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 transport robot track gradient switching device comprises two fixed rails arranged at different heights, wherein a transition rail switching mechanism is provided between the two fixed rails, and is configured to connect transition rails having different gradients between the two fixed rails. The transition rail switching mechanism comprises: a first connecting disc and a second connecting disc which are oppositely arranged in parallel, the first connecting disc and the second connecting disc being coaxially connected by means of a transmission shaft, and the plurality of transition rails having different gradients are uniformly arranged in the circumferential direction of the connecting discs between the two connecting discs; lifting units, which are configured to drive the first connecting disc, the second connecting disc and the plurality of transition rails having different gradients to move vertically together; and a first driving unit which can drive the first connecting disc and the second connecting disc to rotate synchronously so as to switch between the transition rails having different gradients. The present invention solves the problem in the prior art of it not being possible to freely switch between a plurality of different gradients due to site constraints.

Description

A device and method for switching track slope of an auxiliary transport robot Technical Field

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

[0002] Mine auxiliary transportation refers to all types of transportation during coal mining besides coal, primarily including the transportation of gangue, materials, equipment, and personnel. Most coal mines in my country still lack direct transportation from surface or underground yards to the working face of the mining area. The level of mechanization in auxiliary transportation is relatively low compared to developed countries, creating a bottleneck restricting the construction of high-yield, efficient, and safe mines. Key challenges include outdated equipment, numerous transportation links, high labor requirements, time-consuming transportation, and low efficiency, posing significant safety risks. Common mine auxiliary transportation equipment includes monorail cranes, electric locomotives, and winches.

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

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

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

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

[0007] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions: A track slope switching device for an auxiliary transport robot, comprising: two fixed rails arranged at different heights, a transition rail switching mechanism is provided between the two fixed rails, the transition rail switching mechanism is used to connect transition rails with different slopes between the two fixed rails, and the transition rail switching mechanism comprises: a first connecting disk and a second connecting disk arranged in parallel and opposite to each other, coaxially connected through a transmission shaft, and a plurality of transition rails with different slopes are evenly arranged along the circumference of the connecting disk between the two connecting disks; a lifting unit, used to drive the first connecting disk, the second connecting disk and a plurality of transition rails with different slopes to move up and down together, so as to dock or disconnect the transition rails between the two fixed rails; a first driving unit, capable of driving the first connecting disk and the second connecting disk to rotate synchronously, so as to change the transition rails with different slopes.

[0008] Preferably, the diameter of the first connecting plate is larger than the diameter of the second connecting plate, and a plurality of mounting grooves are respectively provided on the first connecting plate and the second connecting plate in an annular circumferential direction; the bottom of one end of the cross beam is fixedly connected to a first vertical rod, and the bottom end of the first vertical rod is rotatably connected to one end of the transmission shaft; the bottom of the other end of the cross beam is fixedly connected to a second vertical rod, and the bottom end of the second vertical rod is rotatably connected to the other end of the transmission shaft.

[0009] Preferably, the lifting unit includes: a first stretching cylinder connected to one end of the beam; and a second stretching cylinder connected to the other end of the beam.

[0010] Preferably, the first driving unit is a first motor, and the first motor is connected to the transmission shaft via a coupling.

[0011] Preferably, both ends of the transition rail are connected to first fixing blocks, and the first fixing blocks extend beyond the edges of both ends of the transition rail by a certain distance; the fixed rail is composed of a high rail and a low rail, and the low rail and the high rail are respectively connected to second fixing blocks on one end close to the transition rail, and the first fixing block on the transition rail is connected to the second fixing blocks on the low rail and the high rail respectively by fixing bolts, and the distance from the second fixing block to the outermost ends of the low rail and the high rail is equal to the distance from the first fixing block beyond the edges of both ends of the transition rail.

[0012] Preferably, the transition rail includes: a first rail, the slope of the first rail is 10°; a second rail, the slope of the second rail is 15°; a third rail, the slope of the third rail is 20°; a fourth rail, the slope of the fourth rail is 25°; the two ends of the first rail, the second rail, the third rail and the fourth rail are respectively installed on the first connecting plate and the second connecting plate through the mounting grooves, and the mounting grooves of the first connecting plate and the second connecting plate are provided with limit plates for limiting the movement of the transition rail.

