Auxiliary transport robot track gradient switching device and method

Abstract

The present invention belongs to the technical field of monorail crane apparatuses, and particularly relates to an auxiliary transport robot track gradient switching device and method. The auxiliary t

Description

TECHNICAL FIELD

[0001] The present invention belongs to the technical field of the monorail crane equipment, and specifically relates to a track gradient switching device for an auxiliary transportation robot and a method thereof. BACKGROUND

[0002] Mine auxiliary transportation refers to the sum of the various transportations other than the coal transportation in the coal mine production process, mainly including the transportations of the gangue, materials, equipment and personnel. In china, most coal mines have not yet implemented the direct transportation from the ground yard or the pit bottom yard to the working face end of the mining area. The level of the auxiliary transportation mechanization is lower than that of the developed countries abroad, which has become a "bottleneck" restricting the construction of the high-yield, efficient and safe mines. The main problems are the backward equipment, numerous transportation links, large manpower requirements, long transportation time and low transportation efficiency, which generates significant security risks. The common mine auxiliary transportation equipment mainly includes the monorail hoists, electric locomotives, winches, and the like.

[0003] The monorail hoist locomotive utilizes a special I-beam suspended above the tunnel as a track, and is a system which includes a vehicle group formed by connecting the hanging vehicles with various functions, is tracted by traction equipment and operated along a track. Generally, only one dedicated track is utilized, so it is called a monorail hoist.

[0004] In the existing monorail hoist locomotive, it is necessary to test the power performance of the monorail hoist locomotive at different gradients. The traditional method is commonly to build the test tracks with different gradients to test the power performance of the monorail hoist locomotive, which requires a relatively large 01 08 25 experimental site and consumes a large quantity of the experimental costs.

[0005] Therefore, a track gradient switching device for an auxiliary transportation robot and a method thereof are provided to satisfy the requirements of the limited experimental site and the flexibility. SUMMARY

[0006] The objectives of the present invention are to provide a track gradient switching device for an auxiliary transportation robot and a method thereof, which solves the problem that the track with different gradients cannot be freely switched during testing the track gradient of the exiting auxiliary transportation robot, so that the occupied area of the experimental site is reduced, and the costs of the experiment is significantly saved.

[0007] In order to achieve the above objectives, the following technical solutions are adopted in the present invention.

[0008] A track gradient switching device for an auxiliary transportation robot is provided.

[0009] The device includes two fixed rails arranged at different heights. A transition rail switching mechanism is arranged between the two fixed rails, the transition rail switching mechanism is configured to connect transition rails with different gradients between the two fixed rails.

[0010] The transition rail switching mechanism includes a first connecting disc and a second connecting disc arranged in parallel and opposite to each other, the first connecting disc and the second connecting disc are coaxially connected via a transmission shaft, and the plurality of transition rails with different gradients are evenly arranged between the first connecting disc and the second connecting disc along a circumference direction of the first and the second connecting discs.

[0011] A lifting unit is configured to drive the first connecting plate, the second connecting plate, and the plurality of transition rails with different gradients to move up and down together, to dock or disconnect the transition rails between two fixed rails.

[0012] A first driving unit is capable of driving the first connecting disc and the second connecting disc to rotate synchronously, to switch the transition rails with different 01 08 25 gradients.

[0013] Preferably, a diameter of the first connecting plate is larger than a diameter of the second connecting plate, and the first connecting plate and the second connecting plate are provided with a plurality of mounting grooves in an annular circumferential direction, respectively

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

[0015] A second vertical rod is fixedly connected to a bottom part of another end of the crossbeam, and a bottom end of the second vertical rod is rotatably connected to another end of the transmission shaft.

[0016] Preferably, the lifting unit includes a first drawing cylinder and a second drawing cylinder.

[0017] The first drawing cylinder is in connection with one end of the crossbeam.

[0018] The second drawing cylinder is in connection with another end of the crossbeam.

[0019] Preferably, the first drive unit is a first motor, and the first motor is in connection with the transmission shaft through a coupling.

