The invention discloses a double-arm loading and transferring robot and belongs to the field of robot structure design. Fast package loading during air transportation is achieved through the double-arm loading and transferring robot. The robot comprises a clamping module composed of mechanical arms, a disc mechanism and a guide rail mechanism, a conveying belt module used for transferring, a chassis module capable of making the robot move freely, and a sorting module located at the transferring terminal point. During transferring, a double-arm rotary structure is adopted by the robot, the two mechanical arms are fixed to a rotatable disc, the included angle between the two mechanical arms is 180 degrees, after a package is clamped by one mechanical arm, 180-degree fixed-angle rotation of the rotatable disc is achieved through the cooperation of a clutch and an incomplete gear mechanism in the disc, the package is placed onto a small conveying belt, the other mechanical arm starts clamping simultaneously, and in this way, the double mechanical arms can conduct clamping and placing alternately so that the packages can be clamped continuously. Meanwhile, the clamped packages are transferred through the conveying belt, and the efficiency is improved. After the packages reach a transfer location, the conveying belt can be in lap joint with an airport large conveying belt by adjusting the angle and heights, and the packages are separated from a sorting device and moved to a cabin.