Dual rail handling robot apparatus

Abstract

This invention discloses a dual-track handling robot device, including a frame and a pair of loading and unloading mechanisms. The frame has double rows of main wheels at its bottom and a pair of mounting slots. An auxiliary clamping assembly is mounted on the frame, comprising a pair of bases. A pressure plate is slidably mounted on each base, and a fixed shaft is fixed between the bases. A clamping plate is rotatably mounted on the fixed shaft, and a pair of arc-shaped control rods are fixed on the clamping plate. The arc axis of the control rods is concentric with the axis of the fixed shaft, with one end of the control rod furthest from the clamping plate positioned below the pressure plate. A clamping head is mounted on the clamping plate. The loading and unloading mechanisms are respectively mounted in the pair of mounting slots. Each loading and unloading mechanism includes a pair of first slide rails fixed to the side walls of the mounting slots. This invention, through its structural design, effectively improves the obstacle avoidance function of the device. Simultaneously, by employing a side-loading method, it effectively improves the stability of the device during loading and transportation.

Description

Technical Field

[0001] This invention belongs to the field of material handling robot technology, and specifically relates to a dual-track material handling robot device. Background Technology

[0002] With the development of automated storage and retrieval systems (AS / RS) technology, its high storage efficiency and high warehouse utilization rate have led to its widespread application. In automated warehouses, handling robots are typically installed to facilitate material retrieval and placement, significantly reducing labor and operating costs.

[0003] Currently, existing handling robots typically operate by using a control system to program a specified route, allowing the robot to move goods along that route. However, these robots lack obstacle avoidance modules. When encountering obstacles during transport, the robot may drive over them, causing the goods to sway and potentially even collapse.

[0004] Furthermore, existing handling robots generally use the front or rear end to load goods, but cannot load goods from the side. When using the front or rear end to load goods, turning is required after loading and transportation. Turning when carrying tall goods often causes the goods to tilt, and in severe cases, the goods may collapse.

[0005] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a dual-track handling robot device that can solve the problems of existing handling robots lacking obstacle avoidance modules and being unable to load goods from the side.

[0007] To achieve the above objectives, a specific embodiment of the present invention provides the following technical solution: A dual-track handling robot device includes: an automatic handling system, the automatic handling system including: a moving module and a loading / unloading module, the moving module including: a moving control unit, a navigation unit, and an obstacle avoidance unit, the loading / unloading module including: a cargo identification unit, a loading / unloading unit, and a cargo fixing unit.

[0008] In one or more embodiments of the present invention, the motion control unit is used to control the movement of the device, the navigation unit is used to locate and plan a reasonable transport route, the obstacle avoidance unit is used to identify obstacle information so that the device can reasonably pass over obstacles, and the motion module is used to receive control information from the navigation unit, receive obstacle avoidance information transmitted by the obstacle avoidance unit, and transmit signals to the motion control unit to control the movement of the device.

[0009] In one or more embodiments of the present invention, the cargo identification unit is used to identify the position of the cargo adjustment device; the loading and unloading cargo unit is used to move the cargo up and down; the cargo fixing unit is used to assist in fixing the cargo placed on the device; the loading and unloading cargo module is used to receive the signal from the cargo identification unit and send the signal to the automatic handling system; the automatic handling system transmits the signal to the motion control unit through the motion module and stops the device at the loading and unloading cargo position; subsequently, the loading and unloading cargo module receives the signal from the loading and unloading cargo unit and the cargo fixing unit that the cargo loading is complete and sends the signal to the automatic handling system; the automatic handling system transmits the signal to the motion control unit through the motion module and controls the device to move.