[0020] Preferably, a first fixing block is respectively in connection with both ends of the transition rail, the first fixing block is respectively extended beyond edges of both ends of the transition rail by one certain distance, the fixed rail is formed by an upper rail and a lower rail, a second fixing block is respectively in connection with one end of each of the lower rail and the upper rail approximate to the transition rail, the first fixing blocks on the transition rail are respectively in connection with the second fixing blocks on the lower rail and the upper rail through fixing bolts, a distance from the second fixing block to each of outermost ends of the lower rail and the upper rail is equal to a distance of the first fixing block extending beyond each edge of both ends of the transition rail.

[0021] The transition rail includes a first rail, a second rail, a third rail and a fourth rail.

[0022] A gradient of the first rail is 10°.

[0023] A gradient of the second rail is 15°.

[0024] A gradient of the third rail is 20°. 01 08 25

[0025] A gradient of the fourth rail (35) is 25°, both ends of the first rail, the second rail, the third rail and the fourth rail are respectively mounted on the first connecting disc and the second connecting disc through the mounting grooves, and a limiting plate configured to limit a motion of the transition rail is arranged on each of the mounting grooves of the first connecting disc and the second connecting disc.

[0026] Preferably, a limiting bolt is arranged at one end of the limiting plate, the limiting bolt penetrates the limiting plate and is respectively in connection with outer sides of the first connecting disc and the second connecting disc, another end of the limiting plate is in connection with a limiting pin through a limiting bearing, and the limiting pin penetrates the limiting plate and is respectively in connection with the outer sides of the first connecting disc and the second connecting disc.

[0027] Preferably, the device further includes main supporting gantries and switching supporting gantries.

[0028] Each of the main supporting gantries is vertically mounted on a ground, and is respectively in connection with the lower rail and the upper rail via a gantry rail connecting mechanism.

[0029] Each of the switching supporting gantries is vertically mounted on the ground, a top of the switching supporting gantry is in connection with the lifting unit, the switching supporting gantry is located between the main supporting gantries, the lower rail and the upper rail on both sides of the main supporting gantry have one certain height difference, and the main supporting gantry is lower than the switching supporting gantry.

[0030] Preferably, the gantry rail connecting mechanism includes an upper fixing plate, a lower fixing plate, and a lower fixing connection block.

[0031] The upper fixing plate is in connection with a bottom of the main supporting gantry.

[0032] The lower fixing plate is in connection with the upper fixing plate via a fixing chain.

[0033] The lower fixing connection block is mounted on both ends of the lower rail and is in connection with the lower fixing plate via a fixing shaft.

[0034] A method for switching a track gradient of an auxiliary transportation robot is further provided, and the method includes the following steps. 01 08 25

[0035] In SI, firstly, the first motor is controlled by a controller to start to drive the transition rail on the first connecting disc and the second connecting disc to rotate, and the transition rail with a required gradient is rotated to a direct lower side, according to an experimental requirement.

[0036] In S2, then, the first drawing cylinder and the second drawing cylinder on the lifting unit are controlled by the controller to synchronously move downwards to drive the transition rail below the first connecting disc and the second connecting disc to synchronously move downwards to align with the upper rail and the lower rail, so that the first fixing block on the transition rail is in close contact with a surface of the fixed rail horizontally, and is aligned with the second fixing block.

[0037] In S3, the fixing limiting bolts below the first connecting disc and the second connecting disc are manually unscrewed by a tool after both ends of the transition rail are respectively aligned with the upper rail and the lower rail, and then the limiting plate is manually rotated by 180°.

[0038] In S4, subsequently, the first drawing cylinder and the second drawing cylinder on the lifting unit are controlled to synchronously move upwards to drive the first connecting disc and the second connecting disc to move upwards, the transition rail below the first connecting disc and the second connecting disc is detached from the mounting grooves of the first connecting disc and the second connecting disc, when the first connecting disc and the second connecting disc are moved to an upper side, motions of the first drawing cylinder and the second drawing cylinder on the lifting unit are terminated.

[0039] In S5, eventually, the fixing bolt is manually threaded to pass through the first fixing block and the second fixing block to respectively connect and fix the both ends of the transition rail with the lower rail and the upper rail.