[0013] Preferably, a limiting bolt is provided at one end of the limiting plate, and passes through the limiting plate and is connected to the outer sides of the first connecting plate and the second connecting plate. The other end of the limiting plate is connected to a limiting pin through a limiting bearing, and the limiting pin passes through the limiting plate and is respectively connected to the outer sides of the first connecting plate and the second connecting plate.

[0014] Preferably, it also includes: a main support gantry, which is vertically installed on the ground and is connected to the low rail and the high rail respectively through a rail connection mechanism; a switching support gantry, which is vertically installed on the ground and has its top connected to the lifting unit, and the switching support gantry is located between the main support gantries, and the low rails and high rails on both sides of the main support gantry have a certain height difference, and the main support gantry is lower than the switching support gantry.

[0015] Preferably, the rail connection mechanism includes: an upper fixed plate connected to the bottom of the main support door frame; a lower fixed plate connected to the upper fixed plate through a fixed chain; a lower fixed connecting block installed on both ends of the low rail and connected to the lower fixed plate through a fixed shaft.

[0016] A method for switching the track slope of an auxiliary transport robot includes the following steps: S1: First, the controller controls the start of the first motor, and the start of the first motor drives the transition rails on the first connecting plate and the second connecting plate to rotate, and according to the experimental requirements, the transition rail with the required slope is rotated to the bottom; S2: Then the controller controls the first stretching cylinder and the second stretching cylinder on the lifting unit to move downward at the same time, and drive the transition rails under the first connecting plate and the second connecting plate to move downward to align between the high rail and the low rail, so that the first fixed block on the transition rail is in close contact with the surface of the fixed rail and is aligned with the second fixed block at the same time; S3: After the two ends of the transition rail are aligned with the high rail and the low rail respectively, the fixed limit bolts on the upper and lower parts of the first connecting plate and the second connecting plate are manually unscrewed using tools, and then the limit plate is manually rotated 180°; S4: Then, the first stretching cylinder and the second stretching cylinder on the lifting unit are controlled to move upward at the same time, and drive the first connecting plate and the second connecting plate to move upward, and the transition rail below the first connecting plate and the second connecting plate will be detached from the mounting groove on the first connecting plate and the second connecting plate. When the first connecting plate and the second connecting plate move upward, the first stretching cylinder and the second stretching cylinder on the lifting unit stop moving; S5: Finally, the worker connects and fixes the two ends of the transition rail to the low rail and the high rail respectively through the first fixing block and the second fixing block with fixing bolts; S6: When switching to the next transition rail, remove the originally installed transition rail from the low rail and the high rail, and fix them on the first connecting plate and the second connecting plate, and then repeat the above steps S1 to S5 to complete the switching of the next transition rail with different slopes.

[0017] Beneficial effects of the present invention: 1. The present invention provides a transition rail switching mechanism and a lifting unit on the switching support gantry. Through the cooperation of the transition rail switching mechanism and the lifting unit, the transition rails of different slopes on the transition rail switching mechanism can be installed between the low rail and the high rail, thereby realizing the free switching of tracks with different slopes, reducing the occupied area of ​​the experimental site, and greatly saving the implementation cost.

[0018] 2. The present invention provides first and second fixing blocks on the transition rail, low rail and high rail respectively, so that after the track change is completed, the transition rail is stably fixed between the low rail and the high rail, and the transition rail is prevented from rotating due to loosening.

[0019] 3. The present invention provides a limiting plate on the first connecting plate and the second connecting plate, so that transition rails with different slopes can be placed on the first connecting plate and the second connecting plate, thereby allowing the transition rails to be switched quickly and freely. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a schematic diagram of the overall three-dimensional structure of the present invention.

[0021] FIG2 is a schematic diagram of the overall three-dimensional structure of the transition rail switching mechanism of the present invention.

[0022] FIG3 is a schematic diagram of the three-dimensional structure of the transition rail switching mechanism of the present invention from another perspective.

[0023] FIG4 is a schematic diagram of the three-dimensional structure of the rotary bearing, the second connecting plate, the first fixing block, the second fixing block and the fixing bolts of the present invention.

[0024] FIG5 is a schematic diagram of the three-dimensional structure of the transition rail of the present invention.

[0025] FIG6 is a schematic diagram of the three-dimensional structure of the limiting pin, limiting bearing, limiting plate and limiting bolt of the present invention.