[0010] A dual-track handling robot device includes a dual-track handling robot system, the dual-track handling robot device comprising: a frame and a pair of loading and unloading mechanisms; The bottom of the frame is equipped with double rows of main wheels, and 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 mounted on the pair of bases, and a fixed shaft is fixed between the pair of bases. A clamping plate is rotatably mounted on the fixed shaft. A pair of arc-shaped control rods are fixed on the clamping plate. The arc axis of the arc control rods is the same as the axis of the fixed shaft. The end of the arc control rod away from the clamping plate is located below the pressure plate. A clamping head is installed on the clamping plate. The pair of loading and unloading mechanisms are respectively installed in a pair of mounting slots. Each loading and unloading mechanism includes a pair of first slide rails, which are fixed to the side walls of the mounting slots. A second slider is fixed to each pair of first slide rails, and a third slider is fixed to each pair of second sliders. A second slide rail is slidably arranged inside each pair of third sliders. A fixed plate is fixed between the pair of second slide rails. A base plate is fixed to the bottom of the fixed plate. A lifting plate is installed on the end of the base plate away from the fixed plate. A pair of first lifting rods are rotatably arranged on the end of the base plate near the fixed plate. The other ends of the pair of first lifting rods are rotatably arranged on the end of the lifting plate away from the fixed plate. A pair of second lifting rods are rotatably arranged on the pair of first lifting rods. A first rotating shaft and a second rotating shaft are rotatably arranged at both ends of the pair of second lifting rods. The first rotating shaft slides on the end of the base plate away from the fixed plate, and the second rotating shaft slides on the end of the lifting plate near the fixed plate. A lead screw is installed inside the base plate, and a threaded sleeve adapted to the thread of the lead screw is fixed on the first rotating shaft.

[0011] In one or more embodiments of the present invention, a pair of first sliders are fixed on the pressure plate, a pair of first sliding 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 sliding groove through the first slider to achieve sliding arrangement with the base. The embedding groove is used for pressing the pressure plate downward when the goods are placed on the frame. After the goods are placed on the frame, the bottom of the pressure plate is embedded in the embedding groove, so that the pressure plate can prevent the top surface of the frame from providing uniform support to the goods.

[0012] In one or more embodiments of the present invention, a pulley is installed at one end of each pair of arc-shaped control rods near the pressure plate. An arc-shaped sliding surface is provided on the pressure plate. When the pressure plate moves downward, it drives the clamping plate to rotate around the fixed axis by pushing the arc-shaped control rod. When the pressure plate moves downward, the pulley slides along the surface of the arc-shaped sliding surface. The pulley reduces the friction generated by the arc-shaped control rod sliding on the arc-shaped sliding surface.

[0013] In one or more embodiments of the present invention, a pair of slide rods are slidably provided at the end of the clamping plate away from the fixed axis, a fixed plate is fixed at the end of the pair of slide rods near the arc-shaped control rod, and a clamping head is fixed at the end of the pair of slide rods away from the fixed plate. After the clamping plate rotates, the clamping head is driven by the slide rods to clamp the goods.

[0014] In one or more embodiments of the present invention, a spring is installed on each of the pair of slide rods between the clamping plate and the clamping head. After the clamping head contacts the goods, it is pushed to move towards the clamping plate. During the movement, the spring is compressed, and the reverse elastic force of the spring pushes the clamping head to clamp the goods.

[0015] In one or more embodiments of the present invention, multiple pairs of movable wheels are installed on both sides of the base plate, and the movable wheels are used to assist the base plate in moving.

[0016] In one or more embodiments of the present invention, the second rotating shaft and the threaded sleeve are each fixed with a fourth slider, and the base plate and the lifting plate are each chiseled with a second sliding groove adapted to the fourth slider. The second rotating shaft and the threaded sleeve slide in the second sliding groove through the fourth slider, thereby realizing the sliding arrangement between the base plate and the lifting plate.

[0017] Compared with existing technologies, the present invention effectively improves the obstacle avoidance function of the equipment through relevant structural design, and at the same time adopts a side loading method, thereby effectively improving the stability of equipment loading and transportation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a block diagram of a dual-track handling robot system according to an embodiment of the present invention; Figure 2 This is a perspective view of a dual-track handling robot device according to an embodiment of the present invention; Figure 3 This is a perspective view of a dual-track handling robot device from another angle in one embodiment of the present invention; Figure 4 This is a schematic diagram of the frame structure in one embodiment of the present invention; Figure 5 This is a schematic diagram of the auxiliary clamp assembly in one embodiment of the present invention; Figure 6 This is a schematic diagram of another state of the auxiliary clamp assembly in one embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the pressure plate and clamping plate in one embodiment of the present invention; Figure 8 This is a cross-sectional view of an auxiliary clamp assembly according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the loading and unloading mechanism in one embodiment of the present invention; Figure 10 This is a schematic diagram of another state of the loading and unloading mechanism in one embodiment of the present invention; Figure 11 for Figure 10 The structural diagram shown at point A in the middle; Figure 12 This is a schematic diagram of the structure of the first lifting rod and the second lifting rod in one embodiment of the present invention.

