A double-track climbing mechanism

Abstract

The present application discloses a dual-track climbing mechanism, which includes a frame and a drive unit, wherein the plane in the width direction of the frame is perpendicular to the handrail rope; at least four drive units are provided, and the drive units are arranged in parallel and spaced apart along the length direction of the frame; the drive unit includes a drive assembly, a linear assembly, and a rotary assembly, wherein the rotary assembly is mounted on the linear assembly, and the rotary assemblies of two adjacent drive units are respectively located on both sides of the central axis of the frame, and the drive assembly drives the linear assembly to drive the rotary assembly to move toward or away from the handrail rope along the width direction of the frame; the rotary assembly includes a rotary plate, a second drive member, and a climbing module, and the climbing module is mounted on the rotary plate, and the second drive member drives the rotary plate to rotate, thereby driving the climbing module to rotate along the plane where the handrail rope is located so that the climbing module approaches or leaves the handrail rope. The climbing mechanism of the present application can adapt to dual tracks of handrail ropes with different spacings, realize climbing and obstacle crossing functions, and improve the detection efficiency of the main cable.

Description

Technical Field

[0001] The present application relates to the technical field of climbing robots, and more specifically, to a dual-track climbing mechanism. Background Art

[0002] The main cable system is a crucial component of suspension bridges and requires regular maintenance to prevent major accidents. Currently, maintenance of the main cable system relies primarily on manual labor, but this method is inefficient and carries significant risks. With the advancement of robotics, the use of robots for main cable maintenance can significantly improve maintenance efficiency and avoid the risk of injury or death associated with overhead operations.

[0003] Climbing robots on the main cable system is one of the key technologies for robotic maintenance of the system. Suspension bridge main cable inspection robots typically use two parallel handrails within the main cable system as a track, climbing the handrails and inspecting the cables. Existing cable climbing robots have a heavy climbing mechanism that makes it difficult to navigate obstacles at the handrails. During maintenance, the climbing mechanism cannot overcome obstacles on the cable surface, severely impacting the inspection efficiency and effectiveness of the main cable system, hindering long-term monitoring of the bridge.

[0004] With respect to the above-mentioned related technical means, the climbing mechanism of the existing cable climbing robot has the defect of being inconvenient to cross obstacles on the cable surface, which seriously affects the detection efficiency of the main cable system. Summary of the Invention

[0005] The present application provides a dual-track climbing mechanism, which uses two handrail ropes arranged in parallel in the main cable system as climbing objects. It can adapt to dual tracks of handrail ropes with different spacings, realize climbing and obstacle crossing functions, and improve the detection efficiency of the main cable system.

[0006] The present application provides a dual-track climbing mechanism that adopts the following technical solutions:

[0007] A double-track climbing mechanism, comprising:

[0008] The frame, wherein the plane in which the width direction of the frame is located is perpendicular to the handrail rope;

[0009] At least four drive units are provided, and the drive units are arranged in parallel and spaced apart along the length direction of the frame; the drive units include a drive assembly, a linear assembly, and a rotary assembly, the rotary assembly being mounted on the linear assembly, and the drive assembly drives the linear assembly to drive the rotary assembly to move toward or away from the handrail rope along the width direction of the frame;

[0010] The rotating components in the two adjacent driving units are respectively located on both sides of the central axis of the frame, and the rotating components include a rotating plate, a second driving member and a climbing module. The climbing module is installed on the rotating plate, and the second driving member drives the rotating plate to rotate, thereby driving the climbing module to rotate along the plane where the handrail rope is located to make the climbing module approach or separate from the handrail rope.

[0011] Optionally, the linear assembly includes a moving part and a linear motion module, the linear motion module is installed at the output end of the driving assembly, the rotating assembly is installed on the moving part, the moving part is arranged on the linear motion module, and the linear motion module controls the moving part to move along the width direction of the frame.

[0012] Optionally, the linear motion module includes a first bearing seat, a second bearing seat, a lead screw and a lead screw nut, the first bearing seat and the second bearing seat are respectively installed on the long sides of the frame, the length direction of the lead screw is the same as the width direction of the frame, one end of the lead screw is installed on the first bearing seat and rotatably cooperates with the first bearing seat, the other end of the lead screw is installed on the second bearing seat and rotatably cooperates with the second bearing seat, the lead screw nut is arranged on the lead screw and is threadedly connected to the lead screw, and the moving part is fixedly installed on the lead screw nut.

