Cargo handling device

Abstract

To provide a cargo handling device that improves workability and reduces the power consumption of remote control devices.SOLUTION: There is provided a cargo handling device 1, which is composed of a main device 2 and a remote control device 9 that remotely controls the main device 2, and which moves a cargo 7 hooked to the main device 2 by using power within the main device 2. The remote control device 9 includes an alarm unit 26 that alarms the operating state of the main device 2, and a remote control device control unit 20 that transmits an operation command signal to the main device 2. The main device 2 includes a main device control unit 10 that receives the operation command signal from the remote control device control unit 20 and controls the lifting and lowering of the cargo 7. The main device control unit 10 transmits a status signal indicating the operating state of the main device 2 in a transmission signal to the remote control device 9 having a predetermined communication interval, and the remote control device 9 alarms the operating state of the main device 2 with the alarm unit 26.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a loading device used in manufacturing assembly, transportation, and the like in the manufacturing field, and relates to a loading device that moves up and down by a motor when lifting or lowering a loading object, for example. [Background technology]

[0002] In the past, in factories where industrial products are assembled, loading devices have been used that suspend heavy loads such as tools, work equipment, finished products, and semi-finished products and move them up and down. Among these loading devices, there are loading devices that generate assisting force to create a balanced state for heavy loads and allow the user to move the load up and down to any height with a light operating force. Loading devices that generate such assisting force use a motor to create a balanced state and apply a small operating force to the load to move it smoothly, so unlike devices that simply use an electric motor to move up and down, they are configured to detect the load of the load and the operating force applied thereto, for example, with a load detector and perform fine balance control with an AC servo motor connected to a rotation angle detector.

[0003] There is a demand for such cargo handling equipment to be remotely controlled by radio. In particular, cargo handling equipment that uses a link chain to raise and lower cargo can easily be raised to a high lifting height, so the range of work can be expanded by installing it at a high place and operating it wirelessly. Technology for wirelessly remotely controlling equipment that performs work is disclosed in, for example, Patent Document 1. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-119550 A Summary of the Invention [Problem to be solved by the invention]

[0005] When operating such a loading and unloading device, workers may rely on a buzzer or a light-emitting display provided on the loading and unloading device to perform their work. However, if the loading and unloading device is installed at a high place, the light emitted by the display is not highly visible, and if the working environment is noisy, the sound emitted from the loading and unloading device may be difficult to hear. Therefore, even if a sound-emitting element is built into a wireless remote control device, known as a remote control, to make the sound easier to hear, there is a demand for reducing the power consumption of the remote control, since the remote control is usually battery-powered, to reduce the frequency of battery replacement and charging of the built-in secondary battery.

[0006] In view of the above problems, an object of the present invention is to improve the workability and reduce the power consumption of a loading and unloading device including a wireless remote control device. [Means for solving the problem]

[0007] The loading and unloading device of the present invention comprises: A cargo handling device that is composed of a main device and a remote control device that remotely controls the main device, and that moves a cargo held by the main device using a power source within the main device, The remote control device includes a notification unit that notifies an operating state of the main device, and a remote control device control unit that transmits an operation command signal to the main device; The main unit includes a main unit control unit that receives an operation command signal from the remote control unit and controls lifting and lowering of the cargo. the main unit control unit transmits a status signal indicating an operating status of the main unit to the remote control unit at a predetermined communication interval by including the status signal in a transmission signal; The remote control device notifies the operating state of the main device by means of the notification section.

[0008] The notification unit notifies the operating state of the main unit by voice or buzzer sound.

[0009] The status signal also includes a combination of commands to start, stop and repeat the voice or buzzer sound. Effect of the Invention

[0010] According to the loading and unloading apparatus of the present invention, the power consumption of the remote control device can be reduced, thereby reducing the number of times the battery needs to be replaced or charged, thereby improving workability and facilitating management of the apparatus. [Brief description of the drawings]