[0020] Explanation of key figure labels: 1-Frame, 101-Main wheel, 102-Mounting slot, 103-Auxiliary clamping assembly, 104-Base, 105-Pressure plate, 106-First slide rail, 107-First slider, 108-Clamping plate, 109-Arc-shaped control lever, 110-Pulley, 111-Arc-shaped sliding surface, 112-Slide rod, 113-Fixing plate, 114-Clamping head, 115-Spring, 116-Fixing shaft, 117-Embedded groove, 2-Loading / unloading mechanism, 20 1-First slide rail, 202-Second slider, 203-Third slider, 204-Second slide rail, 205-Fixed plate, 206-Control body, 207-Base 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-Lead screw, 216-Drive device, 217-Fourth slider, 218-Second slide groove. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0022] like Figure 1 As shown, a dual-track handling robot device according to an embodiment of the present invention includes: an automatic handling system, which includes: a moving module and a loading / unloading module. The moving module includes: a moving control unit, a navigation unit, and an obstacle avoidance unit. The loading / unloading module includes: a cargo identification unit, a loading / unloading unit, and a cargo fixing unit.

[0023] like Figure 1 As shown, the motion control unit is used to control the movement of the equipment, the navigation unit is used to locate and plan a reasonable transport route, the obstacle avoidance unit is used to identify obstacle information so that the equipment can reasonably overcome obstacles, and the motion module is used to receive control information from the navigation unit, receive obstacle avoidance information transmitted by the obstacle avoidance unit, and transmit signals to the motion control unit to control the movement of the equipment.

[0024] like Figure 1As shown, the cargo identification unit is used to identify the position of the cargo and adjust the position of the equipment; the loading and unloading cargo unit is used to move the cargo up and down; the cargo fixing unit is used to assist in fixing the cargo placed on the equipment; and the loading and unloading cargo module is used to receive signals from the cargo identification unit and send the signals to the automatic handling system. The automatic handling system transmits the signal to the motion control unit through the motion module and stops the equipment at the loading and unloading cargo position. Subsequently, the loading and unloading cargo module receives signals from the loading and unloading cargo unit and the cargo fixing unit that the cargo loading is complete and sends the signals to the automatic handling system. The automatic handling system transmits the signal to the motion control unit through the motion module and controls the movement of the equipment.

[0025] like Figure 2-11 As shown, an embodiment of the present invention also 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 loading and unloading mechanisms 2.

[0026] like Figure 2-7 As shown, a double row of main wheels 101 are installed at the bottom of the frame 1, a pair of mounting slots 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 setting up double row of main wheels 101. The mounting slots 102 are used to install the loading and unloading mechanism 2. The auxiliary clamping assembly 103 is used to help fix the goods placed on the frame 1 to prevent them from shifting during transportation, thus improving the stability of the goods handling.

[0027] Additionally, the auxiliary clamping assembly 103 includes a pair of bases 104, on which pressure plates 105 are slidably mounted. A fixed shaft 116 is fixed between the pair of bases 104, and a clamping plate 108 is rotatably mounted on the fixed shaft 116. A pair of arc-shaped control rods 109 are fixed on the clamping plate 108. The arc axis of the arc-shaped control rods 109 is the same as the axis of the fixed shaft 116. The end of the arc-shaped control rods 109 away from the clamping plate 108 is located below the pressure plate 105. A clamping head 114 is mounted on the clamping plate 108. When the goods are placed on the upper part of the frame 1, the goods come into contact with the pressure plate 105, pressing the pressure plate 105 downward. As the pressure plate 105 moves downward, it pushes the arc-shaped control rods 109. The pressure plate 105 drives the clamping plate 108 to rotate around the fixed shaft 116 via the arc-shaped control rods 109. The clamping plate 108 drives the clamping head 114 to clamp the side wall of the goods.