[0013] Optionally, the linear motion module also includes a linear module base, which is fixedly connected to the frame and the straight line in which the length direction of the linear module base is located is perpendicular to the handrail rope. The linear module base is provided with a guide rail, and the end face of the moving part facing the linear module base is provided with a slider that matches the shape of the guide rail. The slider is set on the guide rail and slides with the guide rail.

[0014] Optionally, the drive assembly includes a first drive member and a synchronous belt transmission module, the first drive member is fixedly mounted on the first bearing seat; the synchronous belt transmission module includes an active synchronous pulley, a synchronous belt and a driven synchronous pulley, the active synchronous pulley is mounted on the output shaft of the first drive member, the driven synchronous pulley is coaxially fixedly connected to the screw, and the active synchronous pulley is connected to the driven synchronous pulley through the synchronous belt.

[0015] Optionally, the climbing module includes a driving wheel and a third driving member, the third driving member is fixedly mounted on the rotating plate, the driving wheel is coaxially connected to the rotating shaft of the third driving member and is rotatably mounted on one end of the rotating plate.

[0016] Optionally, the climbing module further includes a passive wheel, which is mounted on the rotating plate and at one end away from the driving wheel, the passive wheel is rotationally engaged with the rotating plate, and the second driving member is located between the driving wheel and the passive wheel.

[0017] Optionally, the axial cross-section of the driving wheel and the axial cross-section of the driven wheel first gradually decrease and then gradually increase from one end to the other end.

[0018] Optionally, the climbing module has a forward state, in which the lower end surface of the driving wheel contacts the handrail rope, and the upper end surface of the passive wheel contacts the handrail rope; or, the lower end surface of the passive wheel contacts the handrail rope, and the upper end surface of the driving wheel contacts the handrail rope.

[0019] Optionally, the climbing module has an obstacle crossing state, and the driving wheel in the obstacle crossing state is located directly above the passive wheel, or the passive wheel is located directly above the driving wheel; the handrail rope is located between the driving wheel and the passive wheel and does not contact the driving wheel and the passive wheel.

[0020] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0021] The climbing mechanism of the present application uses two handrail ropes arranged in parallel in the main cable system as climbing objects, and multiple driving units move along the length direction of the handrail rope under the joint action of each climbing module, thereby achieving a climbing effect.

[0022] When a driving unit encounters an obstacle, the driving assembly drives the linear assembly to drive the rotating assembly to move away from the handrail rope, so that this driving unit avoids the obstacle on the handrail rope, and the other driving units operate normally, driving this driving unit to continue moving forward on the handrail rope; after this driving unit passes the obstacle, the driving assembly drives the linear assembly to drive the rotating assembly to move toward the handrail rope, so that the rotating assembly gradually approaches the handrail rope until the climbing assembly contacts the handrail rope. The driving wheel in the climbing module is located on the handrail rope and continues to move forward under the drive of the third driving component, thereby realizing the obstacle crossing function, thereby improving the detection efficiency and detection effect of the main cable system.

[0023] The driving assembly drives the linear assembly to move toward or away from the handrail rope to adjust the distance of the rotating assembly relative to the double rails so that the climbing module is located on the handrail rope, so that the climbing mechanism can adapt to the double rails of handrail ropes with different spacings, thereby expanding the applicability of the climbing mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall structure of a dual-track climbing mechanism disclosed in an embodiment of the present application;

[0025] Figure 2A schematic diagram of a dual-track climbing mechanism disclosed in an embodiment of the present application moving forward on a handrail rope;

[0026] Figure 3 This is a structural schematic diagram of a dual-track climbing mechanism disclosed in an embodiment of the present application, highlighting the driving unit;

[0027] Figure 4 A schematic diagram of a dual-track climbing mechanism disclosed in an embodiment of the present application traversing an obstacle on a handrail rope;

[0028] Figure 5 This is a schematic diagram of a climbing module of a dual-track climbing mechanism in a forward state disclosed in an embodiment of the present application;

[0029] Figure 6 This is a schematic diagram of a climbing module of a dual-track climbing mechanism in an obstacle-crossing state disclosed in an embodiment of the present application;

[0030] Description of reference numerals:

[0031] 100. Frame; 200. Drive unit; 210. Drive assembly; 211. First drive member; 212. Synchronous belt drive module; 2121. Active synchronous pulley; 2122. Synchronous belt; 2123. Driven synchronous pulley; 220. Linear assembly; 221. Moving member; 2211. Slider; 222. Linear motion module; 2221. Linear module base; 2222. First bearing seat; 2223. Second bearing seat; 2224. Lead screw; 2225. Lead screw nut; 2226. Guide rail; 230. Rotating assembly; 231. Rotating plate; 232. Second drive member; 233. Climbing module; 2331. Drive wheel; 2332. Third drive member; 2333. Passive wheel. DETAILED DESCRIPTION

[0032] The following is combined with Figure 1-6 This application is described in further detail.

