Double-track walking mechanism

Abstract

The utility model relates to the technical field of glass fiber cloth preparation equipment, in particular to a double-track walking mechanism which comprises a bearing frame and a track frame, the track frame is installed on the bearing frame, and the track frame comprises a first track and a second track which are arranged in a spaced mode. The first track penetrates through a first driving roller on the bearing frame and a first driven roller below the first driving roller, and also penetrates through a second driving roller on the bearing frame and a second driven roller below the second driving roller; and the second rail passes through a space between the first supporting roller and the second supporting roller which are rotatable on the bearing frame. The whole walking mechanism is stably supported and limited on the first track and the second track and can move relatively, through the cooperation, the whole mechanism can only move on the first track and the second track and cannot fall off, and a dual-power driving mode is formed; and enough power can be kept under the condition that structures such as bends are arranged on the first track and the second track, so that the whole mechanism stably moves under the load-bearing condition.

Description

Technical Field

[0001] The utility model belongs to the field of wind turbine blade manufacturing, and particularly relates to a double-track walking mechanism in an intelligent laying system for prefabricating structural components of wind turbine blades. Background Art

[0002] The proportion of wind power in new energy increases year by year. As the most core component of wind power generation, wind turbine blades with a length of up to 100 meters have been applied in wind energy capture. Shell layup is a basic and key process in the manufacturing of large and complex curved surfaces such as wind turbine blades, which mainly includes the laying of fiber fabrics, core materials, prefabricated components, and auxiliary materials. The quality of the layup determines whether the product can achieve the designed structure and performance. The layup state affects the stiffness and strength of the blade, and also determines the dynamic performance of the blade. The production speed of the blade mainly depends on the laying speed of the fiber fabric in the shell layup process.

[0003] The existing wind turbine blade manufacturing layup completely relies on manual labor. During the laying process, manual labor is easily affected by the on-site environment and the mold, resulting in a slow laying speed, low positioning accuracy, large overlapping error, and it is also easy to dirty and damage the fiber cloth to be laid.

[0004] To realize the automation of the layup system during the prefabrication of wind turbine blade structural components, a track that can adapt to the curvature and shape changes of wind turbine blade structural components is required, and the accessibility and adaptability of the automatic layup system should be ensured. Traditional robot floor tracks and overhead tracks are mostly straight lines, and the manufacturing cost is high, which is not suitable for the manufacturing requirements of long-distance, large curvature, and low cost of wind turbine blade structural components. Summary of the Invention

[0005] This application intends to provide a double-track walking mechanism according to the existing mold without changing the mold of the prefabricated structural components of wind turbine blades, so as to realize the automation transformation of the layup process and solve the problems that the ordinary walking mechanism occupies a large space and cannot adapt to the curvature and shape changes of the blade mold.

[0006] To achieve the above effects, the technical solutions adopted in this application are as follows:

[0007] A double-track walking mechanism includes a carrier frame and a track frame. The track frame is installed on the carrier frame. The track frame includes a first track and a second track arranged at intervals. The first track passes between the first driving roller on the carrier frame and the first driven roller below it, and also passes between the second driving roller on the carrier frame and the second driven roller below it. The second track passes between the rotatable first support roller and the second support roller on the carrier frame. Rotatable means that the roller itself can rotate passively along the track even without power.

[0008] Further, a first guide rail is provided on the carrier frame, and a first carrier plate is slidably mounted on the first guide rail. A bearing seat is mounted on the first carrier plate, and the first driven roller is rotatably mounted on the bearing seat. A first spring for pushing the first carrier plate to slide toward the first driving roller is further provided on the carrier frame. A first avoidance hole for avoiding the movement of the first driven roller is provided on the carrier frame.

[0009] Further, a second guide rail is provided on the carrier frame, and a second carrier plate is slidably mounted on the second guide rail. A bearing seat is mounted on the second carrier plate, and the second driven roller is rotatably mounted on the bearing seat. A second spring for pushing the second carrier plate to slide toward the second driving roller is further provided on the carrier frame. A second avoidance hole for avoiding the movement of the second driven roller is provided on the carrier frame.

[0010] Further, a third guide rail is provided on the carrier frame, and a third carrier plate is slidably mounted on the third guide rail. Two bearing seats are spacedly mounted on the third carrier plate, and the first support roller and the second support roller are rotatably mounted on the bearing seats. Third springs and fourth springs respectively abutting against the two end portions of the third carrier plate are provided on the carrier frame. A third avoidance hole for avoiding the movement of the first support roller and the second support roller is provided on the carrier frame.

