A track slope switching device and method for assisting transport robots

Abstract

The present invention belongs to the technical field of monorail hanging equipment, and specifically relates to a track slope switching device and method for an auxiliary transport robot, comprising: two fixed rails arranged at different heights, a transition rail switching mechanism is provided between the two fixed rails, the transition rail switching mechanism is used to connect transition rails with different slopes between the two fixed rails, the transition rail switching mechanism comprises: a first connecting plate and a second connecting plate arranged in parallel and opposite to each other, coaxially connected by a transmission shaft, a plurality of transition rails with different slopes are uniformly arranged along the circumference of the connecting plate between the two connecting plates; a lifting unit, used to drive the first connecting plate, the second connecting plate and a plurality of transition rails with different slopes to move up and down together, a first driving unit, capable of driving the first connecting plate and the second connecting plate to rotate synchronously, so as to change the transition rails with different slopes. The present invention solves the problem in the prior art that a plurality of different slopes cannot be freely switched due to limited space.

Description

Technical Field

[0001] The invention belongs to the technical field of monorail crane equipment, and in particular relates to a track gradient switching device and method for an auxiliary transport robot. Background Art

[0002] Mine auxiliary transportation refers to the sum of various transportations other than coal transportation in the coal mine production process, mainly including the transportation of gangue, materials, equipment and personnel. Most coal mines in my country have not yet achieved direct transportation from the ground yard or the pit bottom yard to the end of the working face of the mining area. The level of auxiliary transportation mechanization is lower than that of developed countries abroad, which has become a "bottleneck" restricting the construction of high-yield, efficient and safe mines. The main problems are backward equipment, numerous transportation links, large manpower requirements, long transportation time and low transportation efficiency, and there are major safety hazards. Common mine auxiliary transportation equipment mainly includes monorail cranes, electric locomotives, winches, etc.

[0003] A monorail crane locomotive uses a special I-beam suspended above the tunnel as a track, is connected by hanging vehicles with various functions into a vehicle group, and is towed by traction equipment. The system runs along the track. Generally, only one dedicated track is used, so it is called a monorail crane.

[0004] In the existing monorail locomotive, it is necessary to test the power performance of the monorail locomotive at different slopes. The traditional method is usually to build test tracks with different slopes to test the power performance of the monorail locomotive, but this requires a large experimental site and consumes a lot of experimental costs.

[0005] Therefore, the present invention provides a track slope switching device and method for an auxiliary transport robot to meet the requirements of limited experimental site and flexibility. Summary of the invention

[0006] The purpose of the present invention is to provide a track slope switching device and method for an auxiliary transport robot, which solves the problem that the existing track slope of an auxiliary transport robot can be freely switched between tracks with different slopes during testing, thereby reducing the occupied area of ​​the experimental site and greatly saving the cost of the experiment.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A track slope switching device for an auxiliary transport robot, comprising:

[0009] Two fixed rails are arranged at different heights, and a transition rail switching mechanism is arranged between the two fixed rails. The transition rail switching mechanism is used to connect transition rails of different slopes between the two fixed rails. The transition rail switching mechanism includes:

[0010] The first connecting plate and the second connecting plate are arranged in parallel and opposite to each other, and are coaxially connected through a transmission shaft, and a plurality of transition rails with different slopes are evenly arranged along the circumference of the connecting plates between the two connecting plates;

[0011] A lifting unit, used for driving the first connection plate, the second connection plate and a plurality of transition rails with different slopes to move up and down together, so as to dock or disconnect the transition rails between two fixed rails;

[0012] The first driving unit can drive the first connecting disk and the second connecting disk to rotate synchronously to switch transition rails with different slopes.

[0013] Preferably, the diameter of the first connection plate is larger than that of the second connection plate, and a plurality of mounting grooves are respectively formed in an annular direction on the first connection plate and the second connection plate;

[0014] A crossbeam, one end of which is fixedly connected to a first vertical rod at the bottom, and the bottom end of the first vertical rod is rotatably connected to one end of the transmission shaft;

[0015] The bottom of the other end of the cross beam is fixedly connected with a second vertical rod, and the bottom end of the second vertical rod is rotatably connected with the other end of the transmission shaft.