[0033] An embodiment of the present application provides a dual-track climbing mechanism.

[0034] See also Figure 1 and Figure 2The present application discloses a dual-track climbing mechanism comprising a frame 100 and a drive unit 200. The frame 100 is located between two handrails, and the plane in which the width of the frame 100 lies is perpendicular to the handrails. The direction of movement of the drive unit 200 is the same as the length direction of the handrails. At least four drive units 200 are provided, and the multiple drive units 200 are arranged in parallel and spaced apart along the length direction of the frame 100. At least two groups of drive units 200 are installed on each handrail. In this embodiment, there are four drive units 200, and the four drive units 200 are arranged in parallel and spaced apart along the length direction of the frame 100. Two groups of drive units 200 are respectively provided on the left and right handrails. When one of the four drive units 200 encounters an obstacle, the synchronous movement of any three of the remaining drive units 200 can drive the frame 100 and the remaining drive unit 200 to move along the length direction of the handrail, thereby improving the detection efficiency and effect of the main cable system.

[0035] See also Figure 3 The driving unit 200 includes a driving component 210, a linear component 220 and a rotating component 230. The linear component 220 spans two opposite long sides of the frame 100. The driving component 210 is used to drive the linear component 220 to move closer to or away from the handrail rope along the width direction of the frame 100; the rotating component 230 is installed on the linear component 220. The rotating components 230 in the two adjacent driving units 200 are respectively located on both sides of the central axis of the frame 100. The two adjacent rotating components 230 are driven by their respective linear components 220 to move closer to or away from the handrail rope. The driving component 210 drives the linear component 220 to drive the rotating component 230 to move toward or away from the handrail rope along the width direction of the frame 100 to adjust the distance between the rotating component 230 and the handrail rope, thereby improving the adaptability of the climbing mechanism to double-track handrail ropes with different spacings and expanding the usage scenarios of the climbing mechanism.

[0036] See also Figure 2 and Figure 4 When a driving unit 200 encounters an obstacle, the driving component 210 drives the linear component 220 to drive the rotating component 230 to move away from the handrail rope, so that this driving unit 200 avoids the obstacle on the handrail rope, and the other driving units 200 operate normally, driving this driving unit 200 to continue moving forward on the handrail rope; when this driving unit 200 passes the obstacle, the driving component 210 drives the linear component 220 to drive the rotating component 230 to move toward the handrail rope, so that the rotating component 230 is located at the handrail rope and contacts the handrail rope and continues to move forward.

[0037] See also Figure 3The linear assembly 220 includes a moving part 221 and a linear motion module 222. The rotating assembly 230 is installed on the moving part 221. The linear motion module 222 is installed on the output end of the driving assembly 210. The moving part 221 is set on the linear motion module 222. The linear motion module 222 controls the moving part 221 to move along the width direction of the frame 100, and then the moving part 221 drives the rotating assembly 230 to move along the width direction of the frame 100. Specifically, the linear motion module 222 includes a linear module base 2221, a first bearing seat 2222, a second bearing seat 2223, a screw 2224 and a screw nut 2225. The linear module base 2221 is fixedly connected to the frame 100 and the straight line in the length direction of the linear module base 2221 is perpendicular to the handrail rope. The first bearing seat 2222 and the second bearing seat 2223 are respectively installed on the long sides on both sides of the frame 100. The length direction of the screw 2224 is the same as the width direction of the frame 100. One end of the screw 2224 is installed on the first bearing seat 2222 and rotatably cooperates with the first bearing seat 2222. The other end of the screw 2224 is installed on the second bearing seat 2223 and rotatably cooperates with the second bearing seat 2223. The screw nut 2225 is arranged on the screw 2224 and is threadedly connected to the screw 2224. The moving part 221 is fixedly installed on the screw nut 2225. In this embodiment, the linear module base 2221 is located between the first bearing seat 2222 and the second bearing seat 2223 , and both ends of the linear module base 2221 are fixedly connected to the first bearing seat 2222 and the second bearing seat 2223 respectively.