[0040] In S6, when a subsequent transition rail is switched, an originally mounted transition rail is removed from the lower rail and the upper rail, and the original mounted transition rail is fixed on the first connecting disc and the second connecting disc, then Steps SI to S5 are repeated, that is, the switching of a subsequent transition rail with different gradient is completed.

[0041] The beneficial effects of the present invention are as follows.

[0042] 1. In the present invention, the transition rails with different gradients on the 01 08 25 transition switching mechanism can be mounted between the lower rail and the upper rail through arranging the transition rail switching mechanism and the lifting unit on the switching supporting gantry, and through the mutual cooperation between the transition rail switching mechanism and the lifting unit, so that the free switching between the rails with different gradients is implemented, which reduces the occupied area of the experimental site, and greatly saves the implementation costs.

[0043] 2. In the present invention, the first fixing block and the second fixing block are respectively arranged on the transition rail, the lower rail and the upper rail, so that the transition rail is stably fixed between the lower rail and the upper rail after completing the switching of the rails, which prevents the transition rail from being rotated due to the looseness.

[0044] 3. In the present invention, the limiting plates are arranged on the first connecting disc and the second connecting disc, and the transition rails with different gradients can be placed on the first connecting disc and the second connecting disc through the limiting plates, so that the transition rails can be rapidly and freely switched. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] FIG. 1 illustrates a schematic diagram of an overall three-dimensional of the present invention.

[0046] FIG. 2 illustrates a schematic diagram of an overall three-dimensional structure of a transition track switching mechanism of the present invention.

[0047] FIG. 3 illustrates a schematic diagram of a three-dimensional structure of the transition track switching mechanism of the present invention from another perspective.

[0048] FIG. 4 illustrates a schematic diagram of a three-dimensional structure of a connection among a rotary bearing, a second connecting disc, a first fixing block, a second fixing block and the fixing bolts of the present invention.

[0049] FIG. 5 illustrates a schematic diagram of a three-dimensional structure of the transition track of the present invention.

[0050] FIG. 6 illustrates a schematic diagram of a three-dimensional structure of a 01 08 25 limiting pin, a limit bearing, a limiting plate and a limiting bolt of the present invention.

[0051] FIG. 7 illustrates a side view of the transition track switching mechanism of the present invention.

[0052] FIG. 8 illustrates a schematic diagram of a three-dimensional structure of a gantry track connecting mechanism of the present invention.

[0053] FIG. 9 illustrates a flow chart of a method of the present invention.

[0054] In the figures, 1. Fixed rail; 11 Upper rail; 12. Lower rail; 13. Second fixing block; 2. Transition rail switching mechanism; 21. First connecting disc; 22. Second connecting disc; 23. Transmission shaft; 24. Crossbeam; 241. First vertical rod; 242. Second vertical rod; 3. Transition rail; 31. First fixing block; 32. First rail; 33. Second rail; 34. Third rail; 35. Fourth rail; 36. Limiting plate; 37. Limiting bolt; 38. Limiting bearing; 39. Limiting pin; 4. Switching supporting gantry; 5. Lifting unit; 51. First drawing cylinder; 52. Second drawing cylinder; 6. First drive unit; 61. Coupling; 7. Mounting groove; 8. Fixing bolt; 9. Main supporting gantry; 91. Gantry rail connecting mechanism; 92. Upper fixing plate; 93. Lower fixing plate; 94. Fixing chain; 95. Lower fixing connecting block; 96. Fixing shaft. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0055] The method for using the present invention is further described below with reference to the accompanying drawings and the specific implementations.

[0056] As illustrated in FIGS. 1 to 9, a track gradient switching device for an auxiliary transportation robot is provided.

[0057] The device includes two fixed rails 1 arranged at different heights. A transition rail switching mechanism 2 is arranged between the two fixed rails 1. The transition rail switching mechanism 2 is configured to connect the transition rails 3 with different gradients between the two fixed rails 1.

[0058] The transition rail switching mechanism 2 includes a first connecting disc 21 and a second connecting disc 22 arranged in parallel and opposite to each other. The first connecting disc 21 and the second connecting disc 22 are coaxially connected via a transmission shaft 23. The plurality of transition rails 3 with different gradients are evenly 01 08 25 arranged between the two connecting discs along a circumferential direction of the connecting discs.