[0011] Further, the first driving roller is connected to a first driving mechanism, and the first driving mechanism drives it to rotate. The second driving roller is connected to a second driving mechanism, and the second driving mechanism drives it to rotate.

[0012] Still further, the first driving mechanism is the same as the second driving mechanism, and both include a rotating bracket and a bearing seat fixed on the carrier frame. A planetary reducer and a servo motor are mounted on the rotating bracket, and the servo motor is connected to the planetary reducer. The first driving roller is connected to the planetary reducer in the first driving mechanism through a coupling, and the second driving roller is connected to the planetary reducer in the second driving mechanism through a coupling.

[0013] Further, two clamping and braking mechanisms for clamping and braking the second track are mounted on the carrier frame, and the two clamping and braking mechanisms are located on both sides of the first support roller.

[0014] Furthermore, the clamping and braking mechanism includes a ball screw installed on the carrier, and a first screw nut and a second screw nut that are spaced apart on the ball screw and have opposite spiral directions; a first clamping portion is installed on the first screw nut, a second clamping portion is installed on the second screw nut, a fourth guide rail is provided on the carrier, and both the first clamping portion and the second clamping portion are slidably installed on the fourth guide rail; a stepping motor is connected to the ball screw.

[0015] Further, the first clamping portion includes a first bracket fixed to the first screw nut, the first bracket is slidably installed on the fourth guide rail, and an adjustable-position first clamping block is installed on the first bracket; the second clamping portion includes a second bracket fixed to the second screw nut, the second bracket is slidably installed on the fourth guide rail, and an adjustable-position second clamping block is installed on the second bracket.

[0016] Preferably, the first clamping block and the second clamping block are provided with opposite positioning concave surfaces.

[0017] Further, a relay and conductive arms that are conductively connected to the relay and arranged at intervals are integrated in the carrier, and a conductive portion is provided at the end of the conductive arm; a number of mounting blocks are uniformly arranged along the moving direction on the first track and the second track, a conductive block is provided on the mounting block, and a sliding groove that slidably cooperates with the conductive portion is formed in the conductive block.

[0018] The utility model has at least the following technical effects:

[0019] In this application, the track frame is formed by the spaced first track and second track. The traveling mechanism passes the first track through between the first driving roller and the first driven roller, and through between the second driving roller and the second driven roller, and at the same time passes the second track through between the first supporting roller and the second supporting roller. Thus, the entire traveling mechanism is stably supported and limited on the first track and the second track and can move relatively. That is, through the above cooperation, the entire mechanism can only move on the first track and the second track without falling off. The first driving mechanism drives the first driving roller to roll on the first track, and at the same time the second driving mechanism drives the second driving roller to roll on the first track, forming a dual-power driving mode, which can maintain sufficient power in the case of structures such as curves on the first track and the second track to realize the smooth movement of the entire mechanism under load.

[0020] The spraying mechanism is installed on the carrier and moves along the track frame with the entire mechanism to spray the fiberglass cloth, ensuring the spraying uniformity. Description of the Drawings

[0021] Figure 1 This is a schematic structural diagram of an embodiment of the present utility model.

[0022] Figure 2 This is a schematic side view structural diagram of an embodiment of the present utility model.

[0023] Figure 3 This is a schematic rear view structural diagram of an embodiment of the present utility model.

[0024] Figure 4 This is a schematic three-dimensional structural diagram of an embodiment of the present utility model.

[0025] Figure 5 This is a partial schematic diagram of the clamping and braking mechanism in an embodiment of the present utility model.

[0026] In the drawings:

[0027] 1 - First track, 2 - Second track, 3 - Carrier frame, 4 - First driving roller, 5 - Second driving roller, 6 - First driven roller, 7 - Second driven roller, 8 - First supporting roller, 9 - Second supporting roller, 10 - First driving mechanism, 11 - Second driving mechanism, 12 - First guide rail, 13 - First bearing plate, 14 - First spring, 15 - First avoidance hole, 16 - Second guide rail, 17 - Second bearing plate, 18 - Second spring, 19 - Second avoidance hole, 20 - Third guide rail, 21 - Third bearing plate, 22 - Third spring, 23 - Fourth spring, 24 - Third avoidance hole, 25 - Rotating bracket, 26 - Planetary reducer, 27 - Servo motor, 28 - Coupling, 29 - Clamping and braking mechanism, 291 - Ball screw, 292 - First screw nut, 293 - Second screw nut, 294 - First clamping part, 2941 - First bracket, 2942 - First clamping block, 295 - Second clamping part, 2951 - Second bracket, 2952 - Second clamping block, 296 - Fourth guide rail, 297 - Stepper motor, 298 - Positioning concave surface, 30 - Conductive arm, 31 - Conductive part, 32 - Mounting block, 33 - Conductive block, 330 - Chute, 100 - Bearing seat. Detailed implementation manners

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated herein can be arranged and designed in various different configurations.

