A control method for pulling cargo on a cargo rack using 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] This application relates to cargo loading and unloading equipment in a cargo shelf.

[0002] (Cross-reference to related applications) This application claims priority based on a Chinese application filed with the China National Intellectual Property Administration on November 10, 2022, with application number 202211407951.1 and title "Control Method for Pulling Cargo in a Cargo Shelf by Cargo Loading and Unloading Equipment", and all of its content is incorporated herein by reference.

Background Art

[0003] A cargo shelf is for storing cargo, having the characteristics of large capacity, small occupied space, convenience for cargo loading and unloading, and low cost. To increase the automation of cargo loading and unloading, it is common to install independent loading and unloading equipment for cargo shelves. In a Chinese application with application number CN202111124857.0 and title "Cargo Loading and Unloading Equipment Fixed to a Cargo Shelf", the cargo loading and unloading equipment can be directly attached to the cargo shelf to automatically execute cargo loading and unloading. However, when actually used, the following problems exist. When the position of the cargo stored in the cargo box is offset from the center of the cargo box, due to the action of the uneven weight of the cargo, the cargo box tilts, and the cargo box slips out of the cargo box pulling hook of the cargo box pulling device in the cargo shelf loading and unloading equipment and cannot be transported to the cargo placement table of the cargo box pulling device.

Summary of the Invention

[0004] This application provides a control method for pulling cargo in a cargo shelf by cargo loading and unloading equipment that can at least prevent the cargo box from slipping out of the hook of the manipulator.

[0005] The control method for pulling cargo in a cargo shelf by cargo loading and unloading equipment including the cargo loading and unloading equipment body according to this application executes the following control steps S1 to S6 when pulling cargo in the cargo shelf using the cargo loading and unloading equipment body 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 in the cargo loading and unloading equipment body moves to the entrance / exit where the designated cargo box of the cargo rack is located, the manipulator in the cargo box pulling device moves toward the designated cargo box, and simultaneously, Step S2: The distance measuring device in the cargo box pulling device starts measuring the distance between the manipulator and the cargo box, and when the distance between the manipulator and the cargo box reaches a predetermined value, the fingers of the manipulator hook onto the handles on the outer edge of the cargo box from bottom to top, and lift the end of the handle of the cargo box so that the outer edge of the bottom of the cargo box is higher than the cargo loading platform. Step S3: The cargo box is pulled outwards by the fingers of the manipulator, and at the same time, the distance between the manipulator and the cargo box is monitored by a rangefinder, or by a detachment 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 the predetermined position on the cargo platform of the cargo box pulling device, the manipulator fingers detach from the handles on the outer end of the cargo box, and the pulling operation of the cargo box is completed. Step S5: If the distance between the manipulator fingers and the cargo box exceeds a predetermined normal range, it is determined that the hook has been detached, and at this time, Step S6: The cargo platform of the cargo box pulling device is moved down to a position lower than the cargo shelf divider plate, the outer end of the cargo box moves down due to its own weight, the fingers of the manipulator move towards the cargo box again, and Step S2 is performed again until the manipulator fingers pull the cargo box to the predetermined position on the cargo platform of the cargo box pulling device, at which point the fingers of the manipulator detach from the handles on the outer end of the cargo box, and the pulling operation of the cargo box is completed.

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

[0007] As an example, when a cargo box is pulled, the outer edges of the cargo box are lifted upwards, the cargo box is pulled at an angle, and the bottom of the cargo box comes into contact with the cargo platform.

[0008] As an exemplary example, the distance measuring device is a racer rangefinder or an ultrasonic rangefinder, which is fixed to the manipulator and electrically connected to the control device of the cargo loading and unloading equipment.

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

[0010] As an exemplary 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 exemplary example, in step S2, the fingers of the manipulator rotate from bottom to top to a horizontal position, controlling the cargo loading and unloading equipment to raise the cargo box pulling device, the handles of the cargo box are lifted, and thereby the cargo box is tilted.

[0012] As an exemplary example, in step S5, when a detached hook condition occurs, at least one of the control device of the cargo loading / unloading equipment and the cargo box pulling device emits an alarm signal, and the alarm signal includes an audible and audible alarm signal.

[0013] As an exemplary example, the rangefinder is fixed to the manipulator and faces the cargo box when the fingers attempt to pull the cargo box.