[0026] FIG7 is a side view of the transition rail switching mechanism of the present invention.

[0027] FIG8 is a schematic diagram of the three-dimensional structure of the rail connection mechanism of the present invention.

[0028] FIG9 is a flow chart of the method of the present invention.

[0029] In the figure: 1. fixed rail; 11. high rail; 12. low rail; 13. second fixed block; 2. transition rail switching mechanism; 21. first connecting plate; 22. second connecting plate; 23. transmission shaft; 24. crossbeam; 241. first vertical rod; 242. second vertical rod; 3. transition rail; 31. first fixed block; 32. first rail; 33. second rail; 34. third rail; 35. fourth rail; 36. limit plate; 37. limit bolt; 38. limit bearing; 39. limit pin; 4. switching support gantry; 5. lifting unit; 51. first stretching cylinder; 52. second stretching cylinder; 6. first drive unit; 61. coupling; 7. mounting slot; 8. fixing bolt; 9. main support gantry; 91. rail connection mechanism; 92. upper fixed plate; 93. lower fixed plate; 94. fixing chain; 95. lower fixed connecting block; 96. fixing shaft. DETAILED DESCRIPTION

[0030] The following further describes the method of using the present invention in conjunction with the accompanying drawings and specific embodiments.

[0031] As shown in Figures 1 to 9, a track slope switching device for an auxiliary transport robot includes: two fixed rails 1 arranged at different heights, a transition rail switching mechanism 2 is provided between the two fixed rails 1, the transition rail switching mechanism 2 is used to connect transition rails 3 with different slopes between the two fixed rails 1, the transition rail switching mechanism 2 includes: a first connecting disk 21 and a second connecting disk 22 arranged in parallel and opposite to each other, coaxially connected through a transmission shaft 23, and a plurality of transition rails 3 with different slopes are evenly arranged along the circumference of the connecting disk between the two connecting disks; a lifting unit 5, used to drive the first connecting disk 21, the second connecting disk 22 and a plurality of transition rails 3 with different slopes to move up and down together, so as to dock or disconnect the transition rails 3 between the two fixed rails 1; a first driving unit 6, capable of driving the first connecting disk 21 and the second connecting disk 22 to rotate synchronously, so as to switch the transition rails 3 with different slopes.

[0032] As shown in Figures 2, 3 and 7, the diameter of the first connecting disk 21 is larger than that of the second connecting disk 22, and a plurality of mounting grooves 7 are respectively provided on the first connecting disk 21 and the second connecting disk 22 in an annular circumferential direction; as shown in Figure 3, the bottom of one end of the crossbeam 24 is fixedly connected to a first vertical rod 241, and the bottom end of the first vertical rod 241 is rotatably connected to one end of the transmission shaft 23; the bottom of the other end of the crossbeam 24 is fixedly connected to a second vertical rod 242, and the bottom end of the second vertical rod 242 is rotatably connected to the other end of the transmission shaft 23.

[0033] As shown in FIG. 1 to FIG. 3 , the lifting unit 5 includes: a first stretching cylinder 51 connected to one end of the beam 24 ; and a second stretching cylinder 52 connected to the other end of the beam 24 .

[0034] The first driving unit 6 is a first motor, which is connected to the transmission shaft 23 via a coupling 61 .

[0035] As shown in Figure 6, the two ends of the transition rail 3 are connected to first fixed blocks 31, and the first fixed blocks 31 extend beyond the edges of the two ends of the transition rail 3 by a certain distance; the fixed rail 1 is composed of a high rail 11 and a low rail 12, and the low rail 12 and the high rail 11 are respectively connected to the end of the transition rail 3 with a second fixed block 13, and the first fixed block 31 on the transition rail 3 is connected to the second fixed block 13 on the low rail 12 and the high rail 11 by fixing bolts 8, respectively. The distance from the second fixed block 13 to the outermost ends of the low rail 12 and the high rail 11 is equal to the distance from the first fixed block 31 to the edges of the two ends of the transition rail 3.

[0036] As shown in Figures 5 and 6, the transition rail 3 includes: a first rail 32, the slope of the first rail 32 is 10°; a second rail 33, the slope of the second rail 33 is 15°; a third rail 34, the slope of the third rail 34 is 20°; a fourth rail 35, the slope of the fourth rail 35 is 25°; the two ends of the first rail 32, the second rail 33, the third rail 34 and the fourth rail 35 are respectively installed on the first connecting plate 21 and the second connecting plate 22 through the mounting groove 7, and the mounting grooves 7 of the first connecting plate 21 and the second connecting plate 22 are provided with a limit plate 36 for limiting the movement of the transition rail 3.

