Method for controlling the pulling of cargo on cargo shelves by cargo loading and unloading equipment

Abstract

This application discloses a control method for towing cargo on a cargo shelf using cargo loading and unloading equipment, which includes the following steps: Step S1: A cargo box towing device in the cargo loading and unloading equipment main body moves to an entrance or exit of the cargo shelf where a specified cargo box is located, and a manipulator in the cargo box towing device moves toward the specified cargo box. Step S2: A distance measuring device begins to measure the distance, and when the distance reaches a predetermined value, the fingers of the manipulator hook a handle on the outer end of the cargo box from bottom to top. Step S3: The fingers of the manipulator tow and move the cargo box outward, and the distance is monitored by the distance measuring device. Step S4: If the distance is maintained within a predetermined range, the fingers of the manipulator tow the cargo box to a predetermined position on the cargo platform of the cargo box towing device, and the fingers of the manipulator release the handle on the outer end of the cargo box, completing the cargo box towing operation. Step S5: If the distance exceeds a predetermined range and dehooking occurs, Step S6: Move the cargo loading platform of the cargo box pulling device down to a position lower than the cargo shelf partition, so that the outer end of the cargo box moves down under the action of its own weight, and the fingers of the manipulator move toward the cargo box again, and then perform Step S2 again. This application has the beneficial effect of preventing dehooking when pulling a cargo box.

Description

[Technical Field]

[0001] The present application relates to cargo loading and unloading equipment for cargo shelves.

[0002] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims priority based on a Chinese application filed with the State Intellectual Property Office of the People's Republic of China on November 10, 2022, bearing application number 202211407951.1 and entitled "Method for controlling the pulling of cargo on cargo shelves by cargo loading and unloading equipment," the entire contents of which are incorporated herein by reference. [Background technology]

[0003] Cargo shelves are used to store cargo and are characterized by their large capacity, small footprint, convenient loading and unloading, and low cost. To increase the automation of cargo loading and unloading, it is common to install independent cargo shelf loading and unloading equipment. In a Chinese application with application number CN202111124857.0 and titled "Cargo Loading and Unloading Equipment Fixed to Cargo Shelves," the cargo loading and unloading equipment is directly attached to the cargo shelf to automatically load and unload cargo. However, in actual use, the following problem exists: If the position of the cargo stored in the cargo box is off-center, the weight of the unbalanced cargo will cause the cargo box to tilt, causing the cargo box to slip off the cargo box towing hook of the cargo box towing device in the cargo shelf loading and unloading equipment and prevent it from being transported to the cargo platform of the cargo box towing device. Summary of the Invention

[0004] The present application provides a control method for pulling cargo on a cargo shelf by cargo loading / unloading equipment, which can at least prevent cargo boxes from slipping off the hooks of the manipulator.

[0005] The control method for towing cargo on a cargo shelf by a cargo loading / unloading equipment including a cargo loading / unloading equipment main body according to the present application includes the following control steps S1 to S6 when towing cargo on a cargo shelf using the cargo loading / unloading equipment main body: Step S1: The control device of the cargo loading and unloading equipment receives an instruction from the server, and according to the instruction, the cargo box pulling device of the cargo loading and unloading equipment main body moves to the entrance of the cargo shelf where the specified cargo box is located, and the manipulator of the cargo box pulling device moves toward the specified cargo box; Step S2: The distance measuring device of the cargo box pulling device starts to measure the distance between the manipulator and the cargo box. When the distance between the manipulator and the cargo box reaches a predetermined value, the fingers of the manipulator hook the handle on the outer end of the cargo box from bottom to top, and pull up the end of the handle on the cargo box so that the outer end of the bottom of the cargo box is higher than the cargo loading platform; Step S3: Pull the cargo box outward with the fingers of the manipulator, and simultaneously monitor the distance between the manipulator and the cargo box with a distance measuring device, or monitor it with a dehooking sensor attached to the manipulator and electrically connected to the control device; Step S4: If the distance between the manipulator fingers and the cargo box is maintained within a predetermined normal range, the manipulator fingers pull the cargo box to a predetermined position on the cargo platform of the cargo box pulling device, and the manipulator fingers detach from the handles on the outer end of the cargo box, completing the cargo box pulling operation. Step S5: If the distance between the manipulator finger and the cargo box exceeds a predetermined normal range, it is determined that the box is in a detached state. Step S6: The cargo platform of the cargo box pulling device is moved down to a position lower than the cargo shelf partition, the outer end of the cargo box moves down under the action of its own weight, the manipulator fingers move toward the cargo box again, and step S2 is executed again until the manipulator fingers use the manipulator fingers to pull the cargo box to the specified position on the cargo platform of the cargo box pulling device, at which point the manipulator fingers detach from the handles on the outer end of the cargo box, and the cargo box pulling operation is completed.