[0028] like Figure 5-7As shown, a pair of first sliders 107 are fixed on the pressure plate 105, and a pair of first grooves 106 adapted to the first sliders 107 are carved on the bases 104. An embedding groove 117 adapted to the pressure plate 105 is carved on the frame 1. The pressure plate 105 slides in the first grooves 106 through the first sliders 107 to achieve sliding arrangement between the pressure plate 105 and the base 104. The embedding groove 117 is used to press the pressure plate 105 down when the goods are placed on the frame 1, so that the bottom of the pressure plate 105 is embedded in the embedding groove 117 to prevent the pressure plate 105 from obstructing the uniform support of the top surface of the frame 1 for the goods.

[0029] like Figure 5-7 As shown, a pair of arc-shaped control rods 109 are each equipped with a pulley 110 at one end near the pressure plate 105. The pressure plate 105 is provided with an arc-shaped sliding surface 111. When the pressure plate 105 moves downward, it drives the clamping plate 108 to rotate around the fixed shaft 116 by pushing the arc-shaped control rods 109. When the pressure plate 105 moves downward, the pulley 110 slides along the surface of the arc-shaped sliding surface 111. The pulley 110 reduces the friction generated by the arc-shaped control rods 109 sliding on the arc-shaped sliding surface 111.

[0030] like Figure 5-7 As shown, a pair of slide rods 112 are slidably mounted on the end of the clamping plate 108 away from the fixed shaft 116. A fixed plate 113 is fixed to the end of the pair of slide rods 112 near the arc-shaped control rod 109, and a clamping head 114 is fixed to the end of the pair of slide rods 112 away from the fixed plate 113. After the clamping plate 108 rotates, the clamping head 114 is driven by the slide rods 112 to clamp the goods. Springs 115 are installed on each of the pair of slide rods 112 between the clamping plate 108 and the clamping head 114. After the clamping head 114 contacts the goods, the goods push the clamping head 114 to move towards the clamping plate 108. During the movement, the springs 115 are compressed, and the reverse elastic force of the springs 115 pushes the clamping head 114 to clamp the goods.

[0031] like Figure 8-11As shown, a pair of loading and unloading mechanisms 2 are respectively installed in a pair of mounting slots 102. The loading and unloading mechanism 2 includes a pair of first slide rails 201, which are fixed to the two side walls of the mounting slots 102. A second slider 202 is fixed on each of the pair of first slide rails 201, and a third slider 203 is fixed on each of the pair of second sliders 202. A second slide rail 204 is slidably arranged in each of the pair of third sliders 203. A fixing plate 205 is fixed between the pair of second slide rails 204. A control body 206 is installed between the pair of second sliders 202. The control body 206 controls the second slider 202 to slide horizontally on the first slide rails 201 and the second slide rails 204 to slide up and down in the third sliders 203. The horizontal sliding of the second slider 202 on the first slide rails 201 drives the fixing plate 205 to move horizontally, and the vertical sliding of the second slide rails 204 in the third sliders 203 drives the fixing plate 205 to move up and down.

[0032] Secondly, a base plate 207 is fixed to the bottom of the fixed plate 205. A lifting plate 208 is installed on the end of the base plate 207 away from the fixed plate 205. A pair of first lifting rods 210 are rotatably arranged on the end of the base plate 207 near the fixed plate 205. The other ends of the pair of first lifting rods 210 are rotatably arranged on the end of the lifting plate 208 away from the fixed plate 205. A pair of second lifting rods 211 are rotatably arranged on the pair of first lifting rods 210. A first rotating shaft 212 and a second rotating shaft 213 are rotatably arranged at the two ends of the pair of second lifting rods 211 respectively. The first rotating shaft 212 slides on the end of the base plate 207 away from the fixed plate 205, and the second rotating shaft 213 slides on the end of the lifting plate 208 near the fixed plate 205.

[0033] In use, by driving the first rotating shaft 212 to move towards 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 relative to each other, the first rotating shaft 212 drives the second lifting rod 211 to move while simultaneously causing the first lifting rod 210 and the second lifting rod 211 to open outwards. The first lifting rod 210 and the second lifting rod 211 lift the lifting plate 208 upwards. Since the two ends of the first lifting rod 210 can only be rotatably arranged with the base plate 207 and the lifting plate 208 respectively, when the first lifting rod 210 rotates outwards and opens, it not only drives the lifting plate 208 to rise, but also drives the lifting plate 208 to move horizontally towards the fixed plate 205. Thus, when the goods are lifted, they are delivered a certain distance towards the frame 1, so that when the base plate 207 is retracted into the mounting slot 102, the goods can be placed in the middle position of the frame 1.