[0038] Furthermore, the linear module base 2221 is provided with a guide rail 2226. A slider 2211, which matches the shape of the guide rail 2226, is provided on the end surface of the moving member 221 facing the linear module base 2221. The slider 2211 is disposed on the guide rail 2226 and slides with the guide rail 2226. The rotation of the lead screw 2224 drives the lead screw nut 2225 and the moving member 221 along the length of the lead screw 2224. Simultaneously, the slider 2211 slides on the slide rail. The slider 2211 and the slide rail cooperate to carry part of the weight of the moving member 221 and the rotating assembly 230, reducing the load on the lead screw 2224 and improving the movement stability of the moving member 221.

[0039] Drive assembly 210 includes a first drive member 211 and a synchronous belt drive module 212. The synchronous belt drive module 212 is capable of withstanding heavy loads and exhibits high positional and angular accuracy, enabling the first drive member 211 to maintain stable power output during high-speed operation. The first drive member 211 is fixedly mounted on a first bearing seat 2222. The synchronous belt drive module 212 includes a driving synchronous pulley 2121, a synchronous belt 2122, and a driven synchronous pulley 2123. The driving synchronous pulley 2121 is fixedly mounted on the output shaft of the first drive member 211. The driven synchronous pulley 2123 is coaxially and fixedly connected to the lead screw 2224. The driving synchronous pulley 2121 is connected to the driven synchronous pulley 2123 via the synchronous belt 2122. In this embodiment, the synchronous belt drive module 212 is located on the left side of the first bearing seat 2222, and the first driving member 211 is located on the right side of the first bearing seat 2222. There is a gap between the first driving member 211 and the linear module base 2221. The first driving member 211 preferably uses a rotary motor. The first bearing seat 2222 has an opening for the output shaft of the first driving member 211 to pass through. The output shaft of the first driving member 211 passes through the opening and is coaxially fixedly connected to the active synchronous belt 2122 pulley 2121. When the first driving member 211 is started, the first driving member 211 rotates, driving the active synchronous belt pulley 2121 to rotate, which in turn drives the driven synchronous belt pulley 2123 to rotate through the synchronous belt 2122, thereby driving the lead screw 2224 to rotate. The rotation of the lead screw causes the lead screw nut 2225 and the moving member 221 to move along the length of the lead screw 2224.

[0040] The rotating assembly 230 includes a rotating plate 231, a second driving member 232, and a climbing module 233. The climbing module 233 is mounted on the rotating plate 231. The second driving member 232 drives the rotating plate 231 to rotate, thereby driving the climbing module 233 to rotate along the plane of the handrail rope, so that the climbing module 233 moves closer to or away from the handrail rope. In this embodiment, the second driving member 232 is preferably a rotary motor. The second driving member 232 is fixedly mounted on the moving member 221 and is located at the midpoint of the rotating plate 231. The rotating plate 231 is fixedly mounted on the output shaft of the second driving member 232. The rotating plate 231 is parallel to the plane in which the length of the handrail rope is located. The rotating plate 231 rotates along the output shaft of the second driving member 232 as the rotation axis. When the linear assembly 220 drives the moving plate to move away from the handrail rope, the second driving member 232 drives the rotating plate 231 to rotate, driving the climbing module 233 to rotate in a plane parallel to the handrail rope.

[0041] Please continue reading Figure 3The climbing module 233 includes a driving wheel 2331, a driven wheel 2333, and a third driving member 2332. The third driving member 2332 is fixedly mounted on one end of the rotating plate 231. The driving wheel 2331 is coaxially connected to the rotation axis of the third driving member 2332. The driving wheel 2331 and the rotating plate 231 rotate in coordination. The third driving member 2332 drives the driving wheel 2331 to rotate, causing the driving wheel 2331 to advance on the handrail rope. The third driving member 2332 is preferably a rotary motor. The driven wheel 2333 is mounted on one end of the rotating plate 231 away from the driving wheel 2331 and rotates in coordination with the rotating plate 231. The second driving member 232 is located between the driving wheel 2331 and the driven wheel 2333. The second driving member 232 drives the rotating plate 231 to rotate. The rotation of the rotating plate 231 causes the driving wheel 2331 and the driven wheel 2333 at both ends of the rotating plate 231 to rotate in a plane parallel to the handrail rope. The axial cross-sections of the driving wheel 2331 and the driven wheel 2333 first gradually decrease and then gradually increase from one end to the other, thereby increasing the contact area between the driving wheel 2331 and the driven wheel 2333 and the handrail rope, making the driving wheel 2331 and the driven wheel 2333 more stable on the handrail rope, and reducing the possibility of the driving wheel 2331 and the driven wheel 2333 detaching from the handrail rope while moving forward.