[0029] Accordingly, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts fall within the scope of protection of the present application.

[0030] It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0031] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper", "vertical", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this application is usually placed during use, or the orientation or positional relationship commonly understood by those skilled in the art. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application. In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present application, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0033] Embodiment 1

[0034] As Figure 1 shown, it includes a carrier 3 and a track frame. The track frame is installed on the carrier 3. The track frame includes a first track 1 and a second track 2 arranged at intervals. The first track passes between the first driving roller 4 on the carrier 3 and the first driven roller 6 below it, and also passes between the second driving roller 5 on the carrier 3 and the second driven roller 7 below it; the second track 2 passes between the rotatable first supporting roller 8 and the second supporting roller 9 on the carrier 3.

[0035] This application forms an orbital frame through spaced first and second tracks. The traveling mechanism passes the first track between the first driving roller and the first driven roller, and between the second driving roller and the second driven roller, and at the same time passes the second track between the first supporting roller and the second supporting roller. Thus, the entire traveling mechanism is stably supported and limited on the first and second tracks and can move relatively. That is, through the above cooperation, the entire mechanism can only move on the first and second tracks without falling off. The first driving mechanism drives the first driving roller to roll on the first track, and at the same time the second driving mechanism drives the second driving roller to roll on the first track, forming a dual-power driving mode, which can maintain sufficient power in the case of structures such as curves on the first and second tracks to achieve smooth movement of the entire mechanism under load.

[0036] The spraying mechanism is installed on the carrier and moves along the orbital frame with the entire mechanism to spray the fiberglass cloth to ensure spraying uniformity.

[0037] Embodiment 2

[0038] See Figures 1-5As shown in the figure, in the embodiment of the present utility model, a double-track walking mechanism is proposed, which is used in the spraying process of fiberglass cloth. The spraying mechanism is mainly integrally installed and moves synchronously. Other fiberglass cloth preparation production lines can directly apply the existing technology. The solution proposed in this embodiment can be applied to the existing production line to improve the moving stability. It includes a track frame, and the track frame includes a first track 1 and a second track 2 arranged at intervals. The track frame is fixedly arranged to guide and limit the walking track of the entire mechanism. At the same time, the cross-sections of the first track 1 and the second track 2 can be circular, T-shaped, concave-shaped, etc. The first track 1 and the second track 2 always remain parallel, and the overall shape can be set according to the actual path track. At the same time, it also includes a carrier frame 3. A first driving roller 4 and a second driving roller 5 are rotatably installed on the carrier frame 3. A first driven roller 6 located below the first driving roller 4 and a second driven roller 7 located below the second driving roller 5 are also rotatably installed on the carrier frame 3. Among them, the first track 1 passes between the first driving roller 4 and the first driven roller 6, and between the second driving roller 5 and the second driven roller 7. At the same time, a first supporting roller 8 and a second supporting roller 9 arranged longitudinally and rotatably are installed on the carrier frame 3. The second track 2 passes between the first supporting roller 8 and the second supporting roller 9. Thus, the first track 1 and the second track 2 are used to realize sliding limit for the entire mechanism, and it can only move on the track and will not fall off the track. Specifically, the first driven roller 6 and the second driven roller 7 are used to limit the first track 1, while the first driving roller 4 and the second driving roller 5 mainly bear on the first track 1. The first supporting roller 8 and the second supporting roller 9 cooperate with the second track 2 to realize stable limit of the entire mechanism relative to the track frame and maintain balance.

[0039] Specifically, a first driving mechanism 10 for driving the first driving roller 4 to rotate and a second driving mechanism 11 for driving the second driving roller 5 to rotate in the same direction are provided on the carrier frame 3. The first driving roller 4 is driven to rotate on the first track 1 through the first driving mechanism 10, and the second driving roller 5 is driven to rotate on the first track 1 through the second driving mechanism 11. Thus, the entire mechanism is realized to move along the guide rail frame.