[0016] Preferably, the lifting unit comprises:

[0017] A first stretching cylinder connected to one end of the crossbeam;

[0018] The second stretching cylinder is connected to the other end of the crossbeam.

[0019] Preferably, the first driving unit is a first motor, and the first motor is connected to the transmission shaft via a coupling.

[0020] Preferably, first fixing blocks are connected at both ends of the transition rail, and the first fixing blocks extend beyond the edges of both ends of the transition rail by a certain distance; the fixed rail consists of a high rail and a low rail, and second fixing blocks are respectively connected to the ends of the low rail and the high rail close to the transition rail, and the first fixing block on the transition rail is respectively connected to the second fixing block on the low rail and the high rail by fixing bolts, and the distance from the second fixing block to the outermost ends of the low rail and the high rail is equal to the distance of the first fixing block extending beyond the edges of both ends of the transition rail.

[0021] Preferably, the transition rail comprises:

[0022] A first track, wherein the slope of the first track is 10°;

[0023] A second track, wherein the slope of the second track is 15°;

[0024] A third rail, wherein the slope of the third rail is 20°;

[0025] The fourth rail has a slope of 25°; both ends of the first rail, the second rail, the third rail and the fourth rail are respectively installed on the first connecting plate and the second connecting plate through the mounting grooves, and the mounting grooves of the first connecting plate and the second connecting plate are provided with limit plates for limiting the movement of the transition rail.

[0026] Preferably, a limiting bolt is provided at one end of the limiting plate, and passes through the limiting plate and is connected to the outer sides of the first connecting disk and the second connecting disk. The other end of the limiting plate is connected to a limiting pin through a limiting bearing, and the limiting pin passes through the limiting plate and is respectively connected to the outer sides of the first connecting disk and the second connecting disk.

[0027] Preferably, it also includes:

[0028] A main support gantry is vertically mounted on the ground and connected to the lower rail and the upper rail respectively through a rail connection mechanism;

[0029] The switching support gantry is vertically installed on the ground, and its top is connected to the lifting unit. The switching support gantry is located between the main support gantries. The low rails and high rails on both sides of the main support gantries have a certain height difference, and the main support gantry is lower than the switching support gantry.

[0030] Preferably, the rail connection mechanism comprises:

[0031] An upper fixing plate connected to the bottom of the main support gantry;

[0032] A lower fixing plate connected to the upper fixing plate via a fixing chain;

[0033] The lower fixed connecting blocks are installed on both ends of the lower rail and connected with the lower fixed plate through a fixed shaft.

[0034] A method for switching track slope of an auxiliary transport robot comprises the following steps:

[0035] S1: First, the controller controls the first motor to start, and the first motor starts to drive the transition rails on the first connecting disk and the second connecting disk to rotate. According to the experimental requirements, the transition rails with the required slope are rotated to the bottom;

[0036] S2: Then, the controller controls the first stretching cylinder and the second stretching cylinder on the lifting unit to move downward at the same time, and drives the transition rail under the first connecting plate and the second connecting plate to move downward to align between the high rail and the low rail, so that the first fixed block on the transition rail is in close contact with the surface of the fixed rail and is aligned with the second fixed block at the same time;

[0037] S3: After the two ends of the transition rail are aligned with the high rail and the low rail respectively, the fixed limit bolts on the upper and lower sides of the first connection plate and the second connection plate are manually unscrewed using tools, and then the limit plate is manually rotated 180°;

[0038] S4: Subsequently, the first stretching cylinder and the second stretching cylinder on the lifting unit are controlled to move upward at the same time, and drive the first connecting plate and the second connecting plate to move upward, and the transition rails below the first connecting plate and the second connecting plate will be detached from the mounting grooves on the first connecting plate and the second connecting plate. When the first connecting plate and the second connecting plate move upward, the first stretching cylinder and the second stretching cylinder on the lifting unit stop moving;

[0039] S5: Finally, the worker connects and fixes the two ends of the transition rail to the low rail and the high rail respectively by passing the fixing bolts through the first fixing block and the second fixing block;

[0040] S6: When switching the next transition rail, remove the originally installed transition rail from the low rail and the high rail, and fix it on the first connecting plate and the second connecting plate, and then repeat the above steps S1 to S5 to complete the switching of the next transition rail with different slopes.

