Double-track transfer robot system and equipment

Abstract

The invention discloses a double-track transfer robot system and equipment, the double-track transfer robot system comprises an automatic transfer system, the automatic transfer system comprises a moving module and a cargo loading and unloading module, and the moving module comprises a moving control unit, a navigation unit and an obstacle avoidance unit; the goods loading and unloading module comprises a goods identification unit, a goods loading and unloading unit and a goods fixing unit, the movement control unit is used for controlling movement of equipment, the navigation unit is used for positioning and planning a reasonable carrying route, the obstacle avoidance unit is used for identifying obstacle information to enable the equipment to reasonably cross obstacles, and the goods identification unit is used for identifying goods. And the cargo loading and unloading unit is used for identifying the position of the cargo position adjusting equipment and carrying the cargoes up and down. Through related structural design, the obstacle avoidance function of the equipment is effectively improved, and meanwhile, a side loading mode is adopted, so that the loading and transportation stability of the equipment is effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of transport robots, and in particular relates to a dual-track transport robot system and equipment. Background Art

[0002] With the development of automated warehouse technology, it has gradually become widely used due to its high storage efficiency and high warehouse utilization. In automated warehouses, to facilitate the retrieval and placement of materials, handling robots are usually installed to achieve automated handling, significantly reducing labor costs and operating costs.

[0003] During the operation of existing transport robots, a specified route is generally edited through a control system so that the transport robots can transport goods along the specified route. However, the transport robots do have obstacle avoidance modules. If they encounter obstacles during the transport process, the robots will pass over the obstacles, which will cause the goods to shake and may even collapse.

[0004] In addition, existing handling robots generally use the front or rear end to load goods, and cannot load goods from the side. When using the front or rear end cargo state, they need to turn after loading is completed for transportation and movement. Turning when carrying higher goods often causes the goods to tilt, and in severe cases, the goods may collapse.

[0005] The information disclosed in this background technology section is only intended to enhance understanding of the overall background of the invention and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the Invention

[0006] The object of the present invention is to provide a dual-track transport robot system and equipment, which can solve the problems that existing transport robots lack obstacle avoidance modules and cannot load goods from the side.

[0007] In order to achieve the above object, a specific embodiment of the present invention provides the following technical solutions:

[0008] A dual-track transport robot system includes: an automatic transport system, the automatic transport system includes: a mobile module and a loading and unloading cargo module, the mobile module includes: a mobile control unit, a navigation unit, and an obstacle avoidance unit, and the loading and unloading cargo module includes: a cargo identification unit, an loading and unloading cargo unit, and a cargo fixing unit.

[0009] In one or more embodiments of the present invention, the mobile control unit is used to control the movement of the device, the navigation unit is used to locate and plan a reasonable transportation route, the obstacle avoidance unit is used to identify obstacle information so that the device can reasonably cross the obstacle, and the mobile module is used to receive control information from the navigation unit, receive obstacle avoidance information transmitted by the obstacle avoidance unit, and transmit the signal to the mobile control unit to control the movement of the device.

[0010] In one or more embodiments of the present invention, the cargo identification unit is used to identify the position of the cargo position adjustment device, the upper and lower cargo units are used to transport the cargo up and down, and the cargo fixing unit is used to assist in fixing the cargo placed on the equipment. The upper and lower cargo module is used to receive the signal of the cargo identification unit and send the signal to the automatic handling system. The automatic handling system transmits the model to the mobile control unit through the mobile module and parks the equipment at the upper and lower cargo position. Subsequently, the upper and lower cargo module receives the signal from the upper and lower cargo units and the cargo fixing unit that the cargo has been loaded, and sends the signal to the automatic handling system. The automatic handling system transmits the model to the mobile control unit through the mobile module to control the movement of the equipment.