[0040] Dual power is adopted to respectively realize the power output at two positions, making the entire mechanism more powerful during the moving process. Especially after the spraying mechanism is integrally installed on the carrier frame 3, it can also move smoothly during the moving process, meeting the requirements of spraying uniformity. In addition, adopting dual power can also adapt to the situation where the first track 1 and the second track 2 have a turning structure in the moving direction and can still maintain sufficient power to turn.

[0041] Among them, the first driving mechanism 10 and the second driving mechanism 11 are the same, and both include a rotating bracket 25 fixed on the carrier 3 and a bearing seat 100. A planetary reducer 26 and a servo motor 27 mounted on the planetary reducer 26 are installed on the rotating bracket 25. The first driving roller 4 is connected to the planetary reducer 26 in the first driving mechanism 10 through a coupling 28, and the second driving roller 5 is connected to the planetary reducer 26 in the second driving mechanism 11 through a coupling 28. The power is output through the servo motor 27, the planetary reducer 26, and the coupling 28. All components can adopt mature products. Using the servo motor 27 is convenient for comprehensive control response. Of course, other types of motors or other rotary driving devices can also be used.

[0042] Specifically, a first guide rail 12 is provided on the carrier 3, and a first carrier plate 13 is slidably mounted on the first guide rail 12. A bearing seat 100 is installed on the first carrier plate 13, and the first driven roller 6 is rotatably mounted on the bearing seat 100. At the same time, a first spring 14 for pushing the first carrier plate 13 to slide toward the first driving roller 4 is further provided on the carrier 3, and a first avoidance hole 15 for avoiding the movement of the first driven roller 6 is provided on the carrier 3. The acting force of the first spring 14 can push the first carrier plate 13 to drive the first driven roller 6 to move toward the first driving roller 4, so as to cooperate with the first track 1 and has a certain floating function to adapt to obstacle crossing.

[0043] At the same time, a second guide rail 16 is provided on the carrier 3, and a second carrier plate 17 is slidably mounted on the second guide rail 16. A bearing seat 100 is installed on the second carrier plate 17, and the second driven roller 7 is rotatably mounted on the bearing seat 100. At the same time, a second spring 18 for pushing the second carrier plate 17 to slide toward the second driving roller 5 is further provided on the carrier 3, and a second avoidance hole 19 for avoiding the movement of the second driven roller 7 is provided on the carrier 3. The acting force of the second spring 18 is used to push the second carrier plate 17 to drive the second driven roller 7 to move toward the first track 1, so as to cooperate with the first track 1 and has a certain floating function to adapt to obstacle crossing.

[0044] Therefore, both the first driven roller 6 and the second driven roller 7 have a certain floating adaptation range, which is convenient for adaptation when installed on the first track 1, and at the same time has a certain adaptability to uneven situations.

[0045] Specifically, the first support roller 8 and the second support roller 9 are used to cooperate with the second track 2. Thus, when a corresponding floating action occurs on the first track 1, there should also be an adaptation range on the second track 2 synchronously. Therefore, a third guide rail 20 is provided on the carrier 3, and a third carrier plate 21 is slidably mounted on the third guide rail 20. Two bearing seats 100 are spacedly mounted on the third carrier plate 21, and the first support roller 8 and the second support roller 9 are respectively rotatably mounted on the bearing seats 100. Third springs 22 and fourth springs 23 are provided on the carrier 3 and respectively abut against the two end portions of the third carrier plate 21. At the same time, a third avoidance hole 24 for avoiding the movement of the first support roller 8 and the second support roller 9 is provided on the carrier 3. Thus, when there is floating, floating adaptation is achieved through the action of the third springs 22 and the fourth springs 23, and the first support roller 8 and the second support roller 9 can maintain contact with the second track 2.

[0046] When the entire mechanism needs to be braked to avoid the risk of sliding when it moves into place, further, two clamping and braking mechanisms 29 are installed on the carrier 3 on both sides of the first support roller 8. The clamping and braking mechanisms 29 are used to clamp the second track 2 for braking, and a braking state is formed after the second track 2 is clamped by the two clamping and braking mechanisms 29.