[0041] Beneficial effects of the present invention:

[0042] 1. The present invention provides a transition rail switching mechanism and a lifting unit on the switching support gantry. Through the cooperation between the transition rail switching mechanism and the lifting unit, transition rails with different slopes on the transition rail switching mechanism can be installed between the low rail and the high rail, thereby realizing free switching between rails with different slopes, reducing the occupied area of ​​the experimental site, and greatly saving the implementation cost.

[0043] 2. The present invention provides the first fixing block and the second fixing block on the transition rail, the low rail and the high rail respectively, so that after the track change is completed, the transition rail is stably fixed between the low rail and the high rail, and the transition rail is prevented from rotating due to looseness.

[0044] 3. The present invention provides a limit plate on the first connection plate and the second connection plate, so that transition rails with different slopes can be placed on the first connection plate and the second connection plate, thereby allowing the transition rails to be quickly and freely switched. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention.

[0046] Figure 2 It is a schematic diagram of the overall three-dimensional structure of the transition rail switching mechanism of the present invention.

[0047] Figure 3 It is a three-dimensional structural schematic diagram of the transition rail switching mechanism of the present invention from another perspective.

[0048] Figure 4 It is a schematic diagram of the three-dimensional structure of the rotary bearing, the second connecting plate, the first fixing block, the second fixing block and the fixing bolts of the present invention.

[0049] Figure 5 It is a schematic diagram of the three-dimensional structure of the transition rail of the present invention.

[0050] Figure 6 It is a three-dimensional structural schematic diagram of the limit pin, the limit bearing, the limit plate and the limit bolt of the present invention.

[0051] Figure 7 It is a side view of the transition rail switching mechanism of the present invention.

[0052] Figure 8 It is a three-dimensional structural schematic diagram of the rail connection mechanism of the present invention.

[0053] Fig. 9 The present invention is a flow chart of the method.

[0054] In the figure: 1. fixed rail; 11. high rail; 12. low rail; 13. second fixed block; 2. transition rail switching mechanism; 21. first connecting plate; 22. second connecting plate; 23. transmission shaft; 24. crossbeam; 241. first vertical rod; 242. second vertical rod; 3. transition rail; 31. first fixed block; 32. first rail; 33. second rail; 34. third rail; 35. fourth rail; 36. limit plate; 37. limit bolt; 38. limit bearing; 39. limit pin; 4. switching support gantry; 5. lifting unit; 51. first stretching cylinder; 52. second stretching cylinder; 6. first drive unit; 61. coupling; 7. mounting groove; 8. fixing bolt; 9. main support gantry; 91. frame rail connecting mechanism; 92. upper fixed plate; 93. lower fixed plate; 94. fixed chain; 95. lower fixed connecting block; 96. fixed shaft. DETAILED DESCRIPTION

[0055] The method for using the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0056] like Figures 1 to 9 As shown, a track slope switching device for an auxiliary transport robot comprises:

[0057] Two fixed rails 1 are arranged at different heights, and a transition rail switching mechanism 2 is arranged between the two fixed rails 1. The transition rail switching mechanism 2 is used to connect transition rails 3 with different slopes between the two fixed rails 1. The transition rail switching mechanism 2 includes:

[0058] The first connecting plate 21 and the second connecting plate 22 are arranged in parallel and opposite to each other, and are coaxially connected through a transmission shaft 23. A plurality of transition rails 3 with different slopes are evenly arranged along the circumference of the connecting plates between the two connecting plates.