[0011] [Figure 1] 1 is a perspective view of an entire loading / unloading apparatus according to an embodiment of the present invention; [Diagram 2] 1 is a perspective view of a main body of a cargo handling apparatus according to an embodiment of the present invention, with a portion thereof omitted, and an enlarged perspective view of a wireless remote control device; [Diagram 3] FIG. 2 is a block diagram of an electronic circuit of the loading / unloading apparatus according to the embodiment of the present invention. [Figure 4] 5 is a diagram showing transmission data transmitted from a main body device of the loading / unloading apparatus according to the embodiment of the present invention. FIG. [Diagram 5] 5 is a time chart showing transmission data transmitted from a main body device of the cargo handling apparatus according to the embodiment of the present invention and a notification state of a wireless remote control device. [Figure 6] 4A to 4C are diagrams showing communication between a main body device and a wireless remote control device of a loading / unloading apparatus according to an embodiment of the present invention, and a time chart showing transmission data transmitted from the main body device and a notification state of the wireless remote control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] A cargo handling apparatus according to an embodiment of the present invention will be described in detail below with reference to the drawings. Fig. 1 is a perspective view of the overall configuration of a cargo handling apparatus according to an embodiment of the present invention.

[0013] The cargo handling device 1 is configured to include a main device 2, a cargo handling object hanging hook 5, and a remote control device 9. The main device 2 raises and lowers a cargo handling object 7. The cargo handling object hanging hook 5 is connected to the lower part of a link chain 4 extending vertically downward from the main device 2. The remote control device 9 is a so-called remote control for remotely operating the main device 2. A main device hanging hook 3 is provided on the top surface of the main device 2, and the main device 2 can be used by hanging it from a structure 8 such as a beam of a building.

[0014] The locking member 6 is a member that is connected to the cargo handling object suspending hook 5 provided at one end of the link chain 4 to lock the cargo handling object 7. In this embodiment, the cargo handling object 7 is, for example, a container with a flange on the edge of the top part and a part contained therein. The locking member 6 is composed of a member with a substantially U-shaped cross section that is locked to the flange of the cargo handling object 7 and a member that is connected to the cargo handling object suspending hook 5 in order to move the cargo handling object 7. In FIG. 1, the main device 2 pays out the link chain 4 to move the locking member 6 vertically downward to ground the cargo handling object 7 on the floor surface, and by further moving vertically downward, the bent tip of the locking member 6 separates from the flange of the cargo handling object 7. Then, the worker moves the locking member 6 horizontally to release the cargo handling object 7.

[0015] FIG. 2 is a perspective view of the main body 2 of the cargo handling apparatus according to the embodiment of the present invention, with a portion thereof omitted, and an enlarged perspective view of the remote control device 9. FIG.

[0016] The main body device 2 has a cover, and inside it are housed a main body device control unit 10, a motor unit 11, a lifting operation unit 16, a weight detection unit 12, and the like.

[0017] The main device control unit 10 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), other storage devices and input / output devices, and controls the vertical movement of the locking member 6 in a number of operation modes via the link chain 4. Each operation mode will be described later.

[0018] A reducer is attached to the load side of a motor, which is a drive source for vertically moving the locking member 6, and together with the motor, constitutes a motor section 11. This motor is, for example, an AC servo motor.

[0019] The reducer reduces the rotational speed of the motor to a predetermined speed. The reducer is, for example, a strain wave gear reducer. The strain wave gear reducer is composed of a wave generator with an elliptical outer periphery, an elastically deformable flexspline with many external teeth formed on its outer periphery and fitted around the wave generator so that the position of the flex in the circumferential direction changes with the rotation of the wave generator, and a circular spline on the outer periphery of the flexspline with internal teeth that engage with the external teeth of the flexspline. Power is taken out and transmitted to an output shaft 15 connected to the flexspline as a rotation output. By using a reducer with a small backlash, such as a strain wave gear reducer, for example, as the reducer of this device, it is possible to eliminate uncontrollable areas during switching when the motor frequently switches between forward and reverse rotation to move up and down, and to achieve a smooth operation feel.

[0020] The output shaft 15 is a rotating shaft that outputs increased power by reducing the rotational speed of the reducer, and is connected to the lifting and lowering operating part 16 to rotate the lifting and lowering operating part 16 continuously in forward and reverse directions.

[0021] The link chain 4 is made up of oval rings, each of which is made up of a semicircular arc section and a straight section connected to it, which are alternately connected and crossed. One end of the link chain 4 is connected to the locking member 6, and the other end (the unloaded side) is stored in the chain storage section 17.