[0014] As an exemplary example, the rangefinder is fixed to the arm of a manipulator and rotatable with the arm, and when there are two rows of cargo racks and these two rows of cargo racks are arranged in parallel, the rangefinder can be aligned with any one cargo box on the two rows of cargo racks, and the manipulator can pull the cargo box.

[0015] As an exemplary example, in step S1, the manipulator in the cargo box pulling device rotates toward the cargo box from a position away from the cargo box to be pulled, thereby allowing the distance measuring device to easily align with the cargo box.

[0016] As an example, if the manipulator arm rotates at least 90 degrees positively or 90 degrees negatively, the manipulator is separated from the cargo box.

[0017] This application has at least the following advantages compared to related technologies. The speed at which the cargo box is pulled can be increased, and if the cargo inside the cargo box is off-center, or if the hook comes loose while pulling the cargo box, it can be detected in a timely manner and the cargo box can be pulled again. This application has at least the beneficial effects of low equipment costs, the ability to prevent the hook from coming off when pulling the cargo box, and a faster cargo pulling speed. [Brief explanation of the drawing]

[0018] [Figure 1] This is a schematic overall diagram showing the cargo loading and unloading equipment main body of the present application when it is attached to a cargo rack. [Figure 2] This is a schematic diagram of the cargo loading and unloading equipment body according to one embodiment of the present application. [Figure 3] This is a side view of a cargo box pulling device. [Figure 4] This is a schematic diagram of the cargo box pulling device according to this application, showing the configuration immediately before the cargo box is hooked. [Figure 5] The figure is a schematic configuration diagram of a state where a finger of a cargo box lifting device according to the present application lifts a cargo box. [Figure 6] The figure is a schematic configuration diagram of a state where a finger according to the present application has come out of a cargo box. [Figure 7] The figure is a schematic configuration diagram of a state where, after a finger according to the present application has come out of a cargo box, the finger has hooked the cargo box again. [Figure 8] The figure is a schematic perspective configuration diagram of a cargo box lifting device according to the present application.

Embodiments for Carrying Out the Invention

[0019] Hereinafter, the present application will be further described while referring to the drawings. As shown in the drawings, a control method for pulling a cargo on a cargo shelf by a cargo loading / unloading facility (automatic loading / unloading facility) including a cargo loading / unloading facility main body is as follows. When pulling a cargo from a cargo shelf by the cargo loading / unloading facility main body, as shown in FIGS. 1 and 2, the following control steps are executed.

[0020] Step S1: The control device of the cargo loading / unloading facility receives a command from a server, and according to the command, a cargo box lifting device 5 (cargo box loading / unloading robot) in the cargo loading / unloading facility main body moves to an entrance / exit where a designated cargo box 2 on the cargo shelf 1 is located. As shown in FIG. 3, in step S1 above, optionally, the height of the cargo placement table 54 of the cargo box lifting device 5 is not less than the height of the partition plate 11 of the cargo shelf 1, and since it is relatively difficult to make their heights equal, usually, the height of the cargo placement table 54 of the cargo box lifting device 5 is made greater than the height of the partition plate 11 of the cargo shelf 1. The manipulator in the cargo box lifting device 5 moves toward the designated cargo box 2. As shown in FIGS. 4 and 5, at the same time, Step S2: The distance measuring device in the cargo box pulling device 5 starts measuring 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 rotate from bottom to top, that is, rotate clockwise. As shown in FIG. 4, the handle 21 at the outer end of the cargo box 2 is hooked, and as shown in FIG. 5, the end of the handle 21 of the cargo box 2 is pulled up so that the outer end of the bottom of the cargo box 2 is higher than the cargo placement table 54. When pulling up the outer end of the cargo box 2, the resistance when pulling the cargo box can be reduced. Step S3: The manipulator's fingers 51 pull the cargo box 2 outward and move it. At the same time, the distance measuring device monitors the distance between the manipulator and the cargo box 2, or monitors it by means of a de-hooking (unhooked from the hook) sensor attached to the manipulator. The de-hooking sensor is electrically connected to the control device. Step S4: When the distance between the fingers 51 of the manipulator and the cargo box 2 is maintained within a predetermined normal range, the fingers 51 of the manipulator pull the cargo box 2 to a predetermined position on the cargo placement table of the cargo box pulling device 5. The fingers 51 of the manipulator rotate 45 - 90 degrees clockwise, and the fingers 51 of the manipulator disengage from the handle 21 at the outer end of the cargo box 2, and the operation of pulling the cargo box 2 ends. Step S5: When the distance between the fingers 51 of the manipulator and the cargo box 2 exceeds the predetermined normal range, it is determined as a de-hooked state. Usually, the cargo in the cargo box 2 is displaced from the center of the cargo box 2. At this time, as shown in FIGS. 5 and 6, Step S6: The cargo placement table 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 downward under the action of its own weight, the fingers 51 of the manipulator move toward the cargo box 2 again, and Step S2 is executed again until the fingers 51 of the manipulator pull the cargo box 2 to a predetermined position on the cargo placement table of the cargo box pulling device 5, and then the fingers 51 of the manipulator disengage from the handle 21 at the outer end of the cargo box 2, and the operation of pulling the cargo box 2 ends.