[0059] The lifting unit 5 is used to drive the first connection plate 21, the second connection plate 22 and a plurality of transition rails 3 with different slopes to move up and down together, so as to dock or disconnect the transition rails 3 between the two fixed rails 1;

[0060] The first driving unit 6 can drive the first connecting disk 21 and the second connecting disk 22 to rotate synchronously, so as to switch the transition rails 3 with different slopes.

[0061] like Figure 2 , Figure 3 and Figure 7 As shown, the diameter of the first connection disk 21 is larger than that of the second connection disk 22, and a plurality of mounting grooves 7 are respectively formed in an annular circumferential direction on the first connection disk 21 and the second connection disk 22;

[0062] like Figure 3 As shown, the cross beam 24 has a first vertical rod 241 fixedly connected to the bottom of one end thereof, and the bottom end of the first vertical rod 241 is rotatably connected to one end of the transmission shaft 23;

[0063] A second vertical rod 242 is fixedly connected to the bottom of the other end of the cross beam 24 , and the bottom end of the second vertical rod 242 is rotatably connected to the other end of the transmission shaft 23 .

[0064] like Figures 1 to 3 As shown, the lifting unit 5 includes:

[0065] A first stretching cylinder 51 connected to one end of the crossbeam 24;

[0066] The second stretching cylinder 52 is connected to the other end of the crossbeam 24 .

[0067] The first driving unit 6 is a first motor, and the first motor is connected to the transmission shaft 23 via a coupling 61 .

[0068] like Figure 6 As shown, the two ends of the transition rail 3 are connected with first fixing blocks 31, and the first fixing blocks 31 extend beyond the edges of the two ends of the transition rail 3 by a certain distance; the fixed rail 1 is composed of a high rail 11 and a low rail 12, and the low rail 12 and the high rail 11 are respectively connected with second fixing blocks 13 on one end close to the transition rail 3, and the first fixing block 31 on the transition rail 3 is respectively connected with the second fixing block 13 on the low rail 12 and the high rail 11 by fixing bolts 8, and the distance from the second fixing block 13 to the outermost ends of the low rail 12 and the high rail 11 is equal to the distance of the first fixing block 31 extending beyond the edges of the two ends of the transition rail 3.

[0069] like Figure 5 and Figure 6 As shown, the transition rail 3 includes:

[0070] A first rail 32, wherein the slope of the first rail 32 is 10°;

[0071] A second rail 33, wherein the slope of the second rail 33 is 15°;

[0072] A third rail 34, wherein the slope of the third rail 34 is 20°;

[0073] The fourth rail 35 has a slope of 25°; the first rail 32, the second rail 33, the third rail 34 and the fourth rail 35 are respectively installed on the first connecting plate 21 and the second connecting plate 22 through the mounting groove 7, and the mounting groove 7 of the first connecting plate 21 and the second connecting plate 22 is provided with a limit plate 36 for limiting the movement of the transition rail 3.

[0074] like Figure 7 As shown, a limiting bolt 37 is provided at one end of the limiting plate 36, and passes through the limiting plate 36 to be connected to the outer sides of the first connecting plate 21 and the second connecting plate 22. The other end of the limiting plate 36 is connected to a limiting pin 39 through a limiting bearing 38, and the limiting pin 39 passes through the limiting plate 36 to be connected to the outer sides of the first connecting plate 21 and the second connecting plate 22 respectively.

[0075] like Figure 1 and Figure 2 As shown, it also includes:

[0076] The main support gantry 9 is vertically mounted on the ground and connected to the lower rail 12 and the upper rail 11 respectively through a rail connection mechanism 91;

[0077] The switching support gantry 4 is vertically installed on the ground, and its top is connected to the lifting unit 5. The switching support gantry 4 is located between the main support gantries 9. The low rails 12 and the high rails 11 on both sides of the main support gantries have a certain height difference, and the main support gantry 9 is lower than the switching support gantry 4.

[0078] like Figure 1 and Figure 8 As shown, the rail connection mechanism 91 includes:

[0079] An upper fixing plate 92 connected to the bottom of the main support gantry 9;

[0080] A lower fixing plate 93 connected to the upper fixing plate 92 via a fixing chain 94;

[0081] The lower fixed connection blocks 95 are installed on both ends of the lower rail 12 and connected to the lower fixed plate 93 via a fixed shaft 96 .