[0022] The lifting operation unit 16 includes a rotating member that rotates by the transmission of power from the motor unit 11, which is a driving source. In this embodiment, the rotating member of the lifting operation unit 16 has a hollow cylindrical shape and is connected to the output shaft 15, and winds the link chain 4 around it to wind up and unwind the link chain 4. The position where the link chain 4 is wound is approximately vertically below the main device hanging hook 3 and is located close to the center of gravity of the main device 2. The link chain 4 is fitted into a pocket groove provided in the rotating member of the lifting operation unit 16 and wound around approximately 180 degrees. In this embodiment, the link chain 4 is used as the link to the locking member 6 and wound around the lifting operation unit 16, but this is not limited to this and a wire rope may also be used. When a wire rope is used, the lifting operation unit 16 is drum-shaped and one end of the wire rope is fixed and wound around the rotating member.

[0023] A position detector 13 that detects the rotation angle position of the motor is connected to the motor unit 11 on the anti-load side of the motor unit 11. The position detector 13 is a so-called absolute encoder that optically detects the rotation angle position of the motor and outputs a position value. Therefore, this position detector 13 can detect the extension position of the locking member 6, i.e., the lifting position.

[0024] The weight detection unit 12 is equipped with a strain body that elastically deforms and a strain gauge attached to the strain body so that it can detect the force transmitted from the link chain 4 wound around the lifting / lowering operation unit 16 as a reaction force. The strain gauge is incorporated in a Wheatstone bridge circuit that converts the strain generated in the strain body according to the weight into an electric signal, and the weight detection unit 12 detects the weight applied to the lifting / lowering operation unit 16 and outputs the weight value.

[0025] A main device control unit 10 is disposed near the lifting and lowering operation unit 16 inside the main device 2. The main device control unit 10 controls the motor unit 11 based on a position value from a position detection unit 13 and a weight value from a weight detection unit 12. An electrical component unit related to the main device control unit 10 is disposed inside a cover so that the main device 2 can be used in places where it is exposed to powder or water droplets.

[0026] In this embodiment, the position detector 13 is disposed on the anti-load side of the motor unit 11, but this is not limiting, and it may be provided on the output shaft 15 which is the output of the reducer, on the lifting operation unit 16, or on both. Furthermore, it is not limited to the optical type, and may be a magnetic type, a capacitance type, or the like.

[0027] Furthermore, the weight detection unit 12 only needs to be able to detect the weight applied to the lifting / lowering operation unit 16, and may be of a rotary type structure that detects torque from the twist of a rotating shaft provided between the reducer and the lifting / lowering operation unit 16, or of a drum-shaped type that detects the reaction force received by the motor unit 11. Furthermore, the weight detection unit 12 is not limited to the strain gauge type, and may be of a capacitance type or the like.

[0028] A main device transceiver 14 is disposed alongside the circuit board of the main device control unit 10. The main device transceiver 14 has electronic circuitry for communicating with the remote control device 9 wirelessly.

[0029] The remote control device 9 is a device for remotely controlling the main device 2, and in this embodiment, communicates by radio waves. The remote control device 9 is battery-powered. The remote control device 9 has, for example, a balance button 21, a hold button 22, an up button 23, and a down button 24 as operation means.

[0030] 3 is a block diagram of an electronic circuit of a cargo handling apparatus according to an embodiment of the present invention. The cargo handling apparatus 1 includes a main body device 2 and a remote control device 9.

[0031] The main device control unit 10 controls the entire main device 2. The main device control unit 10 includes a drive circuit that drives the motor unit 11. The main device control unit 10 receives the weight value applied to the lifting / lowering actuator 16 from the weight detection unit 12, receives the position value of the rotation angle of the motor unit 11 from the position detection unit 13, and transmits and receives signals to and from the main device transceiver unit 14. The main device transceiver unit 14 and the main device control unit 10 are connected by wire, and transmit and receive signals at high speeds at extremely short time intervals.

[0032] The main device transmission / reception unit 14 wirelessly communicates with a remote control device transmission / reception unit 25 of the remote control device 9. The main device transmission / reception unit 14 and the remote control device transmission / reception unit 25 are composed of electronic circuits that perform wireless communication, and may have a transmitter and receiver that use radio waves, as well as a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc.

[0033] The remote operation device control section 20 controls the entire remote operation device 9. Upon receiving an operation command from the operation means, the remote operation device control section 20 transmits an operation command signal to the remote operation device transceiver section 25. The remote operation device transceiver section 25 then wirelessly transmits the operation command signal received from the remote operation device control section 20 to the main device transceiver section 14. The signal containing this command is provided with identification information of the remote operation device 9 that performs pairing between the remote operation device 9 and the main device 2. Note that the signals transmitted from the remote operation device transceiver section 25 include an operation command signal containing an operation command, as well as a confirmation signal transmitted to confirm whether communication with the main device transceiver section 14 has been established.