[0011] A dual-track transport robot device includes a dual-track transport robot system, wherein the dual-track transport robot device includes: a frame and a pair of loading and unloading cargo mechanisms;

[0012] A double row of main wheels is installed at the bottom of the frame, a pair of mounting slots is provided on the frame, an auxiliary clamping assembly is installed on the frame, the auxiliary clamping assembly includes a pair of bases, a pressure plate is slidably provided on the pair of bases, a fixed shaft is fixed between the pair of bases, a clamping plate is rotatably provided on the fixed shaft, a pair of arc-shaped control rods are fixed on the clamping plate, the arc axis of the arc-shaped control rods and the axis of the fixed shaft are coaxial, one end of the arc-shaped control rod away from the clamping plate is arranged below the pressure plate, and a clamping head is installed on the clamping plate;

[0013] The pair of upper and lower cargo mechanisms are respectively installed in a pair of mounting grooves, and the upper and lower cargo mechanisms include a pair of slide rails, the first slide rail is fixed to two side walls of the mounting groove, a pair of the first slide rails are fixed to a second sliding block, a pair of the second slide rails are fixed to a pair of the third sliding blocks, a pair of the third sliding blocks are slidably provided in a pair of the second slide rails, a fixing plate is fixed between the pair of the second slide rails, and a bottom plate is fixedly provided with an end of the fixing plate away from the fixing plate, and an end of the bottom plate close to the fixing plate is rotatably provided with a pair of first lifting rods, a pair of the first lifting rods are rotatably provided with an end of the lifting plate away from the fixing plate, a pair of the first lifting rods are rotatably provided with a pair of second lifting rods, and two ends of the pair of the second lifting rods are rotatably provided with a first rotating shaft and a second rotating shaft, respectively, the first rotating shaft slides on one end of the bottom plate away from the fixing plate, and the second rotating shaft slides on one end of the lifting plate close to the fixing plate, a screw rod is installed in the bottom plate, and a threaded sleeve adapted to the screw rod thread is fixed on the first rotating shaft.

[0014] In one or more embodiments of the present invention, a pair of first sliders are fixed on the pressure plate, a pair of first slide grooves adapted to the first sliders are carved on the base, and an embedding groove adapted to the pressure plate is carved on the frame. The pressure plate slides in the first slide groove through the first slider to realize a sliding setting between the pressure plate and the base. The embedding groove is used when the goods press the pressure plate downward. After the goods are placed on the frame, the bottom of the pressure plate is embedded in the embedding groove, and the placement of the pressure plate prevents the top surface of the frame from uniformly supporting the goods.

[0015] In one or more embodiments of the present invention, a pair of the arc-shaped control rods are each installed with a pulley at one end close to the pressure plate, and the pressure plate is provided with an arc-shaped sliding surface. When the pressure plate moves downward, the arc-shaped control rod is pushed to drive the clamping plate to rotate around the fixed axis. When the pressure plate moves downward, the pulley slides along the surface of the arc-shaped sliding surface, and the pulley is used to reduce the friction force generated by the arc-shaped control rod sliding on the arc-shaped sliding surface.

[0016] In one or more embodiments of the present invention, a pair of sliding rods are slidingly provided at one end of the clamping plate away from the fixed axis, a fixed plate is fixed at one end of the pair of sliding rods close to the arc-shaped control rod, and a clamping head is fixed at one end of the pair of sliding rods away from the fixed plate. After the clamping plate rotates, the clamping head is driven by the sliding rod to clamp the cargo.

[0017] In one or more embodiments of the present invention, a pair of sliding rods are provided between the clamping plate and the clamping head and are both provided with springs. After the clamping head contacts the cargo, it pushes it toward the clamping plate, compresses the spring during movement, and the reverse elastic force of the spring pushes the clamping head to clamp the cargo.

[0018] In one or more embodiments of the present invention, a plurality of pairs of moving wheels are installed on both sides of the base plate, and the moving wheels are used to assist the base plate in moving.

