922results about How to "Flexible steering" patented technology

The invention relates to an omni-directional steering and lifting agricultural remote control mobile robot platform. The platform comprises an omni-directional steering mechanism, a hydraulic lifting system, a frame bench, vehicular electronic equipment and a traveling mechanism, the omni-directional steering mechanism is driven by a servo motor and transfers power to a steering sleeve through a pinion and a gearwheel, and then the power is transferred to wheel supports and hub motor-type wheels so that omni-directional steering is achieved, and the hydraulic lifting system is capable of lifting the platform under the action of hydraulic driving. The omni-directional steering and lifting agricultural remote control mobile robot platform has the advantages that by means of motor driving and hydraulic lifting which are performed independently, the platform can achieve 360-degree in-situ rotation while adjust the height of a vehicle body so as to adapt to crops of different heights and terrain environments; the platform is small in steering resisting moment during rotation and is easy and flexible to steer; and by the aid of the hub motor wheels, motors and the wheels are integrated, and the platform is structurally simplified.

The invention discloses a novel forklift type AGV (automatic guided vehicle) trolley. The novel forklift type AGV trolley comprises a trolley body, wherein a lifting system is arranged in the front of the trolley body, and the lifting system is connected with a material fork in transmission mode. The novel forklift type AGV trolley is characterized in that a multifunctional integrated control device is arranged on the trolley body, a dual wheel differential drive device is arranged in the middle of the trolley body, the dual wheel differential drive device is connected with the multifunctional integrated control device, protection devices are arranged around the trolley body, and an adaptation movement mechanism is arranged at the bottom of the trolley body. The novel forklift type AGV trolley achieves the purpose of adding the characteristics of turning in circles, being accurate to control and automatically running of an AGV based on performance of a forklift, and simultaneously can guarantee the advantages of being flexible to swerve and small in swerve radius.

An unmanned bicycle realizing balance control during speed changing comprises a hardware structure and a control system. A brand-new speed-changing control system structure is designed by improving the hardware structure of the bicycle and additionally arranging a speed sensor, an angle sensor, a handlebar steering motor, a rear wheel drive motor, a brake motor and a controller. The control system comprises a steering controller module, a speed fusion and parameter switching module, a brake module and a protection module and can control steering of a handlebar of the bicycle, rotation of a rear wheel and the brake force according to the acquired body attitude of the bicycle and bicycle speed information, and accordingly, the balancing and steering functions of the bicycle are realized in the speed changing process.

The invention discloses a new-concept intelligent multifunctional spaying machine chassis. The new-concept intelligent multifunctional spaying machine chassis comprises a chassis rack, a pesticide tank fixing support, a spray lance lifting support, a spray lance conversion mechanism, a spray head and wheels, wherein the pesticide tank fixing support is arranged at the rear end of the chassis rack, the spray lance lifting support is arranged at the front end of the chassis rack in a rotatable mode, the spray lance conversion mechanism and the spray lance lifting support constitute a vertical moving pair, the spray head is arranged on the spray lance conversion mechanism, and the wheels are installed at the bottom of the chassis rack through a longitudinal adjusting device and a transverse adjusting device. The new-concept intelligent multifunctional spaying machine chassis has the advantages of applying full-hydraulic power, and being stable in driving, large in drive torque, flexible in steering, simple in transmission, concise in overall structure, reasonable in configuration, and stable in center of gravity. In addition, the new-concept intelligent multifunctional spaying machine chassis has the advantages that due to the facts that stepless adjustment of the wheel torque, the ground clearance height and the like can be achieved and the spray lance conversion mechanism can descend, ascend and rotate, the spray lance conversion mechanism can achieve line-shaped conversion, U-shaped conversion and reverse-U-shaped conversion, the effect of omni-directional spraying is achieved, the requirement for all-terrain omni-directional spraying of different plants and different growth cultivation periods of one plant can be overall achieved through the new-concept intelligent multifunctional spaying machine chassis.

The invention discloses a method and a device for collecting garbage floating on a water surface. The method is characterized in that: a hull is controlled by a mode of remote control to move on the water surface; a hydraulic system is arranged on the hull to drive the automatic operation of garbage collection; and the hydraulic system is started to gather and collect the garbage floating on the water surface, and then scraped the collected garbage into a garbage recovery cabin arranged on the hull. In the device for collecting the garbage floating on the water surface, the hull with a hydraulic linkage mechanism is controlled by a mode of wireless remote control to recover the garbage on the water surface, and thus the device not only saves labor force, but also is convenient to come in and going out of water areas such as rivers, reservoirs and the like; and the hydraulic mechanism arranged on the hull operates automatically and sequentially under the action of a stroke control switch, so that the device is convenient to operate and stable and reliable in operation and can send the garbage into a garbage cabin effectively; and because the conventional garbage collecting mechanism is prevented to be adopted, the integral occupation space is simplified, loads of an operating mechanism are reduced, and the energy is saved. The method is easy to implement, and the adopted device has the advantages of simple structure, easy manufacturing, good use effect and high economic efficiency.