[0037] As shown in Figure 7, a limiting bolt 37 is provided at one end of the limiting plate 36, and passes through the limiting plate 36 and is connected to the outer sides of the first connecting plate 21 and the second connecting plate 22. The other end of the limiting plate 36 is connected to the limiting pin 39 through a limiting bearing 38, and the limiting pin 39 passes through the limiting plate 36 and is respectively connected to the outer sides of the first connecting plate 21 and the second connecting plate 22.

[0038] As shown in Figures 1 and 2, it also includes: a main support gantry 9, which is vertically installed on the ground and connected to the low rail 12 and the high rail 11 respectively through a rail connection mechanism 91; a switching support gantry 4, which is vertically installed on the ground and has its top connected to the lifting unit 5. The switching support gantry 4 is located between the main support gantries 9, and the low rails 12 and high rails 11 on both sides of the main support gantry have a certain height difference, and the main support gantry 9 is lower than the switching support gantry 4.

[0039] As shown in Figures 1 and 8, the rail connection mechanism 91 includes: an upper fixed plate 92, connected to the bottom of the main support door frame 9; a lower fixed plate 93, connected to the upper fixed plate 92 through a fixed chain 94; a lower fixed connecting block 95, installed on both ends of the low rail 12, and connected to the lower fixed plate 93 through a fixed shaft 96.

[0040] As shown in Figure 9, a method for switching the track slope of an auxiliary transport robot includes the following steps: S1: First, the controller controls the first motor to start, and the first motor starts to drive the transition rail 3 on the first connecting plate 21 and the second connecting plate 22 to rotate. According to the experimental requirements, the transition rail 3 with the required slope is rotated to the bottom; S2: Then the controller controls the first stretching cylinder 51 and the second stretching cylinder 52 on the lifting unit 5 to move downward at the same time, and drive the transition rail 3 under the first connecting plate 21 and the second connecting plate 22 to move downward to align with the high rail 11 and the low rail 12, so that the first fixed block 31 on the transition rail 3 is horizontally close to the surface of the fixed rail 1 and aligned with the second fixed block 13 at the same time; S3: After the two ends of the transition rail 3 are aligned with the high rail 11 and the low rail 12 respectively, the fixed limit bolts 37 on the upper and lower parts of the first connecting plate 21 and the second connecting plate 22 are manually unscrewed using tools, and then the limit plate 36 is manually rotated 180°; S4: Then, the first stretching cylinder 51 and the second stretching cylinder 52 on the lifting unit 5 are controlled to move upward at the same time, and drive the first connecting plate 21 and the second connecting plate 22 to move upward, and the transition rail 3 below the first connecting plate 21 and the second connecting plate 22 will be detached from the mounting groove 7 on the first connecting plate 21 and the second connecting plate 22. When the first connecting plate 21 and the second connecting plate 22 move upward, the first stretching cylinder 51 and the second stretching cylinder 52 on the lifting unit 5 stop moving; S5: Finally, the worker uses the fixing bolts 8 to pass through the first fixing block 31 and the second fixing block 13 to connect and fix the two ends of the transition rail 3 to the low rail 12 and the high rail 11 respectively; S6: When switching the next transition rail 3, the originally installed transition rail 3 is removed from the low rail 12 and the high rail 11, and fixed on the first connecting plate 21 and the second connecting plate 22, and then repeat the above steps S1 to S5 to complete the switching of the next transition rail 3 with a different slope.

[0041] Working process: When implementing tracks with different slopes, first, it is necessary to manually control the first motor to start through the controller. The start of the first motor drives the transition rail 3 on the first connecting plate 21 and the second connecting plate 22 to rotate. According to the experimental requirements, the transition rail 3 of the required slope is rotated to the bottom; then the first stretching cylinder 51 and the second stretching cylinder 52 on the lifting unit 5 are controlled by the controller to move downward at the same time, and drive the transition rail 3 under the first connecting plate 21 and the second connecting plate 22 to move downward to align with the high rail 11 and the low rail 12, so that the first fixed block 31 on the transition rail 3 is in close contact with the surface of the fixed rail 1 horizontally, and is aligned with the second fixed block 13 at the same time.