[0019] In one or more embodiments of the present invention, fourth sliders are fixed to both ends of the second rotating shaft and the threaded sleeve, and second sliding grooves compatible with the fourth sliders are carved on the base plate and the lifting plate. The second rotating shaft and the threaded sleeve slide in the second sliding grooves through the fourth sliders, thereby realizing a sliding setting between the base plate and the lifting plate.

[0020] Compared with the existing technology, the present invention effectively improves the obstacle avoidance function of the equipment through relevant structural design, and adopts a side loading method, thereby effectively improving the stability of equipment loading and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is a block diagram of a dual-track transport robot system in one embodiment of the present invention;

[0023] Figure 2 A three-dimensional diagram of a dual-track transport robot device according to an embodiment of the present invention;

[0024] Figure 3 A three-dimensional diagram of a dual-track transport robot device from another perspective in one embodiment of the present invention;

[0025] Figure 4 A schematic structural diagram of a rack in one embodiment of the present invention;

[0026] Figure 5 This is a schematic structural diagram of an auxiliary clamp assembly in one embodiment of the present invention;

[0027] Figure 6 This is a schematic structural diagram of another state of the auxiliary clamp assembly in one embodiment of the present invention;

[0028] Figure 7 A schematic structural diagram of a pressing plate and a clamping plate in one embodiment of the present invention;

[0029] Figure 8 is a cross-sectional view of an auxiliary clamp assembly in one embodiment of the present invention;

[0030] Figure 9 This is a structural diagram of a loading and unloading cargo mechanism in one embodiment of the present invention;

[0031] Figure 10 This is a structural diagram of another state of the cargo loading and unloading mechanism in one embodiment of the present invention;

[0032] Figure 11 for Figure 10 The schematic diagram of the structure shown at A in the middle;

[0033] Figure 12 Schematic diagram of the structure of the first lifting rod and the second lifting rod in one embodiment of the present invention.

[0034] Description of main reference numerals:

[0035] 1-frame, 101-main wheel, 102-mounting slot, 103-auxiliary clamp assembly, 104-base, 105-pressing plate, 106-first slide slot, 107-first slider, 108-clamping plate, 109-arc control rod, 110-pulley, 111-arc sliding surface, 112-sliding rod, 113-fixed plate, 114-clamping head, 115-spring, 116-fixed shaft, 117-embedded slot, 2-up and down cargo mechanism, 20 1-first slide rail, 202-second slider, 203-third slider, 204-second slide rail, 205-fixed plate, 206-control body, 207-bottom plate, 208-lifting plate, 209-moving wheel, 210-first lifting rod, 211-second lifting rod, 212-first rotating shaft, 213-second rotating shaft, 214-threaded sleeve, 215-screw, 216-driving device, 217-fourth slider, 218-second slide groove. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0037] like Figure 1 As shown, a dual-track transport robot system in one embodiment of the present invention includes: an automatic transport system, the automatic transport system includes: a mobile module and an upper and lower cargo module, the mobile module includes: a mobile control unit, a navigation unit, and an obstacle avoidance unit, and the upper and lower cargo module includes: a cargo identification unit, an upper and lower cargo unit, and a cargo fixing unit.

[0038] like Figure 1As shown, the mobile control unit is used to control the movement of the equipment, the navigation unit is used to locate and plan a reasonable transportation route, the obstacle avoidance unit is used to identify obstacle information so that the equipment can reasonably cross the obstacle, and the mobile module is used to receive the control information of the navigation unit, receive the obstacle avoidance information transmitted by the obstacle avoidance unit, and transmit the signal to the mobile control unit to control the movement of the equipment.

[0039] like Figure 1 As shown, the cargo identification unit is used to identify the position of the cargo and adjust the position of the equipment. The upper and lower cargo units are used to move the cargo up and down. The cargo fixing unit is used to assist in fixing the cargo placed on the equipment. The upper and lower cargo module is used to receive the signal of the cargo identification unit and send the signal to the automatic handling system. The automatic handling system transmits the model to the mobile control unit through the mobile module and parks the equipment at the upper and lower cargo position. Then the upper and lower cargo module receives the signal from the upper and lower cargo units and the cargo fixing unit that the cargo has been loaded, and sends the signal to the automatic handling system. The automatic handling system transmits the model to the mobile control unit through the mobile module to control the movement of the equipment.