[0059] A lifting unit 5 is configured to drive the first connecting disc 21, the second connection disc 22 and the plurality of transition rails 3 with different gradients to move up and down together, to dock or disconnect the transition rails 3 between the two fixed rails 1.

[0060] A first driving unit 6 is capable of driving the first connecting disc 21 and the second connecting disc 22 to rotate synchronously, so as to switch the transition rails 3 with different gradients.

[0061] As illustrated in FIG. 2, FIG. 3 and FIG. 7, a diameter of the first connecting disc 21 is larger than a diameter of the second connecting disc 22, and the first connecting disc 21 and the second connecting disc 22 are provided with a plurality of mounting grooves 7 in an annular circumferential direction, respectively.

[0062] As illustrated in FIG. 3, a first vertical rod 241 is fixedly connected to a bottom part of one end of a cross beam 24, and a 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 a bottom part of the other end of the cross beam 24, and a bottom end of the second vertical rod 242 is rotatably connected to the other end of the transmission shaft 23.

[0064] As illustrated in FIGS. 1 to 3, the lifting unit 5 includes a first drawing cylinder 51 and a second drawing cylinder 52.

[0065] The first drawing cylinder 51 is in connection with one end of the crossbeam 24.

[0066] The second drawing cylinder 52 is in connection with the other end of the crossbeam 24.

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

[0068] As illustrated in FIG. 6, a first fixing block 31 is respectively in connection with both ends of the transition rail 3. The first fixing block 31 is respectively extended beyond the edges of both ends of the transition rail 3 by a certain distance. The fixed rail 1 is formed by an upper rail 11 and a lower rail 12, a second fixing block 13 is respectively 01 08 25 in connection with one end of each of the lower rail 12 and the upper rail 11 approximated to the transition rail 3. The first fixing blocks 31 on the transition rail 3 are respectively in connection with the second fixing blocks 13 on the lower rail 12 and the upper rail 11 through the fixing bolts 8, and the distance from the second fixing block 13 to each of the outermost ends of the lower rail 12 and the upper rail 11 is equal to the distance of the first fixing block 31 extending beyond each edge of both ends of the transition rail 3.

[0069] As illustrated in FIG. 5 and FIG. 6, the transition rail 3 includes a first rail 32, a second rail 33, a third rail 34 and a fourth rail 35.

[0070] A gradient of the first rail 32 is 10°.

[0071] A gradient of the second rail 33 is 15°.

[0072] A gradient of the third rail 34 is 20°.

[0073] A gradient of the fourth rail 35 is 25°. Both 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 disc 21 and the second connecting disc 22 through the mounting grooves 7, and the limiting plates 36 configured to limit the motion of the transition rail is arranged on each of the mounting grooves 7 on the first connecting disc 21 and the second connecting disc 22.

[0074] As illustrated in FIG. 7, a limiting bolt 37 is arranged at one end of the limiting plate 36, and the limiting bolt 37 penetrates the limiting plate 36 and is respectively in connection with the outer sides of the first connecting disc 21 and the second connecting disc 22. The other end of the limiting plate 36 is in connection with a limiting pin 39 through a limiting bearing 38, and the limiting pin 39 penetrates the limiting plate 36, and is respectively in connection with the outer sides of the first connecting disc 21 and the second connecting disc 22.

[0075] As illustrated in FIG. 1 and 2, the device further includes main supporting gantries 9 and switching supporting gantries 4.

[0076] Each of the main support gantries 9 is vertically installed on the ground, and is respectively in connection with the lower rail 12 and the upper rail 11 via a gantry rail connecting mechanism.

[0077] Each of the switching supporting gantries is vertically mounted on the ground, and a top of the switching supporting gantry 4 is in connection with lifting unit 5, the 01 08 25 switching supporting gantry 4 is located between the main supporting gantries 9, the lower rail 12 and the upper rail 11 on both sides of the main supporting gantry 9 have a certain height difference, and the main supporting gantry 9 is lower than the switching supporting gantry.

[0078] As illustrated in FIG. 1 and FIG. 8, the gantry rail connecting mechanism 91 includes an upper fixing plate 92, a lower fixing plate 93 and a lower fixing connecting block 95.