[0042] The climbing module 233 has a forward state and an obstacle crossing state. Figure 5 In the forward state, the lower end surface of the driving wheel 2331 contacts the handrail rope, and the upper end surface of the passive wheel 2333 contacts the handrail rope; or, the upper end surface of the driving wheel 2331 contacts the handrail rope, and the lower end surface of the passive wheel 2333 contacts the handrail rope. In this embodiment, the former is preferably adopted. When the lower end surface of the driving wheel 2331 contacts the handrail rope, and the upper end surface of the passive wheel 2333 contacts the handrail rope, the driving wheel 2331 and the passive wheel 2333 cooperate to clamp the handrail rope, and the third driving member 2332 drives the driving wheel 2331 to rotate and move forward on the handrail rope. The forward force of the driving wheel 2331 drives the passive wheel 2333 to move forward synchronously on the handrail rope. The driving wheel 2331 and the passive wheel 2333 work together on the handrail rope to enhance the stability of the climbing mechanism in the forward state. Please refer to Figure 6 In the obstacle crossing state, the driving wheel 2331 is located directly above the passive wheel 2333 , and the handrail rope is located between the driving wheel 2331 and the passive wheel 2333 and does not contact the driving wheel 2331 and the passive wheel 2333 .

[0043] When a driving unit 200 encounters an obstacle, the climbing module 233 of this driving unit 200 switches from the forward state to the obstacle-crossing state. In the obstacle-crossing state, the driving wheel is directly above the passive wheel, or the passive wheel is directly above the driving wheel, and the handrail rope is located between the driving wheel and the passive wheel without contacting the driving wheel or the passive wheel. In this embodiment, the former is preferred.

[0044] The second driving member 232 in the rotating assembly 230 drives the rotating plate 231 to rotate, and the rotating plate 231 rotates so that the driving wheel 2331 is located directly above the passive wheel 2333, and the handrail rope is located between the driving wheel 2331 and the passive wheel 2333 and does not contact the driving wheel 2331 and the passive wheel 2333. At this time, the climbing module 233 is disengaged from the handrail rope; the first driving member 211 is started to rotate the screw 2224 through the synchronous belt transmission module 212, and the rotation of the screw 2224 drives the moving member 221 to move away from the handrail rope along the length direction of the screw 2224, and the climbing module 233 is away from the handrail rope; at the same time, the remaining driving units 200 operate normally, driving this driving unit 200 to continue moving forward on the handrail rope, so that this driving unit 200 can avoid obstacles on the handrail rope.

[0045] When the climbing module 233 gradually approaches the handrail, the first driving member 211 stops running; the climbing module 233 switches from the obstacle-crossing state to the forward state, that is, the second driving member 232 starts to drive the rotating plate 231 to rotate, and the rotating plate 231 drives the driving wheel 2331 and the driven wheel 2333 to rotate, so that the lower end surface of the driving wheel 2331 contacts the handrail, and the upper end surface of the driven wheel contacts the handrail; the third driving member 2332 drives the driving wheel 2331 to rotate, and the driving wheel 2331 moves forward on the handrail. The driving wheel 2331 and the driven wheel work together to drive the driving unit 200 to continue moving forward. At this time, all driving units 200 are climbing on the handrail.

[0046] The above are all preferred embodiments of the present application and are not intended to limit the scope of protection of this application. Identical components are denoted by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the above description refer to directions in the accompanying drawings, and the terms "inward" and "outward" refer to directions toward or away from the geometric center of a specific component, respectively. Therefore, all equivalent variations based on the structure, shape, and principles of this application are intended to be within the scope of protection of this application.

Claims

1. A dual-track climbing mechanism, characterized in that: include: A frame (100), wherein a plane in the width direction of the frame (100) and the handrail rope are perpendicular to each other; A drive unit (200), wherein at least four drive units (200) are provided, and the drive units (200) are arranged in parallel along the length direction of the frame (100) and are spaced apart on the frame (100); the drive unit (200) comprises a drive assembly (210), a linear assembly (220), and a rotation assembly (230), wherein the rotation assembly (230) is mounted on the linear assembly (220), and the drive assembly (210) drives the linear assembly (220) to drive the rotation assembly (230) to move toward or away from the handrail rope along the width direction of the frame (100); The rotating assemblies (230) in the two adjacent driving units (200) are respectively located on both sides of the central axis of the frame (100), and the rotating assembly (230) includes a rotating plate (231), a second driving member (232) and a climbing module (233). The climbing module (233) is installed on the rotating plate (231), and the second driving member (232) drives the rotating plate (231) to rotate, thereby driving the climbing module (233) to rotate along the plane where the handrail rope is located, so that the climbing module (233) approaches or leaves the handrail rope.