[0040] like Figures 2 to 11 As shown, an embodiment of the present invention further provides a dual-track transport robot device, which includes the above-mentioned dual-track transport robot system. The dual-track transport robot device includes: a frame 1 and a pair of upper and lower cargo mechanisms 2.

[0041] like Figures 2 to 7 As shown, a double row of main wheels 101 are installed at the bottom of the frame 1, a pair of mounting grooves 102 are provided on the frame 1, and an auxiliary clamping assembly 103 is installed on the frame 1. This equipment improves the stability of movement by arranging double rows of main wheels 101, and the mounting grooves 102 are used to install the upper and lower cargo mechanisms 2. The auxiliary clamping assembly 103 is used to assist in fixing the cargo placed on the frame 1 to prevent displacement during transportation, thereby improving the stability of cargo handling.

[0042] In addition, the auxiliary clamping assembly 103 includes a pair of bases 104, on which a pressure plate 105 is slidably provided, a fixed shaft 116 is fixed between the pair of bases 104, and a clamping plate 108 is rotatably provided on the fixed shaft 116, and a pair of arc-shaped control rods 109 are fixed on the clamping plate 108, and the arc axis of the arc-shaped control rod 109 is the same axis as the axis of the fixed shaft 116. The arc-shaped control rod 109 is located below the pressure plate 105 at one end away from the clamping plate 108, and a clamping head 114 is installed on the clamping plate 108. When the goods are placed to the upper end of the frame 1, the goods contact the pressure plate 105, pressing the pressure plate 105 downward, and pushing the arc-shaped control rod 109 during the downward movement of the pressure plate 105. The pressure plate 105 drives the clamping plate 108 to rotate around the fixed shaft 116 through the arc-shaped control rod 109, and the clamping plate 108 drives the clamping head 114 to clamp the side wall of the goods.

[0043] like Figures 5 to 7 As shown, a pair of first sliders 107 are fixed on the pressure plate 105, a pair of first slide grooves 106 adapted to the first sliders 107 are carved on the pair of bases 104, and an embedding groove 117 adapted to the pressure plate 105 is carved on the frame 1. The pressure plate 105 slides in the first slide groove 106 through the first sliders 107 to realize the sliding setting between the pressure plate 105 and the base 104. The embedding groove 117 is used when the goods press the pressure plate 105 downward. After the goods are placed on the frame 1, the bottom of the pressure plate 105 is embedded in the embedding groove 117 to prevent the pressure plate 105 from hindering the uniform support of the goods by the top surface of the frame 1.

[0044] like Figures 5 to 7 As shown, a pair of arc-shaped control rods 109 are each installed with a pulley 110 at one end close to the pressure plate 105, and an arc-shaped sliding surface 111 is provided on the pressure plate 105. When the pressure plate 105 moves downward, the arc-shaped control rod 109 is pushed to drive the clamping plate 108 to rotate around the fixed axis 116. When the pressure plate 105 moves downward, the pulley 110 slides along the surface of the arc-shaped sliding surface 111, and the pulley 110 reduces the friction force generated by the arc-shaped control rod 109 sliding on the arc-shaped sliding surface 111.

[0045] like Figures 5 to 7 As shown, a pair of slide bars 112 are slidably mounted on one end of the clamping plate 108 away from the fixed shaft 116. A fixed plate 113 is fixed to one end of the pair of slide bars 112 near the arc-shaped control rod 109. A clamping head 114 is fixed to one end of the pair of slide bars 112 away from the fixed plate 113. When the clamping plate 108 rotates, the clamping head 114 is driven by the slide bars 112 to clamp the cargo. Springs 115 are installed on the pair of slide bars 112, located between the clamping plate 108 and the clamping head 114. When the clamping head 114 contacts the cargo, the cargo pushes the clamping head 114 toward the clamping plate 108. During this movement, the spring 115 is compressed, and the reverse elastic force of the spring 115 pushes the clamping head 114 to clamp the cargo.