[0082] like Fig. 9 As shown, a method for switching the track slope of an auxiliary transport robot comprises the following steps:

[0083] S1: First, the controller controls the first motor to start, and the first motor starts to drive the transition rail 3 on the first connection disk 21 and the second connection disk 22 to rotate. According to the experimental requirements, the transition rail 3 with the required slope is rotated to the bottom;

[0084] S2: Then, the controller controls the first stretching cylinder 51 and the second stretching cylinder 52 on the lifting unit 5 to move downward at the same time, and drives the transition rail 3 under the first connecting plate 21 and the second connecting plate 22 to move downward to align with the high rail 11 and the low rail 12, so that the first fixing block 31 on the transition rail 3 is in close contact with the surface of the fixed rail 1 horizontally, and is aligned with the second fixing block 13 at the same time;

[0085] S3: After the two ends of the transition rail 3 are aligned with the high rail 11 and the low rail 12 respectively, the fixing limit bolts 37 on the upper and lower sides of the first connecting plate 21 and the second connecting plate 22 are manually unscrewed using a tool, and then the limit plate 36 is manually rotated 180°;

[0086] S4: Subsequently, the first stretching cylinder 51 and the second stretching cylinder 52 on the lifting unit 5 are controlled to move upward at the same time, and drive the first connecting plate 21 and the second connecting plate 22 to move upward, and the transition rail 3 below the first connecting plate 21 and the second connecting plate 22 will be detached from the mounting groove 7 on the first connecting plate 21 and the second connecting plate 22. When the first connecting plate 21 and the second connecting plate 22 move upward, the first stretching cylinder 51 and the second stretching cylinder 52 on the lifting unit 5 stop moving;

[0087] S5: Finally, the worker connects and fixes the two ends of the transition rail 3 to the low rail 12 and the high rail 11 respectively by passing the fixing bolts 8 through the first fixing block 31 and the second fixing block 13;

[0088] S6: When switching the next transition rail 3, the originally installed transition rail 3 is removed from the low rail 12 and the high rail 11, and fixed on the first connecting plate 21 and the second connecting plate 22, and then the above steps S1 to S5 are repeated to complete the switching of the next transition rail 3 with different slopes.

[0089] Working process: when implementing tracks with different slopes, first, it is necessary to manually control the start of the first motor through the controller. The start of the first motor drives the transition rail 3 on the first connecting plate 21 and the second connecting plate 22 to rotate. According to the experimental requirements, the transition rail 3 of the required slope is rotated to the bottom; then the first stretching cylinder 51 and the second stretching cylinder 52 on the lifting unit 5 are controlled by the controller to move downward at the same time, and drive the transition rail 3 under the first connecting plate 21 and the second connecting plate 22 to move downward to align with the high rail 11 and the low rail 12, so that the first fixed block 31 on the transition rail 3 is in close contact with the surface of the fixed rail 1 horizontally, and is aligned with the second fixed block 13 at the same time.

[0090] When the two ends of the transition rail 3 are aligned with the high rail 11 and the low rail 12 respectively, the fixed limit bolts 37 on the upper and lower parts of the first connecting plate 21 and the second connecting plate 22 are manually unscrewed using a tool, and then the limit plate 36 is manually rotated 180°. Subsequently, the first stretching cylinder 51 and the second stretching cylinder 52 on the lifting unit 5 are controlled to move upward at the same time, and drive the first connecting plate 21 and the second connecting plate 22 to move upward, and the transition rail 3 below the first connecting plate 21 and the second connecting plate 22 will be detached from the mounting groove 7 on the first connecting plate 21 and the second connecting plate 22. When the first connecting plate 21 and the second connecting plate 22 move to the upper side, the first stretching cylinder 51 and the second stretching cylinder 52 on the lifting unit 5 stop moving.