[0006] As an illustrative example, in step S1, the height of the cargo loading platform of the cargo box pulling device is equal to or greater than the height of the cargo shelf partition board.

[0007] As an illustrative example, when pulling a cargo box, the outer edge of the cargo box is raised up and the cargo box is pulled at an angle, causing the bottom of the cargo box to contact the cargo platform.

[0008] As an illustrative example, the distance measuring device is a laser range finder or an ultrasonic range finder, which is fixed to the manipulator and electrically connected to a control device of the cargo loading and unloading facility.

[0009] As an illustrative example, the distance measuring device is a reset switch, the reset switch is fixed to the finger of a manipulator, and when the finger of the manipulator contacts the cargo box, the reset switch is activated and is electrically connected to the control device of the cargo loading and unloading equipment.

[0010] As an illustrative example, the distance measuring device is a distance measuring camera, which is fixed to the manipulator and electrically connected to a control device of the cargo loading and unloading equipment, and the control device determines the distance between the manipulator's fingers and the cargo box based on image information of the manipulator's fingers and the cargo box handle acquired by the distance measuring camera.

[0011] As an illustrative example, in step S2, the fingers of the manipulator rotate from bottom to top to a horizontal position, and the cargo loading / unloading equipment controls the cargo box pulling device to rise, and the handle of the cargo box is lifted, thereby tilting the cargo box.

[0012] As an illustrative example, in step S5, when a dehooking state occurs, at least one of the control device of the cargo loading / unloading equipment and the cargo box pulling device issues an alarm signal, and the alarm signal includes a voice and a light alarm signal.

[0013] In an illustrative example, the distance measuring device is fixed to the manipulator and points towards the cargo box when the fingers are about to pull the cargo box.

[0014] As an illustrative example, the distance measuring device is fixed to the arm of the manipulator and is rotatable along with the arm, and when there are two rows of cargo shelves and the two rows of cargo shelves are arranged in parallel, the distance measuring device can be aligned with any one of the cargo boxes on the two rows of cargo shelves, and the manipulator can pull the cargo box.

[0015] As an illustrative example, in step S1, the manipulator in the cargo box pulling device rotates from a position away from the cargo box to be pulled toward the cargo box, thereby making it easy for the distance measuring device to be positioned relative to the cargo box.

[0016] As an illustrative example, the manipulator is clear of the cargo box when the manipulator arm has rotated at least positive 90 degrees or negative 90 degrees.