[0046] like Figures 8 to 11As shown, a pair of upper and lower cargo mechanisms 2 are respectively installed in a pair of mounting grooves 102, and the upper and lower cargo mechanisms 2 include a pair of first slide rails 201, the first slide rails 201 are fixed on the two side walls of the mounting groove 102, a second slider 202 is fixed on the pair of first slide rails 201, a third slider 203 is fixed on the pair of second sliders 202, and a second slide rail 204 is slidably arranged in the pair of third sliders 203, a fixed plate 205 is fixed between the pair of second slide rails 204, and a control body 206 is installed between the pair of second sliders 202, and the second slider 202 is controlled by the control body 206 to slide horizontally on the first slide rail 201, and the second slide rail 204 slides up and down in the third slider 203, and the fixed plate 205 is driven horizontally by the second slider 202 sliding horizontally on the first slide rail 201, and the fixed plate 205 is driven up and down by the second slide rail 204 sliding up and down in the third slider 203.

[0047] Secondly, a bottom plate 207 is fixed to the bottom end of the fixed plate 205, and a lifting plate 208 is installed on the end of the bottom plate 207 away from the fixed plate 205. A pair of first lifting rods 210 are rotatably set on the end of the bottom plate 207 close to the fixed plate 205, and the other ends of the pair of first lifting rods 210 are rotatably set on the end of the lifting plate 208 away from the fixed plate 205. A pair of second lifting rods 211 are rotatably set on the pair of first lifting rods 210, and the two ends of the pair of second lifting rods 211 are respectively rotatably set with a first rotating shaft 212 and a second rotating shaft 213. The first rotating shaft 212 slides on the end of the bottom plate 207 away from the fixed plate 205, and the second rotating shaft 213 slides on the end of the lifting plate 208 close to the fixed plate 205.

[0048] When in use, by driving the first rotating shaft 212 to move in the direction of the fixed plate 205, the first rotating shaft 212 drives one end of the second lifting rod 211 to move. Since the first lifting rod 210 and the second lifting rod 211 are rotatably arranged with each other, the first rotating shaft 212 drives the second lifting rod 211 to move while causing the first lifting rod 210 and the second lifting rod 211 to be pushed outward, and the first lifting rod 210 and the second lifting rod 211 to lift the lifting plate 208 upward. Since the two ends of the first lifting rod 210 are only rotatably arranged between the bottom plate 207 and the lifting plate 208 respectively, when the first lifting rod 210 is rotated outward and opened, it not only drives the lifting plate 208 to rise, but also drives the lifting plate 208 to move horizontally in the direction of the fixed plate 205, so that when the goods are lifted, the goods are delivered a distance in the direction of the rack 1, so that when the bottom plate 207 is retracted into the mounting groove 102, the goods can be placed in the middle position of the rack 1.

[0049] In addition, a screw rod 215 is installed in the base plate 207, and a threaded sleeve 214 that is compatible with the thread of the screw rod 215 is fixed on the first rotating shaft 212. A driving device 216 is installed in the base plate 207 and is connected to the screw rod 215. The driving device 216 drives the screw rod 215 to rotate, and the screw rod 215 drives the first rotating shaft 212 to move along the sliding track of the fourth slider 217 in the second sliding groove 218 through the threaded sleeve 214.

[0050] like Figures 8 to 11 As shown, multiple pairs of moving wheels 209 are installed on both sides of the base plate 207 to assist in the movement of the base plate 207. Fourth sliders 217 are fixed to both ends of the second rotating shaft 213 and the threaded sleeve 214. Second sliding grooves 218 that are compatible with the fourth sliding grooves 217 are excavated on the base plate 207 and the lifting plate 208. The second rotating shaft 213 and the threaded sleeve 214 slide in the second sliding grooves 218 through the fourth sliders 217, thereby achieving a sliding arrangement between the base plate 207 and the lifting plate 208.