The invention belongs to the technical field of special vehicles and particularly relates to an unmanned sprinkling truck and a sprinkling method. The unmanned sprinkling truck comprises a sprinkling truck body and an unmanned driving system installed in the sprinkling truck body. The sprinkling truck body comprises a sprinkling truck driving system and an automatic sprinkling device. The unmanned driving system comprises multiple sensing and positioning systems and a control system. The input end of the control system is connected with the sensing and positioning systems, and the output end of the control system is connected with the automatic sprinkling device. The sensing and positioning systems are arranged on the unmanned sprinkling truck body. The unmanned driving system is added on an existing, the unmanned sprinkling truck runs along a predetermined route and performs sprinkling according to a predetermined procedure, a driver is liberated from repeated and dull driving, the sufficient sensing and positioning systems are utilized to form a sprinkling demand distribution diagram of a whole block or a whole city and further dynamically plan sprinkling routes and sprinkling amounts of multiple unmanned sprinkling trucks.

The invention relates to the technical field of unmanned remote control measurement, and provides a rudderless unmanned ship capable of automatically sailing, which comprises a ship body, pontoons on the two sides, a communication unit, a navigation and positioning unit, a measuring unit, a power and driving unit, a ship body gesture measuring unit, an industrial personal computer, and a battery providing a working power supply for the other parts. According to the invention, the advancement, backing and turning of the unmanned ship can be realized through controlling the turning and speed difference of the power equipment mounted on the two sides of the ship body; the unmanned ship can complete planned sailing lines to perform measuring tasks such as underwater terrain plotting, flow velocity and flow rate measurement, and close-range photogrammetry; the automatic voyage of the unmanned ship at the rudderless state can be realized; the flexibility of the unmanned ship is improved; and the measuring working efficiency is greatly improved and the cost is reduced.

The invention discloses an automatic packaging box stacking machine capable of achieving selective stacking, and belongs to the technical field of stacking. The machine comprises an arranging and steering mechanism, a grouping pushing mechanism, a door type stacking mechanism and a matched tray storage supply mechanism which are sequentially arranged on a rack in the packaging box conveying direction. The arranging and steering mechanism comprises a feeding conveying device and a steering device arranged on one side of the feeding conveying device; the machine is characterized in that the steering device comprises a pre-steering baffle and a strengthening check block which are arranged at an interval in the feeding conveying direction, the pre-steering baffle is hinged to a pre-steering air cylinder on the rack through a bending rod and is hinged to the rack to form a swing stretching-out blocking and reset releasing structure, the strengthening check block is connected with a strengthening air cylinder on the rack, and forms a strengthening and resetting releasing structure by means of guidance of a sliding rail and sliding block pair perpendicular to the feeding conveying direction, a packaging box, required to be subject to steering, in the conveying process is subject to rotating and pre-steering operation around the blocked angle by means of blocking of the pre-steering baffle, and pressing strengthening of the blockage angle can be achieved by means of the strengthening check block.

The invention discloses a polymorphic spherical hopping robot which belongs to the field of robots. The polymorphic spherical hopping robot is characterized by comprising two parts, namely a mechanical body and a control system, wherein the mechanical body comprises two cylinder fixed frames and a movable frame, an inner side plate of the movable frame drives the whole movable frame to move to the center or two ends under the driving of a screw rod so as to control the unfolding and closing of hemispherical shells on two sides, when being unfolded, the spherical shells can be used for supporting the whole robot to run in a two-wheeled state, and when being completely closed, the spherical shells are in a spherical state and can be used for completely wrapping an internal mechanism of the robot; the control system comprises two parts, namely an upper computer and a lower computer, wherein the upper computer is used for realizing the motion and bounce control of the robot and a state display function, and the lower computer comprises a master control module, a spherical shell control module, a motion control module, a bounce control module, a data acquisition module, a gesture detection module and a data transmission module. The polymorphic spherical hopping robot has the advantages of simple structure, multiple motion states, strong adaptability, good controllability and the like.