[0017] The present application has at least the following advantages over the related art: The speed at which the cargo box is pulled can be increased, and if the cargo inside the cargo box is shifted from the center position or if the cargo box comes off the hook while being pulled, it can be noticed in a timely manner and the cargo box can be pulled again. The present application has at least the beneficial effects of low equipment cost, preventing unhooking when pulling cargo boxes, and fast cargo pulling speed. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic overall configuration diagram of a cargo loading / unloading equipment body according to the present application when attached to a cargo shelf. [Figure 2] 1 is a schematic configuration diagram of a cargo loading and unloading facility body according to an embodiment of the present application. [Figure 3] FIG. 2 is a side view of the cargo box puller. [Figure 4] 1 is a schematic diagram of a cargo box pulling device according to the present application immediately before hooking a cargo box; [Figure 5] 1 is a schematic diagram of a state in which the fingers of the cargo box pulling device according to the present application lift up a cargo box; [Figure 6] FIG. 1 is a schematic diagram showing a state in which the finger according to the present application has been removed from the cargo box. [Figure 7] 10 is a schematic diagram illustrating a state in which the finger according to the present application has come off the cargo box and then hooked the cargo box again. FIG. [Figure 8] 1 is a schematic perspective view of a cargo box pulling device according to the present application; DETAILED DESCRIPTION OF THE INVENTION

[0019] The present application will now be further described with reference to the drawings. As shown in the drawings, the control method for pulling cargo from a cargo shelf by cargo loading / unloading equipment (automatic loading / unloading equipment) including a cargo loading / unloading equipment main body, as shown in Figures 1 and 2, executes the following control steps when the cargo loading / unloading equipment main body pulls cargo from a cargo shelf.

[0020] Step S1: The control device of the cargo loading and unloading equipment receives a command from the server, and in accordance with the command, the cargo box puller 5 (cargo box insertion / removal robot) in the cargo loading and unloading equipment main body moves to the entrance / exit where the specified cargo box 2 of the cargo shelf 1 is located. As shown in Figure 3, in step S1, optionally, the height of the cargo platform 54 of the cargo box puller 5 is equal to or greater than the height of the partition plate 11 of the cargo shelf 1, and since it is relatively difficult to make the two heights equal, the height of the cargo platform 54 of the cargo box puller 5 is usually made greater than the height of the partition plate 11 of the cargo shelf 1. The manipulator in the cargo box puller 5 moves toward the specified cargo box 2. At the same time, as shown in Figures 4 and 5, Step S2: The distance measuring device in the cargo box pulling device 5 begins to measure the distance between the manipulator and the cargo box 2. When the distance between the manipulator and the cargo box 2 reaches a predetermined value, the manipulator's fingers 51 rotate from bottom to top, i.e., rotate clockwise, to hook the handle 21 on the outer end of the cargo box 2 as shown in Figure 4, and then, as shown in Figure 5, pull up the end of the handle 21 of the cargo box 2 so that the outer end of the bottom of the cargo box 2 is higher than the cargo platform 54. When the outer end of the cargo box 2 is pulled up, the resistance when pulling the cargo box can be reduced. Step S3: The cargo box 2 is pulled outward by the manipulator's fingers 51, and at the same time, the distance between the manipulator and the cargo box 2 is monitored by a distance measuring device, or by a disengagement sensor (disengagement from the hook) attached to the manipulator, and the disengagement sensor is electrically connected to the control device. Step S4: If the distance between the manipulator finger 51 and the cargo box 2 is maintained within a predetermined normal range, the manipulator finger 51 pulls the cargo box 2 to a predetermined position on the cargo platform of the cargo box pulling device 5, the manipulator finger 51 rotates clockwise 45 to 90 degrees, the manipulator finger 51 detaches from the handle 21 at the outer end of the cargo box 2, and the pulling operation of the cargo box 2 is completed. Step S5: If the distance between the finger 51 of the manipulator and the cargo box 2 exceeds a predetermined normal range, it is determined that the cargo is unhooked. Usually, the cargo in the cargo box 2 is displaced from the center of the cargo box 2. At this time, as shown in Figures 5 and 6, Step S6: The cargo platform 54 of the cargo box pulling device 5 is moved down to a position lower than the partition plate 11 of the cargo shelf 1. As shown in FIG. 7, the outer end of the cargo box 2 moves down under the action of its own weight, the manipulator fingers 51 move again towards the cargo box 2, and step S2 is executed again until the manipulator fingers 51 pull the cargo box 2 to a predetermined position on the cargo platform of the cargo box pulling device 5, and then the manipulator fingers 51 detach from the handle 21 at the outer end of the cargo box 2, completing the pulling operation of the cargo box 2.