[0034] In addition, a lead screw 215 is installed in the base plate 207, and a threaded sleeve 214 that is compatible with the thread of the lead screw 215 is fixed on the first rotating shaft 212. A drive device 216 is installed in the base plate 207 and connected to the lead screw 215. The drive device 216 drives the lead screw 215 to rotate, and the lead screw 215 drives the first rotating shaft 212 to move along the sliding trajectory of the fourth slider 217 in the second slide groove 218 through the threaded sleeve 214.

[0035] like Figure 8-11 As shown, multiple pairs of movable wheels 209 are installed on both sides of the base plate 207, which are used to assist the base plate 207 in moving. A fourth slider 217 is fixed to both ends of the second rotating shaft 213 and the threaded sleeve 214. A second sliding groove 218 adapted to the fourth slider 217 is carved on both the base plate 207 and the lifting plate 208. The second rotating shaft 213 and the threaded sleeve 214 slide in the second sliding groove 218 via the fourth slider 217, thereby achieving a sliding arrangement with the base plate 207 and the lifting plate 208.

[0036] Working principle: When using this equipment, first install the control body 206 between a pair of second sliders 202, and install the drive device 216 in the base plate 207 so that the drive device 216 is connected to the lead screw 215. When loading goods, the equipment first moves to the side of the goods through the control system, aligning a pair of mounting slots 102 with the goods pallet. Then, the control body 206 controls a pair of second slide rails 204 to move downward on a 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, stopping the movement after the moving wheels 209 contact the ground. Then, the control body 206 controls a pair of second sliders 202 to slide on a pair of first slide rails 201. The pair of second sliders 202 drive the fixed plate 205 and the bottom plate 207 to move towards the goods, so that the bottom plate 207 and the lifting plate 208 move to the bottom of the goods pallet. Subsequently, the drive device 216 drives the lead screw 215 to rotate. The lead screw 215 drives the first rotating shaft 212 to move along the sliding trajectory of the fourth slider 217 in the second slide groove 218 towards 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 rotatably set relative to each other, the first rotating shaft 212 drives the second lifting rod 211 to move while simultaneously causing the first lifting rod 210 and the second lifting rod 211 to open 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 can only rotate relative to the bottom plate 207 and the lifting plate 208 respectively, when the first lifting rod 210 rotates outward and opens, it not only drives the lifting plate 208 to rise, but also drives the lifting plate 208 to move horizontally towards the fixed plate 205, thereby delivering the goods a certain distance towards the frame 1 when the goods are lifted. Subsequently, the control body 206 controls the second slider 202 to slide above the first slide rail 201. The second slider 202 drives the fixed plate 205 and the base plate 207 to move into the mounting groove 102. The lifting plate 208 drives the goods to move towards the upper end of the frame 1. When the base plate 207 is completely moved into the mounting groove 102, the lifting plate 208 moves the goods to the middle position of the upper end of the frame 1. Then, the drive device 216 controls the lead screw 215 to rotate in the opposite direction. The lead screw 215 drives the first rotating shaft 212 towards the fixed plate 205 through the threaded sleeve 214. Moving in the opposite direction, the first rotating shaft 212 drives the second lifting rod 211 to move, while the first lifting rod 210 and the second lifting rod 211 retract inward, causing the lifting plate 208 to move downward and place the goods on the frame 1. After the lifting plate 208 is retracted to the upper end of the frame 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 base plate 207 to rise, so that the moving wheel 209 is lifted off the ground to prevent the moving wheel 209 from obstructing the movement of the equipment. During the process of placing the goods onto the frame 1, the goods come into contact with the pressure plate 105, pressing the pressure plate 105 downward. As the pressure plate 105 moves downward, it slides on the arc-shaped sliding surface 111 via the pulley 110, thereby pushing the arc-shaped control rod 109 to rotate around the fixed shaft 116. The arc-shaped control rod 109 drives the clamping plate 108 to rotate around the fixed shaft 116. 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 towards 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 frame 1, the bottom end of the pressure plate 105 is pushed into the embedding groove 117 to prevent the pressure plate 105 from obstructing the uniform support of the goods on the top surface of the frame 1.