[0021] The cargo loading and unloading equipment body according to this application has the function of taking out cargo boxes 2 from cargo racks 1 and the function of placing cargo boxes 2 into cargo racks 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 cargo loading and unloading equipment according to a Chinese application with application number CN202111124857.0 and the title "Cargo loading and unloading equipment fixed to cargo racks".

[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 the cargo rack 1, respectively, and multiple cargo boxes 2 are housed inside the cargo rack 1. The cargo boxes 2 are capable of holding cargo, and each cargo box 2 is assigned an address, such as 111, 112, etc. A two-dimensional code or barcode 10 is attached to the partition plate 11 of the cargo rack 1, and a camera 50 in the cargo box pulling device 5 recognizes the two-dimensional code or barcode 10 to determine 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. 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. The first upper roller and the second upper roller are rotatable on the upper guide rail 31, and the first lower roller and the second lower roller are rotatable 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 hinge-connected to the loading and unloading frame of the cargo box pulling device 5 (also called the loading and unloading device), and the loading and unloading frame is movable up and down along the first and second vertical bars 41 and 42.

[0025] A first conveyor belt 61 and a second conveyor belt 62, driven by a conveyor motor, are further installed on the loading / unloading frame as cargo placement platforms. A cargo box 2 is towed by the first conveyor belt 61 and the second conveyor belt 62, and the cargo box 2 is further transported to the central position of the loading / unloading frame by the first conveyor belt 61 and the second conveyor belt 62. A manipulator is attached to the loading / unloading frame via a slide rail and is driven by a towing motor. The manipulator's arm 52 is rotatable, and the manipulator's fingers 51 are also rotatable (see Figure 8).

[0026] The cargo loading and unloading equipment itself may use a robot that travels on the ground, with the cargo box pulling device 5 attached to the robot, and of course, the first vertical bar 41 and the second vertical bar 42 shown in Figure 2 are directly fixed to the robot, and the robot is used instead of the upper guide rail 31, lower guide rail 32 and rollers, and 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 upward, and as the cargo box 2 is pulled at an angle, the bottom of the cargo box 2 comes into contact with the cargo platform 54, thus allowing the cargo box 2 to be stably pulled onto the cargo platform 54. If the cargo platform 54 is lower than the partition plate of the cargo rack 1, a step will be created, and when the cargo box 2 falls from the partition plate 11 of the cargo rack onto the cargo platform 54, vibrations will occur, making it easy to damage fragile cargo, which is not a desirable arrangement.

[0028] As an exemplary example, the distance measuring device is a racer rangefinder 53 or an ultrasonic rangefinder, which, as shown in Figures 3 and 4, 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, the reset switch 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, the reset switch is electrically connected to the control device of the cargo loading and unloading equipment, and the detachment 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, generally at a position higher than the fingers 51 on the loading / unloading frame via a frame, and the distance measuring camera is electrically connected to the control device of the cargo loading / unloading equipment. The control device determines the distance between the manipulator's fingers 51 and the cargo box 2 based on image information of the manipulator's fingers 51 and the handle 21 of the cargo box 2 acquired by the distance measuring camera. Image information of the manipulator's fingers 51 hooking onto the handle 21 of the cargo box 2 is used as a reference standard, and during actual operation, if the information acquired by the distance measuring camera meets the reference standard, it is considered normal, and if the information acquired by the distance measuring camera does not meet the reference standard, it is considered abnormal, and this can be determined by software.