[0021] The cargo loading and unloading equipment body of the present application has the function of removing cargo boxes 2 from cargo shelves 1 and the function of putting cargo boxes 2 into cargo shelves 1, and the cargo box pulling device 5 in the cargo loading and unloading equipment body can move up, down, left and right to move to the designated cargo box 2, and the cargo loading and unloading equipment body includes the cargo loading and unloading equipment of the Chinese application with application number CN202111124857.0 and name "Cargo loading and unloading equipment fixed to cargo shelves".

[0022] As shown in Figures 1, 2 and 3, an upper guide rail 31 and a lower guide rail 32 are fixed to the top and bottom of a cargo shelf 1, a plurality of cargo boxes 2 are stored in the cargo shelf 1, the cargo boxes 2 are capable of storing cargo, each cargo box 2 is given an address, for example 111, 112, etc., a two-dimensional code or barcode 10 is affixed to a partition board 11 of the cargo shelf 1, and a camera 50 in the cargo box pulling device 5 recognizes the two-dimensional code or barcode 10 to identify the position of the cargo box pulling device 5.

[0023] A first upper roller and a second upper roller driven by an upper motor are attached to the upper parts of the first vertical bar 41 and the second vertical bar 42, respectively, and a first lower roller and a second lower roller driven by a lower motor are attached to the lower parts of the first vertical bar 41 and the second vertical bar 42, respectively, and the first upper roller and the second upper roller can roll on the upper guide rail 31, and the first lower roller and the second lower roller can roll on the lower guide rail 32.

[0024] A first vertical slide block driven by a first vertical movement drive device is attached to the first vertical bar 41, and a second vertical slide block driven by a second vertical movement drive device is attached to the second vertical bar 42. The first and second vertical slide blocks are hingedly connected to the loading and unloading frame of the cargo box pulling device 5 (also called the loading and unloading device), so that the loading and unloading frame can move up and down along the first vertical bar 41 and the second vertical bar 42.

[0025] The loading and unloading frame is further provided with a first conveyor belt 61 and a second conveyor belt 62 driven by a conveyor motor as a cargo loading platform, the cargo box 2 is pulled by the first conveyor belt 61 and the second conveyor belt 62, and the cargo box 2 is further transported to the center position of the loading and unloading frame by the first conveyor belt 61 and the second conveyor belt 62, and a manipulator is attached to the loading and unloading frame via a slide rail and is driven by a pulling motor, the arm 52 of the manipulator is rotatable, and the finger 51 of the manipulator is also rotatable, see Figure 8.

[0026] The cargo loading and unloading equipment itself may use a robot that travels on the ground, with a cargo box pulling device 5 attached to the robot, and of course the first vertical bar 41 and second vertical bar 42 shown in Figure 2 being fixed directly to the robot, and the robot being used instead of the upper guide rail 31, lower guide rail 32 and rollers, so that the robot travels directly on the ground.

[0027] As shown in Figure 6, when the cargo box 2 is pulled, the outer end of the cargo box 2 is lifted up, and when the cargo box 2 is pulled at an angle, the bottom of the cargo box 2 comes into contact with the cargo platform 54, so that the cargo box 2 can be pulled stably onto the cargo platform 54. If the cargo platform 54 is lower than the partition plate of the cargo shelf 1, a step will occur, and when the cargo box 2 falls from the partition plate 11 of the cargo shelf onto the cargo platform 54, vibrations will occur, which is likely to damage fragile cargo, so this is not a desirable solution.

[0028] As an illustrative example, the distance measuring device is a racer distance meter 53 or an ultrasonic distance meter, and as shown in Figures 3 and 4, the racer distance meter 53 or the ultrasonic distance meter is fixed to the manipulator and electrically connected to the control device of the cargo loading and unloading equipment.