[0034] The remote control device 9 is provided with an alarm unit 26. The alarm unit 26 is a sound generator that outputs auditory information to the user in response to a command from the remote control device control unit 20 to generate an alarm. This alarm may be, for example, a buzzer sound, but is not limited to this and may be a voice sound. In response to a command from the main device 2, the remote control device control unit 20 receives a signal indicating the state of the main device 2 via the remote control device transmitting / receiving unit 25, and causes the alarm unit 26 to generate an alarm in accordance with items previously determined between the two parties.

[0035] Next, the role of each operation button, which is an operating means provided on the remote control device 9, will be described. Each operation button is, for example, a momentary switch. When the operator presses the balance button 21, the main device control unit 10 responds by starting to transition the main device 2 to the balance mode. The main device control unit 10 performs calculations based on the weight value output by the weight detection unit 12 after detecting the weight applied to the lifting / lowering actuator 16, and controls the motor unit 11 to cancel the weight applied to the lifting / lowering actuator 16 and achieve a balanced state. Therefore, when the balanced state is achieved, the main device 2 enters the balance mode.

[0036] On the other hand, when the operator presses the hold button 22, the main device control unit 10 performs calculations in response to this and controls the motor unit 11 to hold the lifting actuator 16 at the current position, i.e., to keep the lifting positions of the locking member 6 and the cargo 7 constant. Therefore, from this point on, the main device 2 is in the hold mode.

[0037] When the operator presses the up button 23 or the down button 24, the main device control unit 10 receives this and controls the motor unit 11 to raise or lower the locking member 6. While the up button 23 or the down button 24 is being pressed, the main device 2 is in the up / down mode, and the operator can continuously press the up button 23 or the down button 24 to continuously raise or lower the locking member 6 and the cargo 7 by the motor unit 11. Whether the main device 2 is in the holding mode or the balance mode, when the operator presses the up button 23 or the down button 24, it switches to the up / down mode, and when the operator releases the up button 23 or the down button 24 that was pressed, it returns to the previous operation mode.

[0038] FIG. 4 is a diagram showing an example of a transmission signal transmitted from the main unit 2 of the loading / unloading device according to the embodiment of the present invention to the remote control unit 9. The main unit transceiver 14 and the remote control unit transceiver 25 packetize information to be transmitted and communicate with each other. FIG. 4 shows the entire packet, which is a transmission signal transmitted from the main unit transceiver 14 to the remote control unit transceiver 25. The entire packet is composed of a header section, a data section, and a notification data section. The header section is composed of an identification ID of the main unit 2, a unique device number of the remote control unit 9, a time interval of wireless communication between the main unit transceiver 14 and the remote control unit transceiver 25, and the like. The header section includes transmission rate information of the data section and the notification data section, and various information required by the transmitting side and the receiving side. The data section includes data that notifies the remote control unit 9 of the state of the main unit 2. On the other hand, the notification data section includes a status signal indicating the operating status of the main unit 2, the remote operation device transmitting / receiving section 25 receives this status signal from the main unit transmitting / receiving section 14, and the remote operation device control section 20 generates an notification signal based on this status signal for the notification section 26 to notify the user. Then, the notification section 26 notifies the user by sound or voice based on the notification signal from the remote operation device control section 20.

[0039] The notification data section is, for example, a character string with a maximum number stipulated. In this embodiment, the character string is composed of numbers from 0 to 9 and English letters, but is not limited thereto. The notification data section is, for example, a character string "NBN2BN". When the main unit control section 10 transmits the notification data section included in the status signal in the format of FIG. 4 as "NBN2BN" to the remote control unit control section 20 via the main unit transmission / reception section 14 and the remote control unit transmission / reception section 25, the remote control unit control section 20 causes the notification section 26 to emit a buzzer sound based on the notification data section. Here, N is defined as the stop of the sound for unit time t, B is the sound for unit time t, and the number is defined as the number multiplied by the unit time t of the English letter immediately following it. For example, if the unit time t is 0.1 seconds, the notification data portion "NBN2BN" causes the notification unit 26 to notify in the following sequence: stop sound for 0.1 seconds, make sound for 0.1 seconds, stop sound for 0.1 seconds, make sound for 0.2 seconds, and stop sound for 0.1 seconds. That is, the status signal includes a combination of commands to start, stop, and repeat the buzzer sound.