The invention discloses an automatic cleaning machine for high-rise buildings. The automatic cleaning machine for the high-rise buildings comprises a box body structure (1), a drive device (2), a cleaning working device (4) and an absorption device (3), and is characterized in that the absorption device (3) comprises a sucking disc structure and an air-extracting device; the cleaning working device (4) is placed inside the sucking disc structure; and a remote control system is placed. The automatic cleaning machine for the high-rise buildings can clean outer walls of buildings instead of manual work, needs few safeguard measures, does not have construction danger and is not limited by time.

The invention belongs to the field of plant protection machinery and discloses a full-hydraulic multifunctional integrated machine for applying pesticide and fertilizer to farmland. The full-hydraulic multifunctional integrated machine for applying pesticide and fertilizer to farmland consists of a driving cab, an electric sliding block, an engine hydraulic power unit, a frame, a steering mechanism, a driving mechanism, a pitch-variable oil cylinder, a ground clearance regulating oil cylinder, a pesticide spraying and fertilizer applying system and a lifting system. The full-hydraulic multifunctional integrated machine is driven by hydraulic pressure; the whole machine is simplified in structure; the driving mechanism is high in reliability and stability; treading tracks of the front and rear tires are superposed, so that damage of the tires during operation and steering to crops is reduced; in addition, lightness, flexibility and accuracy in steering are realized. Meanwhile, the working efficiency of the full-hydraulic multifunctional integrated machine is high; the heights of the chassis, driving cab and pesticide spraying rod as well as the wheel track can be adjusted; the full-hydraulic multifunctional integrated machine is suitable for operation managements of field pesticide and fertilizer application under the national conditions of diversified plots of China.

The invention discloses an electric hydraulic power-assisted steering system. In the system, a hydraulic pump pumps oil in an oil storage tank and outputs pressure oil to the pressure oil duct of the steering system; a pressure retaining valve comprises a pressure retaining valve core and a pressure retaining valve housing which are coaxial with the input shaft of a steering wheel and are nested with each other; the oil inlet of the pressure retaining valve is communicated with the pressure oil duct of the system; the oil return port of the pressure retaining valve is communicated with the oil storage tank; chambers on the two sides of the piston of a double-action power-assisted cylinder are respectively communicated with the two control oil ports of the pressure retaining valve; the piston of the double-action power-assisted cylinder is connected with the input shaft of the steering wheel through a transmission mechanism; the oil port of an energy accumulator is communicated with the pressure oil duct of the system; a detector is used for acquiring steering parameter signals and outputting the steering parameter signals to a control device; and the control device receives the steering parameter signals acquired by the detector, and determines whether to output a control signal to the electric drive device of a hydraulic pump according to the preset conditions. The invention also provides an automobile utilizing the electric hydraulic power-assisted steering system and a control method thereof.

The self walking scooter with foldable frame includes front fork, front wheel, connected body pivoted with the vertical shaft, front sliding board on the frame and back sliding board, back wheel under the back sliding board and with mono way overrunning clutch, and stretching spring set under the front and the back sliding boards and making the back sliding board maintain contraction trend. The present invention features the frame comprising mainly two stretching slideways; the front sliding board fixed to the outside of the inner channel section bar; and the back sliding board fixed to the outside of the outer channel section bar. The present invention has the advantages of short body, and easy carrying about and storing.

The invention discloses a four-wheel-driven bowed tractor transport vehicle, which comprises a frame and a rear axle assembly. The frame is provided with an engine, a clutch, a hydraulic steering gear and a front axle assembly, wherein the front axle assembly comprises a front axle box connected with a main gearbox, and the main gearbox is connected with a transfer gearbox which is provided with a power output shaft of the transfer gearbox; and the rear axle assembly comprises a car hopper and a rear axel half shaft which is provided with a rear axle transaxle in drive connection with the power output shaft of the transfer gearbox by a universal drive shaft. The transport vehicle makes the car hopper acquire drive capability, solves the problems of poor climbing ability and slippage tires when loaded, greatly improves the loading capability of the transport vehicle, reduces energy consumption, prevents the tires from being worn untimely, prolongs service life, and is especially applicable for severe environments, such as mountain areas, slopes and depressions, forestry, pastures, roadless areas, and so on.