[0079] The upper fixing plate 92 is in connection with the bottom of the main supporting gantry 9.

[0080] The lower fixing plate 93 is in connection with the upper fixing plate 92 via a fixing chain 94.

[0081] The lower fixing connecting block 95 is mounted on both ends of the low rail 12 and in connection with the lower fixing plate 93 via a fixing shaft 96.

[0082] As illustrated in FIG. 9, a method for switching the track gradient of an auxiliary transportation robot includes the following steps.

[0083] In SI, firstly, the first motor is controlled by a controller to start to drive the transition rail 3 on the first connecting disc 21 and the second connecting disc 22 to rotate, and the transition rail 3 with the required gradient is rotated to a direct lower side, according to the experimental requirement.

[0084] In S2, then, the first drawing cylinder 51 and the second drawing cylinder 52 on the lifting unit 5 are controlled by the controller to synchronously move downwards to drive the transition rail 3 below the first connecting disc 21 and the second connecting disc 22 to synchronously move downwards to align with the upper rail 11 and the lower 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.

[0085] In S3, the fixing limit bolts 37 below the first connecting disc 21 and the second connecting plate 22 are manually unscrewed by a tool, after both ends of the transition rail 3 are respectively aligned with the upper rail 11 and the lower rail 12, and then the limiting plate 36 is manually rotated by 180°.

[0086] In S4, subsequently, the first drawing cylinder 51 and the second drawing cylinder 52 on the lifting unit 5 are controlled to synchronously move upwards to drive the 01 08 25 first connecting plate 21 and the second connecting plate 22 to move upwards, the transition rail 3 below the first connecting plate 21 and the second connecting plate 22 is detached from the mounting grooves 7 in the first connecting plate 21 and the second connecting plate 22, when the first connecting plate 21 and the second connecting plate 22 are moved to an upper side, the motions of the first drawing cylinder 51 and the second drawing cylinder 52 on the lifting unit 5 are terminated.

[0087] In S5, eventually, the fixing bolt 8 is manually threaded to pass through the fixing block 31 and the second fixing block 32 to respectively connect and fix both ends of the transition rail 3 with the lower rail 12 and the upper rail 13.

[0088] In S6, when the subsequent transition rail 3 is switched, the originally installed transition rail 3 is removed from the lower rail 12 and the upper rail 11, and the original mounted transition rail is fixed on the first connecting plate 21 and the second connecting plate 22, and then Steps SI to S5 are repeated, that is, the switching of a subsequent transition rail 3 with different gradient is completed.

[0089] Working process: during the switching of the tracks with different gradients, firstly, the first motor is required to be manually controlled by the controller to start to drive the transition rail on the first connecting disc 21 and the second connecting disc 22 to rotate, according to the experimental requirement, the transition rail 3 with the required gradient is rotated to the direct lower side, then the first drawing cylinder 51 and the second drawing cylinder 52 on the lifting unit 5 are controlled by the controller to synchronously move downwards to drive the transition rail 3 below the first connecting disc 21 and the second connecting disc 22 to move downwards to align with the upper rail 11 and the lower 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.

[0090] When both ends of the transition rail 3 are aligned with the upper rail 11 and the lower rail 12 respectively, the fixed limiting bolt 37 below the first connecting plate 21 and the second connecting plate 22 are manually unscrewed by a tool, and then the limiting plate 36 is manually rotated by 180°, subsequently, the first drawing cylinder 51 and the second drawing cylinder 52 on the lifting unit 5 are controlled to synchronously move upwards to drive the first connecting disc 21 and the second connecting disc 22 to move upwards, so that the transition rail 3 below the first connecting disc 21 and the second 01 08 25 connecting disc 22 is detached from the mounting grooves in the first connecting disc 21 and the second connecting disc 22, and when the first connecting disc 21 and the second connecting disc 22 are moved to the upper side, the motions of the first drawing cylinder 51 and the second drawing cylinder 52 on the lifting unit 5 are terminated.