[0029] In another embodiment, the distance measuring device is a reset switch, which is fixed to the finger 51 of the manipulator, and when the finger 51 of the manipulator contacts the cargo box 2, the reset switch is activated, and the reset switch is electrically connected to the control device of the cargo loading and unloading equipment, and the unhooking sensor and the reset switch can be used together.

[0030] In another embodiment, the distance measuring device is a distance measuring camera. The distance measuring camera is fixed to the manipulator, typically at a higher position on the loading / unloading frame than the fingers 51, via a frame. The distance measuring camera is electrically connected to a control device of the cargo loading / unloading equipment. The control device determines the distance between the fingers 51 of the manipulator and the handle 21 of the cargo box 2 based on image information of the fingers 51 of the manipulator and the handle 21 of the cargo box 2 acquired by the distance measuring camera. The captured image information of the fingers 51 of the manipulator hooking the handle 21 of the cargo box 2 is used as a reference standard. During actual operation, if the information acquired by the distance measuring camera meets the reference standard, it is considered normal. If the information acquired by the distance measuring camera does not meet the reference standard, it is considered abnormal, and this determination can be made by software.

[0031] As an illustrative example, in step S2, the finger 51 of the manipulator rotates from bottom to top to a horizontal position by its own rotation, and as shown in FIG. 4, the dotted line in the drawing indicates the horizontal position, and the cargo loading / unloading equipment controls the cargo box pulling device 5 to rise vertically, and as shown in FIG. 5, the handle 21 of the cargo box 2 is lifted, thereby tilting the cargo box 2.

[0032] As shown in Fig. 5, the rotation of the manipulator's fingers 51 is controlled by a gripping motor 55. As shown in Fig. 2, the vertical lift of the cargo box pulling device 5 is driven by a vertical movement drive motor 43 in the vertical movement drive device to move the cargo box pulling device 5 up and down in the vertical direction along the first vertical bar 41 and the second vertical bar 42 of the slide rail structure via a timing belt.

[0033] As an illustrative example, in step S5, when a dehooking state occurs, at least one of the control device of the cargo loading / unloading equipment and the cargo box pulling device 5 issues an alarm signal, and the alarm signal includes sound and light alarm signals. In a large cargo warehouse, the equipment where the dehooking state occurs can be quickly found.

[0034] As an illustrative example, as shown in Figures 3, 4 and 5, the distance measuring device is fixed to the manipulator and faces the cargo box 2 when the finger 51 attempts to pull the cargo box. As shown in Figure 8, the distance measuring device is typically fixed to the arm 52 of the manipulator and is rotatable along with the arm 52.

[0035] As an illustrative example, if there are two rows of cargo shelves and the two rows of cargo shelves are arranged in parallel, the distance measuring device can be aligned with any one of the cargo boxes 2 in the two rows of cargo shelves, and the manipulator can pull the cargo box 2.

[0036] As an illustrative example, in step S1, the manipulator of the cargo box pulling device 5 rotates from a position away from the cargo box 2 to be pulled toward the cargo box 2, thereby making it easy for the distance measuring device to be aligned with the cargo box 2, and in Figure 8, the distance measuring device is aligned with the cargo box 2. In the drawing, when the arm 52 of the manipulator rotates at least positive 90 degrees or negative 90 degrees, the manipulator is in a state away from the cargo box 2.

[0037] In this application, when loading and unloading cargo, the ground robot 9 carries the cargo box 2 to the bottom of the cargo shelf 1, the cargo box puller 5 moves to the bottom and pulls out the cargo box 2 carried by the ground robot, and the cargo box puller 5 carries the cargo box 2 to the entrance of an empty space on a specified cargo shelf above and pushes the cargo box 2 into the empty space on the cargo shelf. The process of taking the cargo box 2 from the cargo shelf 1 and sending it to the ground robot 9 is reversed, and the principles of pulling out a cargo box and pushing a cargo box are basically the same.