[0051] Working Principle: When using this device, first install the control body 206 between the pair of second sliders 202, install the driving device 216 in the bottom plate 207, and connect the driving device 216 with the screw rod 215;

[0052] When loading cargo, the device is first moved to the side of the cargo through the control system, and the pair of mounting slots 102 are aligned with the cargo pallet. Then, the control body 206 is used to control the pair of second slide rails 204 to move downward on the pair of third sliders 203. The pair of second slide rails 204 drive the fixed plate 205 to move downward, and the fixed plate 205 drives the bottom plate 207 to move downward, so that the moving wheels 209 stop moving after contacting the ground. Then, the control body 206 is used to control the pair of second sliders 202 to slide on the pair of first slide rails 201. The pair of second sliders 202 drive the fixed plate 205 and the bottom plate 207 to move toward the cargo, so that the bottom plate 207 and the lifting plate 208 move to the bottom of the cargo pallet.

[0053] Then, the driving device 216 drives the screw rod 215 to rotate, and the screw rod 215 drives the first rotating shaft 212 to move along the sliding track of the fourth sliding block 217 in the second sliding groove 218 toward the fixed plate 205 through the threaded sleeve 214. The first rotating shaft 212 drives one end of the second lifting rod 211 to move. Since the first lifting rod 210 and the second lifting rod 211 are arranged to rotate with each other, the first rotating shaft 212 drives the second lifting rod 211 to move while causing the first lifting rod 210 and the second lifting rod 211 to be pushed outward. The first lifting rod 210 and the second lifting rod 211 lift the lifting plate 208 upward. Since the two ends of the first lifting rod 210 are only rotatable between the bottom plate 207 and the lifting plate 208, when the first lifting rod 210 is rotated outward and opened, it not only drives the lifting plate 208 to rise, but also drives the lifting plate 208 to move horizontally toward the fixed plate 205, so that when the goods are lifted, the goods are delivered a distance toward the direction of the rack 1.

[0054] Then, the control body 206 controls the second slider 202 to slide above the first slide rail 201, and the second slider 202 drives the fixed plate 205 and the bottom plate 207 to move into the installation groove 102, and the lifting plate 208 drives the goods to move toward the upper end of the rack 1. When the bottom plate 207 is completely moved into the installation groove 102, the lifting plate 208 moves the goods to the middle position of the upper end of the rack 1. Then, the driving device 216 controls the screw rod 215 to rotate in the opposite direction, and the screw rod 215 drives the first rotating shaft 212 to move toward the fixed plate 205 through the threaded sleeve 214. When the device moves in the opposite direction, the first rotating shaft 212 drives the second lifting rod 211 to move, and at the same time, the first lifting rod 210 and the second lifting rod 211 are retracted inward, so that the lifting plate 208 moves downward, and the goods are placed on the rack 1. After the lifting plate 208 is retracted to the upper end of the rack 1, the control body 206 controls the second slide rail 204 to move upward on the third slider 203. The second slide rail 204 drives the fixed plate 205 and the bottom plate 207 to rise, so that the moving wheel 209 is lifted from the ground to prevent the moving wheel 209 from obstructing the movement of the device.

[0055] When the goods are placed on the rack 1, the goods contact the pressure plate 105, pressing the pressure plate 105 downward. During the downward movement of the pressure plate 105, the pulley 110 slides on the arc sliding surface 111, thereby pushing the arc control rod 109 to rotate with the fixed axis 116 as the axis. The arc control rod 109 drives the clamping plate 108 to rotate with the fixed axis 116 as the axis. The clamping plate 108 drives the clamping head 114 to clamp the side wall of the goods. After the clamping head 114 contacts the goods, the goods push the clamping head 114 to move in the direction of the clamping plate 108. During the movement, the spring 115 is compressed. The reverse elastic force of the spring 115 pushes the clamping head 114 to clamp the goods. After the goods are placed on the rack 1, the bottom end of the pressure plate 105 is pushed into the embedded groove 117 to prevent the pressure plate 105 from hindering the uniform support of the goods on the top surface of the rack 1.