[0091] Eventually, the fixing bolt 8 is manually threaded to pass through the first fixing block 31 and the second fixing block 32 by a tool to respectively connect and fix both ends of the transition rail 3 with the low rail 12 and the upper rail 13. During the switching of the subsequent transition rail 3, the fixing bolt 5 is required to be removed from the first fixing block 31 and the second fixing block 32, then the first drawing cylinder 51 and the second drawing cylinder 52 on the lifting unit 5 are controlled to synchronously move downwards, when the transition rail 3 below the device is entered the grooves on the first connecting disc 21 and the second connecting disc 22, the limiting plate 36 can be rotated and fixed to the first connecting disc 21 and the second connecting disc 22 by the limiting bolts 37, and then the first motor is controlled for rotation to rotate the required transition rail 3 to the lowermost side, so that the subsequent track switching is performed.

[0092] Eventually, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention is 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 parts of the technical features therein. However, an arbitrary modification, equivalent substitution, improvement, and the like 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 gradient switching device for an auxiliary transportation robot, comprising:two fixed rails (1) arranged at different heights, wherein a transition rail switching mechanism (2) is arranged between the two fixed rails (1), the transition rail switching mechanism (2) is configured to connect transition rails (3) with different gradients between the two fixed rails (1), and the transition rail switching mechanism (2) includes a first connecting disc (21) and a second connecting disc (22) arranged in parallel and opposite to each other, the first connecting disc (21) and the second connecting disc (22) are coaxially connected via a transmission shaft (23), and the plurality of transition rails (3) with different gradients are evenly arranged between the first connecting disc (21) and the second connecting disc (22) along a circumference direction of the first and the second connecting discs;a lifting unit (5) configured to drive the first connecting plate (21), the second connecting plate (22), and the plurality of transition rails (3) with different gradients to move up and down together, to dock or disconnect the transition rails (3) between two fixed rails (1); anda first driving unit (6) capable of driving the first connecting disc (21) and the second connecting disc (22) to rotate synchronously, to switch the transition rails (3) with different gradients.

2. The track gradient switching device for the auxiliary transportation robot according to claim 1, characterized in that a diameter of the first connecting plate (21) is larger than a diameter of the second connecting plate (22), and the first connecting plate (21) and thesecond connecting plate (22) are provided with a plurality of mounting grooves (7) in an annular circumferential direction, respectively;a first vertical rod (241) is fixedly connected to a bottom part of one end of a crossbeam (24), and a bottom end of the first vertical rod (241) is rotatably connected to one end of the transmission shaft (23), anda second vertical rod (242) is fixedly connected to a bottom part of another end of the crossbeam (24), and a bottom end of the second vertical rod (242) is rotatably connected to another end of the transmission shaft (23).

3. The track gradient switching device for the auxiliary transportation robot according to claim 2, characterized in that the lifting unit (5) includesa first drawing cylinder (51), in connection with one end of the crossbeam (24);a second drawing cylinder (52), in connection with another end of the crossbeam (24).

4. The track gradient switching device for the auxiliary transportation robot according to claim 1, characterized in that the first drive unit (6) is a first motor, and the first motor is in connection with the transmission shaft (23) through a coupling (61).

5. The track gradient switching device for the auxiliary transportation robot according to claim 1, characterized in that a first fixing block (31) is respectively in connection with both ends of the transition rail (3), the first fixing block (31) is respectively extended beyond edges of both ends of the transition rail (3) by one certain distance, the fixed rail (1) is formed by an upper rail (11) and a lower rail (12), a second fixing block (13) is respectively in connection with one end of each of the lower rail (12) and the upper rail6. (11) approximate to the transition rail (3), the first fixing blocks (31) on the transition rail (3) are respectively in connection with the second fixing blocks (13) on the lower rail (12) and the upper rail (11) through fixing bolts (8), a distance from the second fixing block (13) to each of outermost ends of the lower rail (12) and the upper rail (11) is equal to a distance of the first fixing block (31) extending beyond each edge of both ends of the transition rail (3).

6. The track gradient switching device for the auxiliary transportation robot according to claim 2, characterized in that the transition rail (3) includesa first rail (32), wherein a gradient of the first rail (32) is 10°;a second rail (33), wherein a gradient of the second rail (33) is 15°;a third rail (34), wherein a gradient of the third rail (34) is 20°;a fourth rail (35), wherein a gradient of the fourth rail (35) is 25°, both 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 disc (21) and the second connecting disc (22) through the mounting grooves (7), and a limiting plate (36) configured to limit a motion of the transition rail (3) is arranged on each of the mounting grooves (7) of the first connecting disc (21) and the second connecting disc (22).