2. A dual-track climbing mechanism according to claim 1, characterized in that: The linear assembly (220) comprises a moving part (221) and a linear motion module (222), wherein the linear motion module (222) is mounted on the output end of the driving assembly (210), the rotating assembly (230) is mounted on the moving part (221), the moving part (221) is arranged on the linear motion module (222), and the linear motion module (222) controls the moving part (221) to move along the width direction of the frame (100).

3. A dual-track climbing mechanism according to claim 2, characterized in that: The linear motion module (222) includes a first bearing seat (2222), a second bearing seat (2223), a lead screw (2224) and a lead screw nut (2225). The first bearing seat (2222) and the second bearing seat (2223) are respectively installed on the long sides of the frame (100). The length direction of the lead screw (2224) is the same as the width direction of the frame (100). One end of the lead screw (2224) is installed on the first bearing seat (2222) and rotates with the first bearing seat (2222). The other end of the lead screw (2224) is installed on the second bearing seat (2223) and rotates with the second bearing seat (2223). The lead screw nut (2225) is arranged on the lead screw (2224) and is threadedly connected to the lead screw (2224). The moving part (221) is fixedly installed on the lead screw nut (2225).

4. A dual-track climbing mechanism according to claim 2, characterized in that: The linear motion module (222) further includes a linear module base (2221), wherein the linear module base (2221) is fixedly connected to the frame (100) and the straight line on which the length direction of the linear module base (2221) is located is perpendicular to the handrail rope, the linear module base (2221) is provided with a guide rail (2226), and the end surface of the moving part (221) facing the linear module base (2221) is provided with a slider (2211) that matches the shape of the guide rail (2226), and the slider (2211) is provided on the guide rail (2226) and is slidably matched with the guide rail (2226).

5. The dual-track climbing mechanism according to claim 3, characterized in that: The driving assembly (210) includes a first driving member (211) and a synchronous belt transmission module (212), wherein the first driving member (211) is fixedly mounted on the first bearing seat (2222); the synchronous belt transmission module (212) includes an active synchronous pulley (2121), a synchronous belt (2122) and a driven synchronous pulley (2123), wherein the active synchronous pulley (2121) is mounted on the output shaft of the first driving member (211), the driven synchronous pulley (2123) is coaxially fixedly connected to the lead screw (2224), and the active synchronous pulley (2121) is connected to the driven synchronous pulley (2123) via the synchronous belt (2122).

6. A dual-track climbing mechanism according to claim 1, characterized in that: The climbing module (233) comprises a driving wheel (2331) and a third driving member (2332), wherein the third driving member (2332) is fixedly mounted on the rotating plate (231), and the driving wheel (2331) is coaxially connected to the rotating axis of the third driving member (2332) and is rotatably mounted on one end of the rotating plate (231).

7. A dual-track climbing mechanism according to claim 6, characterized in that: The climbing module (233) further comprises a passive wheel (2333), the passive wheel (2333) being mounted on one end of the rotating plate (231) away from the driving wheel (2331), the passive wheel (2333) being rotationally engaged with the rotating plate (231), and the second driving member (232) being located between the driving wheel (2331) and the passive wheel (2333).

8. The dual-track climbing mechanism according to claim 7, characterized in that: The axial cross-section of the driving wheel (2331) and the axial cross-section of the driven wheel (2333) first gradually decrease and then gradually increase from one end to the other.

9. The dual-track climbing mechanism according to claim 7, characterized in that: The climbing module (233) has a forward state, in which the lower end surface of the driving wheel (2331) contacts the handrail rope, and the upper end surface of the passive wheel (2333) contacts the handrail rope; or, the lower end surface of the passive wheel (2333) contacts the handrail rope, and the upper end surface of the driving wheel (2331) contacts the handrail rope.

10. The dual-track climbing mechanism according to claim 7, characterized in that: The climbing module (233) has an obstacle crossing state, in which the driving wheel (2331) is located directly above the passive wheel (2333), or the driving wheel (2331) is located directly below the passive wheel (2333); the handrail rope is located between the driving wheel (2331) and the passive wheel (2333) and does not contact the driving wheel (2331) and the passive wheel (2333).

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