[0038] Industrial Applicability This application discloses a control method for towing cargo from a cargo shelf using cargo loading and unloading equipment, which includes the following steps: Step S1: A cargo box pulling device in the cargo loading and unloading equipment body moves to an entrance or exit of the cargo shelf where a specified cargo box is located, and a manipulator in the cargo box pulling device moves toward the specified cargo box. Step S2: A distance measuring device begins to measure the distance, and when the distance reaches a predetermined value, the fingers of the manipulator hook a handle on the outer end of the cargo box from bottom to top. Step S3: The fingers of the manipulator pull the cargo box outward and monitor the distance using the distance measuring device. Step S4: If the distance is maintained within a predetermined range, the fingers of the manipulator pull the cargo box to a predetermined position on the cargo platform of the cargo box pulling device, and then the fingers of the manipulator release the handle on the outer end of the cargo box, completing the cargo box pulling operation. Step S5: If the distance exceeds a predetermined range and dehooking occurs, Step S6: Move the cargo loading platform of the cargo box pulling device down to a position lower than the partition board of the cargo shelf, so that the outer end of the cargo box moves down under the action of its own weight, and the fingers of the manipulator move again toward the cargo box, and then repeat Step S2. This application has the beneficial effect of preventing dehooking when pulling a cargo box.

[0039] Furthermore, the method for controlling the pulling of cargo on a cargo shelf by a cargo loading / unloading equipment according to the present application can be implemented and used in various industrial applications, for example, the method for controlling the pulling of cargo on a cargo shelf by a cargo loading / unloading equipment according to the present application can be applied to the technical field of cargo loading / unloading equipment. [Explanation of symbols]

[0040] 1 cargo shelf 2 cargo boxes 21 Handle 5 Cargo box pulling device 51 Manipulator Finger 54 Cargo loading platform

Claims

1. A control method for pulling cargo on a cargo shelf by cargo loading / unloading equipment including a cargo loading / unloading equipment main body, comprising: When using the cargo loading / unloading equipment body to pull cargo from the cargo shelf, steps S1 to S6 are carried out; Step S1: The control device of the cargo loading and unloading equipment receives a command from the server, and in accordance with the command, the cargo box pulling device (5) in the cargo loading and unloading equipment main body moves to the entrance of the cargo shelf (1) where the specified cargo box (2) is located, and the manipulator in the cargo box pulling device (5) moves toward the specified cargo box (2), and at the same time, Step S2: The distance measuring device in the cargo box pulling device (5) starts to measure the distance between the manipulator and the cargo box (2). When the distance between the manipulator and the cargo box (2) reaches a predetermined value, the fingers (51) of the manipulator hook the handle (21) at the outer end of the cargo box (2) from bottom to top, and pull up the end of the handle (21) of the cargo box (2) so that the outer end of the bottom of the cargo box (2) is higher than the cargo loading platform (54). Step S3: Pull the cargo box (2) outward with the fingers (51) of the manipulator, and simultaneously monitor the distance between the manipulator and the cargo box (2) with a distance measuring device, or monitor it with a hook-off sensor attached to the manipulator and electrically connected to the control device; Step S4: If the distance between the manipulator finger (51) and the cargo box (2) is maintained within a predetermined normal range, the manipulator finger (51) pulls the cargo box (2) to a predetermined position on the cargo platform of the cargo box pulling device (5), and the manipulator finger (51) detaches from the handle (21) at the outer end of the cargo box (2), completing the pulling operation of the cargo box (2); Step S5: If the distance between the manipulator finger (51) and the cargo box (2) exceeds a predetermined normal range, it is determined that the box is in a disengaged state. Step S6: The cargo platform of the cargo box pulling device (5) is moved to a position lower than the partition plate of the cargo shelf (1), the outer end of the cargo box (2) moves downwards due to its own weight, the manipulator fingers (51) move again towards the cargo box (2), and step S2 is executed again until the manipulator fingers (51) pull the cargo box (2) to a predetermined position on the cargo platform of the cargo box pulling device (5), and then the manipulator fingers (51) detach from the handles (21) at the outer end of the cargo box (2), completing the pulling operation of the cargo box (2).