7. The track gradient switching device for the auxiliary transportation robot according to claim 6, characterized in that a limiting bolt (37) is arranged at one end of the limiting plate (36), the limiting bolt (7) penetrates the limiting plate (36) and is respectively in connection with outer sides of the first connecting disc (21) and the second connecting disc (22), another end of the limiting plate (36) is in connection with a limiting pin (39) through a limiting bearing (38), and the limiting pin (39) penetrates the limiting plate (36) and isrespectively in connection with the outer sides of the first connecting disc (21) and the second connecting disc (22).

8. The track gradient switching device for the auxiliary transportation robot according to claim 5, characterized in that the device further includes main supporting gantries (9) and switching supporting gantries (4),each of the main supporting gantries (9) is vertically mounted on a ground and is respectively in connection with the lower rail (12) and the upper rail (11) via a gantry rail connecting mechanism (91);each of the switching supporting gantries (4) is vertically mounted on the ground, a top of the switching supporting gantry (4) is in connection with the lifting unit (5), the switching supporting gantry (4) is located between the main supporting gantries (9), the lower rail (12) and the upper rail (11) on both sides of the main supporting gantry (4) have one certain height difference, and the main supporting gantry (4) is lower than the switching supporting gantry (4).

9. The track gradient switching device for the auxiliary transportation robot according to claim 8, characterized in that the gantry rail connecting mechanism (91) includesan upper fixing plate (92), in connection with a bottom of the main supporting gantry (9);a lower fixing plate (93), in connection with the upper fixing plate (92) via a fixing chain (94); anda lower fixing connection block (95), mounted on both ends of the lower rail (12) and in connection with the lower fixing plate (93) via a fixing shaft (96).

10. A method for switching a track gradient of an auxiliary transportation robot, adopting the track gradient switching device for the auxiliary transportation robot according to any one of claims 1 to 9, characterized in that the method including following steps:SI, firstly, controlling, by a controller, the first motor to start to drive the transition rail (3) on the first connecting disc (21) and the second connecting disc (22) to rotate; and rotating, according to an experimental requirement, the transition rail (3) with a required gradient to a direct lower side;S2, then, controlling, by the controller, the first drawing cylinder (51) and the second drawing cylinder (52) on the lifting unit (5) to synchronously move downwards to drive the transition rail (3) below the first connecting disc (21) and the second connecting disc (23) to synchronously move downwards to align with the upper rail (11) and the lower rail (12), so that the first fixing block (31) on the transition rail (3) is in close contact with a surface of the fixed rail (1) horizontally, and is aligned with the second fixing block (13);S3, manually unscrewing, by a tool, the fixing limiting bolts (37) below the first connecting disc (21) and the second connecting disc (22) after both ends of the transition rail (3) are respectively aligned with the upper rail (11) and the lower rail (12); and then manually rotating the limiting plate (36) by 180°;S4, subsequently, controlling the first drawing cylinder (51) and the second drawing cylinder (52) on the lifting unit (5) to synchronously move upwards to drive the first connecting disc (21) and the second connecting disc (22) to move upwards; detaching the transition rail (3) below the first connecting disc (21) and the second connecting disc (22)from the mounting grooves (7) of the first connecting disc (21) and the second connecting disc (22); terminating, when the first connecting disc (21) and the second connecting disc (22) are moved to an upper side, motions of the first drawing cylinder (51) and the second drawing cylinder (52) on the lifting unit (5);S5, eventually, manually threading the fixing bolt (8) to pass through the first fixing block (31) and the second fixing block (32) to respectively connect and fix the both ends of the transition rail (3) with the lower rail (12) and the upper rail (11); andS6, removing, when a subsequent transition rail (3) is switched, an originally mounted transition rail (3) from the lower rail (12) and the upper rail (11); and fixing the original mounted transition rail (3) on the first connecting disc (21) and the second connecting disc (22); then repeating Steps SI to S5, that is, completing switching a subsequent transition rail (3) with a different gradient.

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