In order to realize the less manpower and intelligence of loading and transfer of transshipment containers in the process of auxiliary transportation, an automatic transshipment control scheme of containers by using a coal mine auxiliary transportation transfer robot was proposed. The composition and working principle of the transfer robot for auxiliary transportation in coal mines were summarized. The transfer process of the robot was analyzed, and it was determined that the automation of auxiliary transportation and transfer needs to realize the control of the working sequence of the monorail crane, the transfer robot arm, the flat car, and the lock. A system state machine was established in MATLAB, and the monorail crane, transfer robot arm, flatbed car, and lock were used as subsystems. The system state machine cooperated with the current state of each subsystem according to user instructions to control the working time and sequence of each subsystem, ensuring that coal mine auxiliary transportation and transfer were carried out safely. Finally, an auxiliary transportation and transfer simulation environment was established in ROS, and the robotic arm was controlled by the system state machine to carry out multiple grasping experiments. The results show that the success rate of 20 grasping experiments is more than 80%.