[0091] Finally, tools are used to manually pass the fixing bolts 8 through the first fixing block 31 and the second fixing block 13, and the two ends of the transition rail 3 are connected and fixed to the low rail 12 and the high rail 11 respectively. When switching the next transition rail 3, the fixing bolts 8 need to be removed from the first fixing block 31 and the second fixing block 13, and then the first stretching cylinder 51 and the second stretching cylinder 52 on the lifting unit 5 are controlled to move downward at the same time. When the transition rail 3 below enters the mounting groove 7 on the first connecting disk 21 and the second connecting disk 22, the limiting plate 36 can be rotated and fixed to the first connecting disk 21 and the second connecting disk 22 by the limiting bolts 37, and then the first motor is controlled to rotate to rotate the required transition rail 3 to the bottom, so as to perform the next track change.

[0092] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. However, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A track slope switching device for an auxiliary transport robot, comprising: Two fixed rails (1) are arranged at different heights, characterized in that a transition rail switching mechanism (2) is provided between the two fixed rails (1), the transition rail switching mechanism (2) is used to connect transition rails (3) with different slopes between the two fixed rails (1), and the transition rail switching mechanism (2) comprises: A first connecting disk (21) and a second connecting disk (22) are arranged in parallel and opposite to each other, and are coaxially connected via a transmission shaft (23); a plurality of transition rails (3) with different slopes are evenly arranged between the two connecting disks along the circumference of the connecting disks; A lifting unit (5) is used to drive the first connection plate (21), the second connection plate (22), and a plurality of transition rails (3) with different slopes to move up and down together, so as to connect or disconnect the transition rails (3) between two fixed rails (1); The first driving unit (6) is capable of driving the first connecting disk (21) and the second connecting disk (22) to rotate synchronously, so as to switch transition rails (3) with different slopes.

2. The track gradient switching device for an auxiliary transport robot according to claim 1, characterized in that: The diameter of the first connection plate (21) is greater than the diameter of the second connection plate (22), and a plurality of mounting grooves (7) are respectively provided in an annular circumferential direction on the first connection plate (21) and the second connection plate (22); A crossbeam (24), one end of which is fixedly connected to a first vertical rod (241) at the bottom, and the bottom end of the first vertical rod (241) is rotatably connected to one end of the transmission shaft (23); A second vertical rod (242) is fixedly connected to the bottom of the other end of the crossbeam (24), and the bottom end of the second vertical rod (242) is rotatably connected to the other end of the transmission shaft (23).

3. The track slope switching device for an auxiliary transport robot according to claim 2, characterized in that: The lifting unit (5) comprises: A first stretching cylinder (51) connected to one end of the crossbeam (24); The second stretching cylinder (52) is connected to the other end of the crossbeam (24).

4. The track gradient switching device for an auxiliary transport robot according to claim 1, characterized in that: The first drive unit (6) is a first motor, and the first motor is connected to the transmission shaft (23) via a coupling (61).

5. The track slope switching device for an auxiliary transport robot according to claim 1, characterized in that: The transition rail (3) is connected to first fixing blocks (31) at both ends, and the first fixing blocks (31) extend beyond the edges of both ends of the transition rail (3) by a certain distance; the fixing rail (1) is composed of a high rail (11) and a low rail (12), and the ends of the low rail (12) and the high rail (11) close to the transition rail (3) are respectively connected to second fixing blocks (13); the first fixing block (31) on the transition rail (3) is respectively connected to the second fixing block (13) on the low rail (12) and the high rail (11) by fixing bolts (8); the distance from the second fixing block (13) to the outermost ends of the low rail (12) and the high rail (11) is equal to the distance of the first fixing block (31) extending beyond the edges of both ends of the transition rail (3).