[0040] 5(a) and 5(b) are time charts showing the transmission data transmitted from the main device control unit 10 of the main device 2 of the loading / unloading device 1 according to the embodiment of the present invention via the main device transceiver unit 14, and the state of the sound notified by the alarm unit 26 of the remote control device 9. In both of Figs. 5(a) and 5(b), the transmission signal shown in Fig. 4 is transmitted from the main device transceiver unit 14 at a communication interval T1.

[0041] In Fig. 5(a), the main unit transceiver 14 transmits the data signal of Fig. 4 including "NBN2BN" as notification data at time ta. The remote control unit transceiver 25 of the remote control unit 9 receives this data signal, and the remote control unit control section 20 controls the remote control unit transceiver 25 to issue a notification to the notification unit 26 based on this data signal. The notification unit 26 then issues a sound using "NBN2BN" based on the control of the remote control unit transceiver 25. That is, the notification unit 26 stops the sound at time t, produces a sound at time t, stops the sound at time t, produces a sound at time 2t, and stops the sound at time t, and when this sequence is completed, the sound remains stopped.

[0042] 4 including "NBNBNBNBN" as notification data at time tb. Then, the notification unit 26 issues a sound notification with "NBNBNBNBN" under the control of the remote control device transmission / reception unit 25. That is, the notification unit 26 stops the sound at time t and then sounds the sound at time t four times in total, and then stops the sound at time t, and the sound remains stopped after completing this sequence.

[0043] 4 including "N2BN" as notification data at time tc. Then, the notification unit 26 issues a sound notification with "N2BN" under the control of the remote control device transmission / reception unit 25. That is, the notification unit 26 stops the sound at time t, produces a sound at time 2t, and stops the sound at time t, and when this sequence is completed, the sound remains stopped.

[0044] In FIG. 5(b), the main unit transceiver 14 transmits the data signal of FIG. 4 including "NBNBNBNR" as the notification data at time td. The remote control transceiver 25 of the remote control device 9 receives this data signal, and the remote control device control unit 20 controls the remote control transceiver 25 to notify the notification unit 26 based on this data signal. The notification unit 26 then issues a sound notification by "NBNBNBNR" based on the control of the remote control transceiver 25. Here, the R in "NBNBNBNR" will be explained. "R" indicates a repetition, and is a command to repeatedly play the sequence of "NBNBNBN". That is, the notification unit 26 stops the sound for time t and sounds the sound for time t three times in total, and when this sequence ends, it repeats this sequence again until the remote control device control unit 20 receives the next command. If the command received by the remote control device control unit 20 next time is the same (time te), the notification unit 26 similarly repeats the same notification.

[0045] Then, when the main device transceiver unit 14 transmits the data signal of Figure 4 including "N3BN" as notification data at time tf, the remote control device control unit 20 quickly stops the current repeat playback sequence, and causes the notification unit 26 to stop the sound at time t based on "N3BN", play a sound at time 3t, and stop the sound at time t.

[0046] Fig. 6 is a diagram showing the communication operation of the loading and unloading apparatus according to the embodiment of the present invention, and shows the flow of communication between the remote operation apparatus control unit 20, the remote operation apparatus transceiver unit 25, the main unit transceiver unit 14, and the main unit control unit 10. The communication operation interval of the loading and unloading apparatus according to the embodiment of the present invention in Fig. 5 is time T1, but Fig. 6 shows a case where the communication operation interval of the loading and unloading apparatus according to the embodiment of the present invention changes from T2 to T3 midway, and this will be described.

[0047] In Fig. 6(a), the main device control unit 10 of the main device 2 is executing control in mode A. Mode A is a state in which, for example, the hold button 22 of the remote control device 9 is pressed by the user, and the locking member 6 and the cargo 7 are locked so as not to be raised or lowered. In mode A, the main device control unit 10 waits for the user to press a button other than the hold button 22 of the remote control device 9, and since it is not performing calculations related to operations related to raising and lowering, it communicates with the remote control device 9 at relatively long time intervals.