[0031] As an exemplary example, in step S2, the manipulator's finger 51 rotates from bottom to top to a horizontal position by its own rotation, as shown in Figure 4, where 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, as shown in Figure 5, where the handle 21 of the cargo box 2 is lifted, thereby tilting the cargo box 2.

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

[0033] As an exemplary example, in step S5, when a detached hook condition occurs, at least one of the control device of the cargo loading / unloading equipment and the cargo box pulling device 5 emits an alarm signal, which includes an audible and audible alarm signal. In a large cargo warehouse, the equipment in which the detachment has occurred can be quickly identified.

[0034] As an exemplary example, as shown in Figures 3, 4, and 5, the rangefinder 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 rangefinder is typically fixed to the arm 52 of the manipulator and is rotatable with the arm 52.

[0035] As an exemplary example, if there are two rows of cargo racks and these two rows of cargo racks are arranged parallel to each other, the rangefinder can be aligned with any one cargo box 2 on these two rows of cargo racks, and the manipulator can pull the cargo box 2.

[0036] As an exemplary example, in step S1, the manipulator of the cargo box pulling device 5 rotates toward the cargo box 2 from a position away from the cargo box 2 to be pulled, thereby allowing the rangefinder to easily align with the cargo box 2, and in Figure 8, the rangefinder is aligned with the cargo box 2. In the drawing, when the arm 52 of the manipulator is rotated by 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, a ground robot 9 carries the cargo box 2 to the bottom of the cargo rack 1, a cargo box pulling device 5 moves to the bottom and pulls out the cargo box 2 that the ground robot has brought, the cargo box pulling device 5 carries the cargo box 2 to the entrance of an empty space on the predetermined cargo rack above, and pushes the cargo box 2 into the empty space on the cargo rack. The process of taking the cargo box 2 out of the cargo rack 1 and sending it to the ground robot 9 is the reverse, and the principle of pulling out the cargo box and pushing the cargo box in are basically the same.

[0038] Industrial applicability This application discloses a control method for pulling cargo on a cargo rack using cargo loading and unloading equipment, the control method comprising the following steps: Step S1: A cargo box pulling device in the cargo loading and unloading equipment body moves to the entrance / exit of the cargo rack where a designated cargo box is located, and a manipulator in the cargo box pulling device moves toward the designated 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 onto the handle on the outer end of the cargo box from below. Step S3: The fingers of the manipulator pull the cargo box outwards and move it, while the distance measuring device monitors the distance. 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 detach from the handle on the outer end of the cargo box, ending the pulling operation of the cargo box. Step S5: If the distance exceeds a predetermined range and detachment occurs, Step S6: The cargo platform of the cargo box pulling device is moved down to a position lower than the partition plate of the cargo rack, the outer end of the cargo box moves down due to its own weight, the fingers of the manipulator move towards the cargo box again, and Step S2 is repeated. This invention has the beneficial effect of preventing detachment when pulling a cargo box.

[0039] Furthermore, the control method for pulling cargo on a cargo rack using cargo loading and unloading equipment according to this application is feasible and can be used for various industrial applications. For example, the control method for pulling cargo on a cargo rack using cargo loading and unloading equipment according to this application can be applied to the technical field of cargo loading and unloading equipment. [Explanation of Symbols]

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

Claims

1. A control method for pulling cargo on a cargo rack using cargo loading and unloading equipment, including the cargo loading and unloading equipment itself, When using the cargo loading and unloading equipment to pull cargo from the cargo rack, steps S1 to S6 are performed. 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 body moves to the entrance / exit where the designated cargo box (2) of the cargo rack (1) is located, the manipulator in the cargo box pulling device (5) moves toward the designated cargo box (2), and simultaneously, Step S2: The distance measuring device in the cargo box pulling device (5) begins measuring 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 onto the handle (21) at the outer end of the cargo box (2) from below upward, and lift 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: The cargo box (2) is pulled outwards by the fingers (51) of the manipulator, 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 detachment sensor attached to the manipulator and electrically connected to the control device. Step S4: If the distance between the manipulator fingers (51) and the cargo box (2) is maintained within a predetermined normal range, the manipulator fingers (51) pull the cargo box (2) to a predetermined position on the cargo platform of the cargo box pulling device (5), the manipulator fingers (51) detach from the handles (21) on the outer ends of the cargo box (2), and the pulling operation of the cargo box (2) is completed. Step S5: If the distance between the manipulator's finger (51) and the cargo box (2) exceeds a predetermined normal range, it is determined that the hook has been detached, and at this time, 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 rack (1), the outer end of the cargo box (2) moves downward due to its own weight, the fingers (51) of the manipulator move towards the cargo box (2) again, and step S2 is performed again until the fingers (51) of the manipulator pull the cargo box (2) to the predetermined position on the cargo platform of the cargo box pulling device (5), and then the fingers (51) of the manipulator detach from the handle (21) on the outer end of the cargo box (2), and the pulling operation of the cargo box (2) is completed. A control method for pulling cargo on a cargo rack using cargo loading and unloading equipment characterized by the following:

2. In step S1, the height of the cargo loading platform (54) of the cargo box pulling device (5) is greater than or equal to the height of the partition plate (11) of the cargo rack (1). A control method for pulling cargo on a cargo rack using the cargo loading and unloading equipment described in feature 1.

3. When the cargo box (2) is pulled, the outer end of the cargo box (2) is lifted upward, the cargo box (2) is pulled at an angle, and the bottom of the cargo box (2) comes into contact with the cargo platform (54). A control method for pulling cargo on a cargo rack using cargo loading and unloading equipment according to claim 1 or 2.

4. The distance measuring device is a racer rangefinder (53) or an ultrasonic rangefinder, and the racer rangefinder (53) or ultrasonic rangefinder is fixed to the manipulator and electrically connected to the control device of the cargo loading and unloading equipment. A control method for pulling cargo on a cargo rack using the cargo loading and unloading equipment described in feature 2.

5. The distance measuring device is a reset switch, which is fixed to the finger (51) of the manipulator. When the finger (51) of the manipulator makes 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. A control method for pulling cargo on a cargo rack using the cargo loading and unloading equipment described in feature 2.

6. The distance measuring device is a distance measuring camera, which is fixed to the manipulator and electrically connected to the control device of the cargo loading and unloading equipment. The control device determines the distance between the manipulator's fingers (51) and the cargo box (2) based on image information of the manipulator's fingers (51) and the cargo box (2)'s handle (21) acquired by the distance measuring camera. A control method for pulling cargo on a cargo rack using the cargo loading and unloading equipment described in feature 2.

7. In step S2, the fingers (51) of the manipulator rotate from bottom to top to a horizontal position, controlling the cargo loading and unloading equipment to raise the cargo box pulling device (5), thereby lifting the handle (21) of the cargo box (2) and tilting the cargo box (2). A control method for pulling cargo on a cargo rack using cargo loading and unloading equipment according to claim 1 or 2.

8. In step S5, when a detached hook occurs, at least one of the control device of the cargo loading / unloading equipment and the cargo box pulling device (5) emits an alarm signal, and the alarm signal includes an audible and audible alarm signal. A control method for pulling cargo on a cargo rack using cargo loading and unloading equipment according to claim 1 or 2.

9. The rangefinder is fixed to the manipulator and the finger (51) faces the cargo box (2) when attempting to pull the cargo box. A control method for pulling cargo on a cargo rack using cargo loading and unloading equipment according to claim 1 or 2.

10. The distance measuring device is fixed to the arm (52) of the manipulator and is rotatable with the arm (52). When there are two rows of cargo racks (1) and these two rows of cargo racks (1) are arranged in parallel, the distance measuring device can be aligned with any one cargo box (2) in these two rows of cargo racks, and the manipulator can pull the cargo box (2). A control method for pulling cargo on a cargo rack using cargo loading and unloading equipment as described in feature 9.

11. In step S1, the manipulator in the cargo box pulling device (5) rotates toward the cargo box (2) from a position separated from the cargo box (2) to be pulled, thereby allowing the distance measuring device to easily align with the cargo box (2). A control method for pulling cargo on a cargo rack using cargo loading and unloading equipment according to claim 1 or 2.

12. When the manipulator arm (52) is rotated by at least 90 degrees positively or 90 degrees negatively, the manipulator is separated from the cargo box (2). A control method for pulling cargo on a cargo rack using cargo loading and unloading equipment as described in feature 11.

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