6. The track gradient switching device for an auxiliary transport robot according to claim 2, characterized in that: The transition rail (3) comprises: A first rail (32), wherein the slope of the first rail (32) is 10°; A second rail (33), wherein the slope of the second rail (33) is 15°; A third rail (34), wherein the slope of the third rail (34) is 20°; a fourth rail (35), wherein the slope of the fourth rail (35) is 25°; two ends of the first rail (32), the second rail (33), the third rail (34) and the fourth rail (35) are respectively mounted on the first connecting plate (21) and the second connecting plate (22) through the mounting grooves (7); and a limiting plate (36) for limiting the movement of the transition rail (3) is provided on the mounting grooves (7) of the first connecting plate (21) and the second connecting plate (22).

7. The track gradient switching device for an auxiliary transport robot according to claim 6, characterized in that: A limiting bolt (37) is provided at one end of the limiting plate (36) and passes through the limiting plate (36) to be connected to the outer sides of the first connecting plate (21) and the second connecting plate (22); the other end of the limiting plate (36) is connected to a limiting pin (39) via a limiting bearing (38); the limiting pin (39) passes through the limiting plate (36) and is respectively connected to the outer sides of the first connecting plate (21) and the second connecting plate (22).

8. The track gradient switching device for an auxiliary transport robot according to claim 5, characterized in that: Also includes: A main support gantry (9) is vertically mounted on the ground and is respectively connected to the lower rail (12) and the upper rail (11) via a rail connection mechanism (91); A switching support gantry (4) is vertically mounted on the ground, and its top is connected to the lifting unit (5). The switching support gantry (4) is located between the main support gantry (9). The low rails (12) and the high rails (11) on both sides of the main support gantry (9) have a certain height difference. The main support gantry (9) is lower than the switching support gantry (4).

9. The track gradient switching device for an auxiliary transport robot according to claim 8, characterized in that: The rail mounting connection mechanism (91) comprises: An upper fixing plate (92) connected to the bottom of the main supporting door frame (9); A lower fixing plate (93) connected to the upper fixing plate (92) via a fixing chain (94); The lower fixed connection blocks (95) are mounted on both ends of the lower rail (12) and are connected to the lower fixed plate (93) via a fixed shaft (96).

10. A method for switching the track slope of an auxiliary transport robot, the method adopting the track slope switching device of an auxiliary transport robot as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1: First, the controller controls the first motor to start, and the first motor starts to drive the transition rail (3) on the first connection disk (21) and the second connection disk (22) to rotate. According to the experimental requirements, the transition rail (3) with the required slope is rotated to the bottom; S2: Then, the controller controls the first stretching cylinder (51) and the second stretching cylinder (52) on the lifting unit (5) to move downward simultaneously, and drives the transition rail (3) below the first connecting plate (21) and the second connecting plate (22) to move downward until it is aligned between the high rail (11) and the low rail (12), so that the first fixing block (31) on the transition rail (3) is in close contact with the surface of the fixing rail (1) at the same time, and is aligned with the second fixing block (13); S3: After the two ends of the transition rail (3) are aligned with the high rail (11) and the low rail (12), the fixing limit bolts (37) on the upper and lower sides of the first connection plate (21) and the second connection plate (22) are manually unscrewed using a tool, and then the limit plate (36) is manually rotated 180°; S4: Subsequently, the first stretching cylinder (51) and the second stretching cylinder (52) on the lifting unit (5) are controlled to move upward simultaneously, and drive the first connecting plate (21) and the second connecting plate (22) to move upward, and the transition rail (3) below the first connecting plate (21) and the second connecting plate (22) will be detached from the mounting groove (7) on the first connecting plate (21) and the second connecting plate (22). When the first connecting plate (21) and the second connecting plate (22) move upward, the first stretching cylinder (51) and the second stretching cylinder (52) on the lifting unit (5) stop moving; S5: Finally, the worker connects and fixes the two ends of the transition rail (3) to the low rail (12) and the high rail (11) respectively by passing the fixing bolts (8) through the first fixing block (31) and the second fixing block (13); S6: When switching the next transition rail (3), the originally installed transition rail (3) is removed from the low rail (12) and the high rail (11), and fixed on the first connecting plate (21) and the second connecting plate (22), and then the above steps S1 to S5 are repeated to complete the switching of the next transition rail (3) with a different slope.

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