[0048] For example, when the user presses the balance button 21 of the remote control device 9, the main device control unit 10 starts the calculation related to the balancing operation described above and at the same time changes the communication interval to T3. Note that the relationship between the communication interval T2 and the communication interval T3 is established.

[0049] In Fig. 6(b), the main device control unit 10 of the main device 2 is executing control of mode A at time tg and time th, and the communication interval is in a state of T2. At this time, the main device transceiver unit 14 is transmitting the data signal of Fig. 4 including "NB5NR" as the notification data, so the notification unit 26 repeatedly executes stopping of the sound at time t, sound generation at time t, and stopping of the sound at time 5t based on "NB5NR". This is the characteristic sound in mode A of the main device control unit 10. And at time th, the main device transceiver unit 14 is also transmitting the data signal of Fig. 4 including "NB5NR" as the notification data, so the same notification continues.

[0050] Then, when the user presses the balance button 21 of the remote control device 9 between time th and time ti, the main device control unit 10 transitions to mode B without waiting for the next communication interval T2, changes the communication interval to T3, and starts communication with the remote control device control unit 20 of the remote control device 9. In mode B, the main device control unit 10 transmits a data signal including "NBNB2NR" as shown in FIG. 4. This "NBNB2NR" is the characteristic sound of the main device control unit 10 in mode B. The alarm unit 26 continues to transmit this "NBNB2NR" from the main device control unit 10 during the period from time ti to time tm. Furthermore, between time tm and time tn, the main device control unit 10 transmits a new item that the alarm unit 26 should notify, such as an abnormality, as "BR". In other words, "BR" is a continuous sound, and the alarm unit 26 continues to emit the sound until the next command to stop the sound is received.

[0051] As described above, the main device control unit 10 of the main device 2 sets the communication interval with the remote operation device 9 according to the operation mode at that time, and the data sent from the main device control unit 10 to the remote operation device control unit 20 includes the data to be notified by the notification unit 26. Therefore, instead of sending notification data to the remote operation device control unit 20 every time an event occurs that the main device control unit 10 wants to notify by the notification unit 26, the notification data is included in the status signal that is sent at the communication interval according to the operation mode at that time, so that the communication frequency can be made appropriate and the power consumption of the remote operation device 9 can be reduced. Note that the status signal in FIG. 4 may be a response to a command signal sent from the remote operation device 9 to the main device 2, but is not limited thereto, and may also notify an abnormality that has occurred in the main device 2.

[0052] In this embodiment, the sound emitted by the notification unit 26 is a buzzer sound, but this is not limited to this and may be a voice including language, etc. The pitch of the buzzer sound is not limited to one type and may include a plurality of pitches, in which case information specifying the pitch is added to the status signal.

[0053] While the present invention has been described above based on the preferred embodiment, the present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the spirit and scope of the present invention. [Industrial Applicability]

[0054] As an example of the application of the present invention, it can be applied to a loading device that assists in the movement of loading objects. [Explanation of symbols]

[0055] 1: Cargo handling equipment 2: Main unit 3: Main unit hanging hook 4: Link chain 5: Hook for hanging cargo 6: Locking member 7: Cargo handling 8: Structure 9: Remote control device 10: Main unit control section 11: Motor section 12: Weight detection unit 13: Position detection unit 14: Main unit transceiver 15: Output shaft 16: Lifting actuator 17: Chain storage section 20: Remote control device control section 21: Balance button 22: Hold button 23: Up button 24: Down button 25: Remote control device transmitter / receiver 26: Information Department

Claims

1. A cargo handling device comprising a main body and a remote control device for remotely controlling the main body, the cargo handling device moving an object held by the main body using a power source within the main body, the remote control device includes a notification unit that notifies an operating state of the main body device, and a remote control device control unit that transmits an operation command signal to the main body device; The main body includes a main body control unit that receives the operation command signal from the remote control unit and controls the lifting and lowering of the cargo object, the main unit control unit transmits a status signal indicating an operating state of the main unit to the remote control unit at a predetermined communication interval, the status signal being included in the transmission signal; The remote control device notifies the operating state of the main body device by the notification unit.

2. The loading / unloading apparatus according to claim 1 , wherein the notification unit notifies the operating state of the main body device by voice or buzzer sound.

3. 3. The loading apparatus of claim 2, wherein the status signal includes a combination of commands to start, stop and repeat a voice or buzzer sound.

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