[0042] After the two ends of the transition rail 3 are aligned with the high rail 11 and the low rail 12 respectively, the fixed limit bolts 37 above and below the first connecting plate 21 and the second connecting plate 22 are manually unscrewed using tools, and then the limit plate 36 is manually rotated 180°. Subsequently, the first stretching cylinder 51 and the second stretching cylinder 52 on the lifting unit 5 are controlled to move upward at the same time, and drive the first connecting plate 21 and the second connecting plate 22 to move upward, and the transition rail 3 below the first connecting plate 21 and the second connecting plate 22 will be detached from the mounting groove 7 on the first connecting plate 21 and the second connecting plate 22. When the first connecting plate 21 and the second connecting plate 22 move upward, the first stretching cylinder 51 and the second stretching cylinder 52 on the lifting unit 5 stop moving.

[0043] Finally, use tools to manually pass the fixing bolts 8 through the first fixing block 31 and the second fixing block 13, and connect and fix the two ends of the transition rail 3 to the low rail 12 and the high rail 11 respectively. When switching the next transition rail 3, it is necessary to remove the fixing bolts 8 from the first fixing block 31 and the second fixing block 13, and then control the first stretching cylinder 51 and the second stretching cylinder 52 on the lifting unit 5 to move downward at the same time. When the lower transition rail 3 enters the mounting groove 7 on the first connecting disk 21 and the second connecting disk 22, the limit plate 36 can be rotated and fixed to the first connecting disk 21 and the second connecting disk 22 by the limit bolt 37, and then the first motor is controlled to rotate to rotate the required transition rail 3 to the bottom, so as to perform the next track change.

[0044] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. However, any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An auxiliary transportation robot track slope switching device, comprising: Two fixed tracks (1) arranged at different heights, characterized in that a transition track switching mechanism (2) is provided between the two fixed tracks (1), and the transition track switching mechanism (2) is used to connect transition tracks (3) with different slopes between the two fixed tracks (1). The transition track switching mechanism (2) includes: A first connection disk (21) and a second connection disk (22) arranged in parallel and opposite directions, coaxially connected by a transmission shaft (23), and a plurality of transition tracks (3) with different slopes are evenly arranged circumferentially between the two connection disks; A lifting unit (5) for driving the first connection disk (21), the second connection disk (22), and a plurality of transition tracks (3) with different slopes to move up and down together to dock or disconnect the transition track (3) between the two fixed tracks (1); A first driving unit (6) capable of driving the first connection disk (21) and the second connection disk (22) to rotate synchronously to switch the transition tracks (3) with different slopes.

2. The auxiliary transportation robot track gradient switching device according to claim 1, wherein: The diameter of the first connection disk (21) is larger than the diameter of the second connection disk (22), and a plurality of mounting grooves (7) are respectively provided circumferentially on the first connection disk (21) and the second connection disk (22); A cross beam (24), one end of which is fixedly connected to a first vertical rod (241) at the bottom, and the bottom end of the first vertical rod (241) is rotatably connected to one end of the transmission shaft (23); The other end of the cross beam (24) is fixedly connected to a second vertical rod (242) at the bottom, and the bottom end of the second vertical rod (242) is rotatably connected to the other end of the transmission shaft (23).

3. The auxiliary transportation robot track gradient switching device according to claim 2, characterized in that: The lifting unit (5) includes: A first stretching cylinder (51) connected to one end of the cross beam (24); A second stretching cylinder (52) connected to the other end of the cross beam (24).

4. An auxiliary transportation robot track slope switching device according to claim 1, characterized in that: The first driving unit (6) is a first motor, and the first motor is connected to the transmission shaft (23) through a coupling (61).

5. The auxiliary transportation robot track gradient switching device according to claim 1, wherein: Both ends of the transition track (3) are connected with a first fixing block (31), and the first fixing block (31) extends a certain distance beyond the edges of both ends of the transition track (3); the fixed track (1) is composed of a high track (11) and a low track (12), and second fixing blocks (13) are respectively connected to the ends of the low track (12) and the high track (11) close to the transition track (3). The first fixing block (31) on the transition track (3) is respectively connected to the second fixing blocks (13) on the low track (12) and the high track (11) through fixing bolts (8), and the distance from the second fixing block (13) to the outermost ends of the low track (12) and the high track (11) is equal to the distance that the first fixing block (31) extends beyond the edges of both ends of the transition track (3).