[0056] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0057] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A dual-track transport robot system, characterized in that: The dual-track transport robot system includes: an automatic transport system, the automatic transport system includes: a mobile module and a loading and unloading cargo module, the mobile module includes: a mobile control unit, a navigation unit, and an obstacle avoidance unit, and the loading and unloading cargo module includes: a cargo identification unit, an loading and unloading cargo unit, and a cargo fixing unit.

2. A dual-track transport robot system according to claim 1, characterized in that: The mobile control unit is used to control the movement of the device, the navigation unit is used to locate and plan a reasonable transportation route, and the obstacle avoidance unit is used to identify obstacle information so that the device can reasonably cross the obstacle.

3. A dual-track transport robot system according to claim 2, characterized in that: The cargo identification unit is used to identify the position of the cargo and adjust the position of the equipment. The upper and lower cargo units are used to carry the cargo up and down. The cargo fixing unit is used to assist in fixing the cargo placed on the equipment.

4. A dual-track transport robot device, characterized in that: The dual-track transport robot system according to any one of claims 1 to 3, wherein the dual-track transport robot device comprises: The frame has a double row of main wheels installed at the bottom of the frame, a pair of mounting slots are provided on the frame, an auxiliary clamping assembly is installed on the frame, the auxiliary clamping assembly includes a pair of bases, a pressure plate is slidably provided on the pair of bases, a fixed shaft is fixed between the pair of bases, a clamping plate is rotatably provided on the fixed shaft, a pair of arc-shaped control rods are fixed on the clamping plate, the arc axis of the arc-shaped control rods is coaxial with the axis of the fixed shaft, one end of the arc-shaped control rod away from the clamping plate is arranged below the pressure plate, and a clamping head is installed on the clamping plate; The lifting mechanism is a pair of first lifting rods and second lifting rods, and the other end of the first lifting rod is rotatably provided with a pair of second lifting rods. The first lifting rod and the second lifting rod are rotatably provided with a first rotating shaft and a second rotating shaft at two ends of the second lifting rod, respectively. The first rotating shaft slides at one end of the bottom plate away from the fixed plate, and the second rotating shaft slides at one end of the lifting plate close to the fixed plate. A screw rod is installed in the bottom plate, and a threaded sleeve adapted to fit the screw rod thread is fixed on the first rotating shaft.

5. A dual-track transport robot system and equipment according to claim 4, characterized in that: A pair of first sliding blocks are fixed on the pressing plate, a pair of first sliding grooves adapted to the first sliding blocks are bored on the pair of bases, and an embedding groove adapted to the pressing plate is bored on the frame.

6. A dual-track transport robot system and equipment according to claim 5, characterized in that: A pair of arc-shaped control rods are both provided with pulleys on one end close to the pressure plate, and the pressure plate is provided with an arc-shaped sliding surface.

7. A dual-track transport robot system and equipment according to claim 6, characterized in that: A pair of sliding rods are slidably provided on one end of the clamping plate away from the fixed shaft, a fixed plate is fixed on one end of the pair of sliding rods close to the arc-shaped control rod, and a clamping head is fixed on one end of the pair of sliding rods away from the fixed plate.

8. A dual-track transport robot system and equipment according to claim 7, characterized in that: A pair of sliding rods are arranged between the clamping plate and the clamping head and are both equipped with springs.

9. A dual-track transport robot system and equipment according to claim 4, characterized in that: A plurality of pairs of moving wheels are installed on both sides of the bottom plate.

10. A dual-track transport robot system and equipment according to claim 4, characterized in that: The second rotating shaft and the threaded sleeve are both fixed with fourth sliding blocks, and the bottom plate and the lifting plate are both provided with second sliding grooves adapted to the fourth sliding blocks.

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