[0047] Specifically, the clamping and braking mechanism 29 includes a ball screw 291 rotatably mounted on the carrier 3, and a first screw nut 292 and a second screw nut 293 which are spaced on the ball screw 291 and have opposite spiral directions. A first clamping portion 294 is mounted on the first screw nut 292, a second clamping portion 295 is mounted on the second screw nut 293, a fourth guide rail 296 is provided on the carrier 3, and both the first clamping portion 294 and the second clamping portion 295 are slidably mounted on the fourth guide rail 296. At the same time, a stepping motor 297 is connected to the ball screw 291. When the stepping motor 297 drives the ball screw 291 to rotate, since the first screw nut 292 and the second screw nut 293 are restricted from sliding by the first clamping portion 294 and the second clamping portion 295, through the opposite spiral cooperation action between the ball screw 291 and the first screw nut 292 and the second screw nut 293, the first clamping portion 294 and the second clamping portion 295 slide towards each other to clamp the second track 2, or the first clamping portion 294 and the second clamping portion 295 slide away from each other to release the braking state of the second track 2.

[0048] Thus, when the second track 2 is clamped by the clamping and braking mechanism 29, the movement state of the entire mechanism is braked, and when the clamping state is released, the braking state is released, so that it is convenient to control the stepping motor 297 to rotate forward or backward at the position where braking is required by controlling the stepping motor 297.

[0049] In order to adapt to the situation that there is no slippage when clamping the second track 2 and be able to adjust according to the corresponding sliding distance to ensure the braking effect; specifically, the first clamping part 294 includes a first bracket 2941 fixed on the first lead screw nut 292. The first bracket 2941 is slidably mounted on the fourth guide rail 296. An adjustable-position first clamping block 2942 is mounted on the first bracket 2941. The second clamping part 295 includes a second bracket 2951 fixed on the second lead screw nut 293. The second bracket 2951 is slidably mounted on the fourth guide rail 296. An adjustable-position second clamping block 2952 is mounted on the second bracket 2951. The position of the first clamping block 2942 can be adjusted relative to the first bracket 2941, and the position of the second clamping block 2952 can be adjusted relative to the second bracket 2951. Thus, the braking effect can be ensured after adjustment according to the sliding range.

[0050] Meanwhile, opposite positioning concave surfaces 298 are provided on the first clamping block 2942 and the second clamping block 2952. By using the positioning concave surfaces 298, positioning can be formed when clamping the second track 2, and further ensure that the first clamping block 2942, the second clamping block 2952 and the second track 2 are closely attached to each other in the clamped state.

[0051] Specifically, the cross-sectional shape of the positioning concave surface 298 can match the cross-sectional shape of the second track 2.

[0052] The entire mechanism needs to conduct electricity continuously during the movement process to supply power to the internal electrical components. In order to avoid excessive cable laying and conduct electricity continuously, specifically, a relay and conductive arms 30 that are conductively connected to the relay and arranged at intervals are integrated in the carrier 3. A conductive part 31 is provided at the end of the conductive arm 30. Specifically, existing mature products can be used for the relay and the like. The conductive arm 30 is used to support the conductive part 31 and can draw power from the relay. The internal electrical components are all controlled by the relay for subsequent power supply. At the same time, a number of mounting blocks 32 are uniformly arranged along the moving direction on the first track 1 and the second track 2. A conductive block 33 is provided on the mounting block 32. A sliding groove 330 that is slidably matched with the conductive part 31 is opened on the conductive block 33. After the conductive block 33 is electrified, during the movement of the entire mechanism along the track, the conductive part 31 is matched with the sliding groove 330 to conduct electricity, and the electricity is conducted to the internal relay through the conductive arm 30 for shunting.

[0053] It can reduce the number of laid cables and achieve continuous electricity conduction during the sliding process of the entire mechanism.

[0054] In addition, it should be noted that this embodiment only explains the traveling mechanism for moving the spraying mechanism in the glass fiber production line. Other technical points related to glass fiber production can adopt existing technologies, or the technical solutions in this embodiment can be applied to existing production lines to improve the moving stability and spraying uniformity.

[0055] In the present utility model, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation" and the like shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0056] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of this utility model is normally placed. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0057] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present utility model, the present utility model can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present utility model. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A double-track walking mechanism, characterized in that: It includes a carrier frame (3) and an orbital frame. The orbital frame is installed on the carrier frame (3). The orbital frame includes a first track (1) and a second track (2) arranged at intervals. The first track passes between a first driving roller (4) on the carrier frame (3) and a first driven roller (6) below it, and also passes between a second driving roller (5) on the carrier frame (3) and a second driven roller (7) below it. The second track (2) passes between a rotatable first supporting roller (8) and a second supporting roller (9) on the carrier frame (3).