[0037] 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 implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0038] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A dual-track handling robot device, characterized in that, include: The frame has a double row of main wheels installed at its bottom and a pair of mounting slots. An auxiliary clamping assembly is installed on the frame, and the auxiliary clamping assembly includes a pair of bases. A pressure plate is slidably mounted on the pair of bases, and a fixed shaft is fixed between the pair of bases. A clamping plate is rotatably mounted on the fixed shaft, and a pair of arc-shaped control rods are fixed on the clamping plate. The arc axis of the arc control rods is the same as the axis of the fixed shaft. The end of the arc control rod away from the clamping plate is located below the pressure plate, and a clamping head is installed on the clamping plate. A pair of loading and unloading mechanisms are respectively installed in a pair of mounting slots. The loading and unloading mechanism includes a pair of first slide rails, which are fixed to the side walls of the mounting slots. A second slider is fixed on each of the pair of first slide rails, and a third slider is fixed on each of the pair of second sliders. A second slide rail is slidably arranged inside each of the pair of third sliders. A fixed plate is fixed between the pair of second slide rails. A base plate is fixed to the bottom end of the fixed plate. A lifting plate is installed on the end of the base plate away from the fixed plate. A pair of first lifting rods are rotatably arranged on the end of the base plate near the fixed plate. The other ends of the pair of first lifting rods are rotatably arranged on the end of the lifting plate away from the fixed plate. A pair of second lifting rods are rotatably arranged on the pair of first lifting rods. A first rotating shaft and a second rotating shaft are rotatably arranged at the two ends of the pair of second lifting rods, respectively. The first rotating shaft slides on the end of the base plate away from the fixed plate, and the second rotating shaft slides on the end of the lifting plate near the fixed plate. A lead screw is installed inside the base plate, and a threaded sleeve adapted to the thread of the lead screw is fixed on the first rotating shaft. The dual-track handling robot equipment also includes a dual-track handling robot system, which includes an automatic handling system. The automatic handling system includes a movement module and a loading / unloading module. The movement module includes a movement control unit, a navigation unit, and an obstacle avoidance unit. The loading / unloading module includes a cargo identification unit, a loading / unloading unit, and a cargo fixing unit.

2. The dual-track handling robot device according to claim 1, characterized in that, The motion control unit is used to control the movement of the equipment, the navigation unit is used to locate and plan a reasonable transport route, and the obstacle avoidance unit is used to identify obstacle information so that the equipment can reasonably overcome obstacles.

3. The dual-track handling robot device according to claim 2, characterized in that, The cargo identification unit is used to identify the position of the cargo adjustment device; the cargo loading and unloading unit is used to move the cargo up and down; and the cargo fixing unit is used to assist in fixing the cargo placed on the device.

4. The dual-track handling robot device according to claim 1, characterized in that, A pair of first sliders are fixed on the pressure plate, a pair of first sliding 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.

5. A dual-track handling robot device according to claim 4, characterized in that, Each of the pair of arc-shaped control levers has a pulley installed at one end near the pressure plate, and the pressure plate is provided with an arc-shaped sliding surface.

6. A dual-track handling robot device according to claim 5, characterized in that, A pair of slide rods are slidably provided at the end of the clamping plate away from the fixed shaft. A fixed plate is fixed at the end of the pair of slide rods near the arc-shaped control rod, and a clamping head is fixed at the end of the pair of slide rods away from the fixed plate.

7. A dual-track handling robot device according to claim 6, characterized in that, A spring is installed on each of the pair of slide rods between the clamping plate and the clamping head.

8. A dual-track handling robot device according to claim 1, characterized in that, Multiple pairs of casters are installed on both sides of the base plate.

9. A dual-track handling robot device according to claim 1, characterized in that, The second rotating shaft and the threaded sleeve are both fixed with a fourth slider, and the base plate and the lifting plate are both chiseled with a second sliding groove that matches the fourth slider.

Images