6. An auxiliary transportation robot track gradient switching device according to claim 2, characterized in that: The transition track (3) includes: A first track (32) with a slope of 10°; A second track (33) with a slope of 15°; A third track (34) with a slope of 20°; The fourth rail (35), the slope 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 installed on the first connection disk (21) and the second connection disk (22) through the installation groove (7), and a limiting plate (36) for restricting the movement of the transition rail (3) is provided on the installation groove (7) of the first connection disk (21) and the second connection disk (22).

7. An auxiliary transportation robot track gradient switching device according to claim 6, characterized in that: One end of the limiting plate (36) is provided with a limiting bolt (37), and it penetrates through the limiting plate (36) and is connected to the outer sides of the first connection disk (21) and the second connection disk (22), and the other end of the limiting plate (36) is connected to a limiting pin (39) through a limiting bearing (38), and the limiting pin (39) penetrates through the limiting plate (36) and is respectively connected to the outer sides of the first connection disk (21) and the second connection disk (22).

8. An auxiliary transportation robot track gradient switching device according to claim 5, characterized in that: Further comprising: The main support gantry (9), vertically installed on the ground, and respectively connected to the low rail (12) and the high rail (11) through a rail connection mechanism (91); The switching support gantry (4), vertically installed on the ground, its top is connected to the lifting unit (5), the switching support gantry (4) is located between the main support gantries (9), there is a certain height difference between the low rail (12) and the high rail (11) on both sides of the main support gantry, and the main support gantry (9) is lower than the switching support gantry (4).

9. The auxiliary transportation robot track gradient switching device according to claim 8, characterized in that: The rail connection mechanism (91) includes: The upper fixing plate (92), connected to the bottom of the main support gantry (9); The lower fixing plate (93), connected to the upper fixing plate (92) through a fixing chain (94); The lower fixed connection block (95), installed at both ends of the low rail (12), and connected to the lower fixing plate (93) through a fixed shaft (96).

10. A method for switching the track gradient of an auxiliary transportation robot, which uses the auxiliary transportation robot track gradient switching device described in any one of the above claims 1 to 9, characterized in that, Comprising the following steps: S1: First, control the first motor to start through the controller, the start of the first motor drives the transition rail (3) on the first connection disk (21) and the second connection disk (22) to rotate, and according to the experimental requirements, rotate the transition rail (3) with the required slope to directly below; S2: Then control the first stretching cylinder (51) and the second stretching cylinder (52) on the lifting unit (5) to move downward simultaneously through the controller, and drive the transition rail (3) below the first connection disk (21) and the second connection disk (22) to move downward until it is aligned with the high rail (11) and the low rail (12), so that the first fixing block (31) on the transition rail (3) is horizontally close to the surface of the fixed rail (1), and at the same time is aligned with the second fixing block (13); S3: When both ends of the transition rail (3) are respectively aligned with the high rail (11) and the low rail (12), manually use tools to unscrew the fixed limiting bolts (37) above and below the first connection disk (21) and the second connection disk (22), and then manually rotate the limiting plate (36) by 180°; S4: Subsequently, control the first stretching cylinder (51) and the second stretching cylinder (52) on the lifting unit (5) to move upward simultaneously, driving the first connecting plate (21) and the second connecting plate (22) to move upward. The transition rail (3) below the first connecting plate (21) and the second connecting plate (22) will then disengage from the mounting grooves (7) on the first connecting plate (21) and the second connecting plate (22). After the first connecting plate (21) and the second connecting plate (22) move to the upper position, the first stretching cylinder (51) and the second stretching cylinder (52) on the lifting unit (5) stop moving; S5: Finally, the worker passes the fixing bolts (8) through the first fixing block (31) and the second fixing block (13) to connect and fix the two ends of the transition rail (3) to the low rail (12) and the high rail (11) respectively; S6: When switching to the next transition rail (3), remove the originally installed transition rail (3) from the low rail (12) and the high rail (11), and fix it on the first connecting plate (21) and the second connecting plate (22). Then repeat the above steps S1 to S5 to complete the switching of the next transition rail (3) with a different slope.

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