2. The dual-rail walking mechanism according to claim 1, wherein: A first guide rail (12) is provided on the carrier frame (3), and a first carrier plate (13) is slidably installed on the first guide rail (12). A bearing seat (100) is installed on the first carrier plate (13), and the first driven roller (6) is rotatably installed on the bearing seat (100). A first spring (14) for pushing the first carrier plate (13) to slide towards the first driving roller (4) side is further provided on the carrier frame (3). A first avoidance hole (15) for avoiding the movement of the first driven roller (6) is provided on the carrier frame (3).

3. The dual-rail walking mechanism according to claim 1, wherein: A second guide rail (16) is provided on the carrier frame (3), and a second carrier plate (17) is slidably installed on the second guide rail (16). A bearing seat (100) is installed on the second carrier plate (17), and the second driven roller (7) is rotatably installed on the bearing seat (100). A second spring (18) for pushing the second carrier plate (17) to slide towards the second driving roller (5) side is further provided on the carrier frame (3). A second avoidance hole (19) for avoiding the movement of the second driven roller (7) is provided on the carrier frame (3).

4. A double-track walking mechanism according to claim 1, characterized in that: A third guide rail (20) is provided on the carrier frame (3), and a third carrier plate (21) is slidably installed on the third guide rail (20). Two bearing seats (100) are installed on the third carrier plate (21) at intervals, and the first supporting roller (8) and the second supporting roller (9) are rotatably installed on the bearing seats (100). A third spring (22) and a fourth spring (23) respectively abutting against the two end parts of the third carrier plate (21) are provided on the carrier frame (3). A third avoidance hole (24) for avoiding the movement of the first supporting roller (8) and the second supporting roller (9) is provided on the carrier frame (3).

5. A double-track walking mechanism according to claim 1, characterized in that: The first driving roller (4) is connected to a first driving mechanism (10), and the first driving mechanism (10) drives it to rotate. The second driving roller (5) is connected to a second driving mechanism (11), and the second driving mechanism (11) drives it to rotate.

6. The dual-track walking mechanism according to claim 5, characterized in that: The first driving mechanism (10) is the same as the second driving mechanism (11), and both include a rotating bracket (25) and a bearing seat (100) fixed on the bearing frame (3). A planetary speed reducer (26) and a servo motor (27) are installed on the rotating bracket (25), and the servo motor (27) is connected to the planetary speed reducer (26); the first driving roller (4) is connected to the planetary speed reducer (26) in the first driving mechanism (10) through a coupling (28), and the second driving roller (5) is connected to the planetary speed reducer (26) in the second driving mechanism (11) through a coupling (28).

7. A double-track walking mechanism according to claim 1, characterized in that: Two clamping and braking mechanisms (29) for clamping and braking the second track (2) are installed on the bearing frame (3), and the two clamping and braking mechanisms (29) are located on both sides of the first support roller (8).

8. A double-track walking mechanism according to claim 7, characterized in that: The clamping and braking mechanism (29) includes a ball screw (291) installed on the bearing frame (3), and a first screw nut (292) and a second screw nut (293) spaced on the ball screw (291) and having opposite spiral directions; a first clamping part (294) is installed on the first screw nut (292), a second clamping part (295) is installed on the second screw nut (293), a fourth guide rail (296) is provided on the bearing frame (3), and both the first clamping part (294) and the second clamping part (295) are slidably installed on the fourth guide rail (296); a stepping motor (297) is connected to the ball screw (291).

9. A double-track walking mechanism according to claim 8, characterized in that: The first clamping part (294) includes a first bracket (2941) fixed on the first screw nut (292), the first bracket (2941) is slidably installed on the fourth guide rail (296), and an adjustable-position first clamping block (2942) is installed on the first bracket (2941); the second clamping part (295) includes a second bracket (2951) fixed on the second screw nut (293), the second bracket (2951) is slidably installed on the fourth guide rail (296), and an adjustable-position second clamping block (2952) is installed on the second bracket (2951); opposite positioning concave surfaces (298) are provided on the first clamping block (2942) and the second clamping block (2952).

10. A double-track walking mechanism according to claim 1, characterized in that: A relay and conductive arms (30) which are conductively connected to the relay and arranged at intervals are integrated in the bearing frame (3), and a conductive part (31) is provided at the end of the conductive arm (30); a number of mounting blocks (32) are uniformly arranged along the moving direction on the first track (1) and the second track (2), a conductive block (33) is provided on the mounting block (32), and a sliding groove (330) which is slidably matched with the conductive part (31) is opened on the conductive block (33).

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