10. A control method for pulling cargo on a cargo shelf by cargo loading and unloading equipment, comprising:

2. In step S1, the height of the cargo loading platform (54) of the cargo box pulling device (5) is equal to or greater than the height of the partition plate (11) of the cargo shelf (1).

2. The method for controlling the pulling of cargo on a cargo shelf by a cargo loading / unloading facility according to claim 1.

3. When the cargo box (2) is pulled, the outer end of the cargo box (2) is lifted up, the cargo box (2) is pulled at an incline, and the bottom of the cargo box (2) comes into contact with the cargo platform (54).

3. A method for controlling the pulling of cargo on a cargo shelf by a cargo loading / unloading facility according to claim 1 or 2.

4. The distance measuring device is a racer distance meter (53) or an ultrasonic distance meter, and the racer distance meter (53) or the ultrasonic distance meter is fixed to the manipulator and electrically connected to the control device of the cargo loading and unloading facility.

4. A method for controlling the pulling of cargo on a cargo shelf by a cargo loading / unloading facility according to claim 2 or 3.

5. The distance measuring device is a reset switch, and the reset switch is fixed to the finger (51) of the manipulator. When the finger (51) of the manipulator comes into contact with the cargo box (2), the reset switch is activated and electrically connected to the control device of the cargo loading and unloading equipment.

4. A method for controlling the pulling of cargo on a cargo shelf by a cargo loading / unloading facility according to claim 2 or 3.

6. The distance measuring device is a distance measuring camera, which is fixed to the manipulator and electrically connected to a control device of the cargo loading and unloading equipment, and the control device determines the distance between the manipulator's finger (51) and the cargo box (2) based on image information of the manipulator's finger (51) and the handle (21) of the cargo box (2) acquired by the distance measuring camera.

4. A method for controlling the pulling of cargo on a cargo shelf by a cargo loading / unloading facility according to claim 2 or 3.

7. In step S2, the manipulator finger (51) rotates from bottom to top to a horizontal position, and the cargo loading / unloading equipment controls the cargo box pulling device (5) to rise, so that the handle (21) of the cargo box (2) is lifted, thereby tilting the cargo box (2). A control method for towing cargo on a cargo shelf by the cargo loading / unloading equipment according to any one of claims 1 to 6.

8. In step S5, when a dehooking state occurs, at least one of the control device of the cargo loading and unloading equipment and the cargo box pulling device (5) issues an alarm signal, and the alarm signal includes a voice and a light alarm signal. A control method for towing cargo on a cargo shelf by the cargo loading / unloading equipment according to any one of claims 1 to 7.

9. The distance measuring device is fixed to the manipulator, and the finger (51) faces the cargo box (2) when trying to pull the cargo box. A control method for towing cargo on a cargo shelf by the cargo loading / unloading equipment according to any one of claims 1 to 8.

10. The distance measuring device is fixed to the arm (52) of the manipulator and is rotatable along with the arm (52). When there are two rows of cargo shelves (1) and the two rows of cargo shelves (1) are arranged in parallel, the distance measuring device can be aligned with any one of the cargo boxes (2) in the two rows of cargo shelves, and the manipulator can pull the cargo box (2).

10. The method for controlling the pulling of cargo on a cargo shelf by cargo loading and unloading equipment according to claim 9.

11. In step S1, the manipulator of the cargo box pulling device (5) rotates from a position away from the cargo box (2) to be pulled toward the cargo box (2), thereby allowing the distance measuring device to be easily aligned with the cargo box (2). A control method for towing cargo on a cargo shelf by a cargo loading / unloading facility according to any one of claims 1 to 10.

12. When the manipulator arm (52) has rotated at least positive or negative 90 degrees, the manipulator is away from the cargo box (2).

12. The method for controlling the pulling of cargo on a cargo shelf by cargo loading and unloading equipment according to claim 11.

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