direction and a second transverse connecting seat disposed at the front end of the movement direction; the first transverse connecting seat is fixed to the second synchronous belt, and a synchronous pulley on one side of the first synchronous belt is provided on the first transverse connecting seat; the synchronous pulley on the other side of the first synchronous belt is installed on the second transverse connecting seat, the first-stage slide rail is fixed to the first synchronous belt, and the other end of the first synchronous belt is fixed to the base or the third-stage guide rail.

7. The control method for a cargo box hooking device according to claim 1, characterized in that, The hooking device is driven by a third drive mechanism to move along the first-stage slide rail. The third drive mechanism includes a third drive motor and a gear and rack assembly. The third drive motor and the hooking device are mounted on the same slider. The slider is slidably connected to the first-stage slide rail. The rack is set along the first-stage slide rail. The gear meshes with the rack and is driven to rotate by the third drive motor.

8. The control method for a cargo box hooking device according to claim 1, characterized in that, When the multi-stage slide rail is fully extended, it can at least partially conform to the bottom surface of the target cargo box storage location on the shelf.

9. The control method for a cargo box hooking device according to claim 1, characterized in that, The rear of the first-stage slide rail is provided with a buffer block facing the cargo box.

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