The invention discloses an all-dimensional steering obstacle crossing vehicle based on a hub motor. The all-dimensional steering obstacle crossing vehicle comprises a central control system, a storage battery pack, an operating table, a hydraulic system and wheels, wherein the storage battery pack is fixed to a vehicle body, and the wheels are arranged on the left front portion, the right front portion, the left rear portion and the right rear portion of the vehicle body respectively. The all-dimensional steering obstacle crossing vehicle is characterized in that the wheels and the vehicle body are connected through a steering lifting mechanism, and crawler wheel mechanisms are arranged on the left side and the right side of the bottom of the vehicle body respectively. The all-dimensional steering obstacle crossing vehicle can realize on-site steering, transverse traveling and wheel lifting obstacle crossing, flexibility, maneuverability and obstacle crossing performance of the all-dimensional steering obstacle crossing vehicle are high, and stability, power performance and the terrain adaptive capacity of the all-dimensional steering obstacle crossing vehicle are high.

The invention discloses a pulse jet type underwater robot based on a tubular origami structure, which is composed of a pulse jet mechanism and two steering propulsion mechanisms, wherein the pulse jetmechanism realizes the repetitive process of water storage-water spray-water storage-water spray by impulse jet propulsion. The structure of the two steering propulsion mechanisms is the same, the first steering propulsion mechanism realizes turning to the right and the second steering propulsion mechanism realizes turning to the left; the pulse jet mechanism realizes the functions of water storage and water spraying through the axial expansion and contraction of the tubular origami structure; the tubular origami structure is driven by the rack and pinion mechanism to realize the axial expansion and contraction of the tubular origami structure, the steering propulsion mechanism is driven by the streamlined semi-circular fish fin structure to perform the reciprocating swing to achieve thesteering propulsion function, and the fish fin structure is driven by the swing guide rod mechanism to achieve the reciprocating swing. The invention is a novel underwater robot and has the advantagesof simple structure, fast propulsion speed, flexible steering and the like.

The invention relates to a hexapod robot driven by parallel connecting rods. The hexapod robot mainly consists of a robot body and six groups of pedipulators, wherein the robot body adopts an octahedron-like structure; the structures of the six groups of pedipulators are completely the same; the six groups of pedipulators are mounted on six surfaces of the robot body in a shaft symmetry manner; the movement of each steering engine is adjusted, and through the swinging of thighs and the rotating of a waist structure are driven by the parallel connecting rods, and the dancing of shanks is driven by serial connecting rods, so that multiple legged gaits of the hexapod robot are realized. The hexapod robot disclosed by the invention adopts long leg mechanisms, operating ranges of the legs of the robot are enlarged, operating speed is also greatly increased, four gait manners are adopted as the operating manner, and operating capacity of the robot in an unstructured environment is improved.

The invention discloses a parallel stream heat exchanger integrated with a microchannel and an outer fin, comprising a left collector tube, a right collector tube, an upper cover board, a lower coverboard, a cooling fin set, an air inlet pipe and a liquid outlet pipe; the cooling fin is integrated with a fin and aluminium profile, a microchannel is arranged on the aluminium profile, and the diameter or edge distance of the microchannel is 0.5-3mm; the microchannel of the cooling fin is communicated with the left collector tube and the right collector tube, distance pieces which are arrayed ina staggering way are arranged in the middle of the left and right collector tubes at interval, the left and right collector tubes are divided into a plurality of areas, the air inlet pipe and the liquid outlet pipe and the left and right collector tubes are connected by welding, and the upper cover board and the lower cover board are respectively connected with the left and right collector tubes;by utilizing the microchannel technology, integral outer fin technology and collector tube technology, the invention effectively solves the problem of thermal contact resistance of sheets and the fins; the structure is compact, heat exchanging efficiency is high, the volume is small, the quality is light, the processing is simple, and the heat exchanger adopts all aluminium composite material, thereby greatly reducing the cost.

The invention discloses a hub-motor-based all-directional steering system for a pipe gallery inspection trolley, comprising a frame, wheels, a hub motor, a central control system, a linear guide, an all-directional steering engine, a four-wheel steering engine, an electrical lock and a steering lock. The system uses three steering modes, namely a four-wheel steering mode, a zero-radius steering mode and a traversing mode; the corresponding steering mode may be selected according to actual driving conditions in a pipe gallery. The hub-motor-based multi-mode steering overcomes the defects that,for instance, an existing inspection trolley has difficulty in steering at a right-angle corner and stability during differential steering is poor; flexible steering of the inspection trolley in a narrow pipe gallery and no-blind-zone detection are achieved; the combination of a dual-crank slider mechanism and a rocker-slider mechanism allows four-wheel linked steering, so that fewer steering motors are required; by using the mechanical structure in the system, a control algorithm is simplified, steering reliability is improved, and pipe gallery detection safety is improved accordingly.

The invention discloses an all-wheel drive walking mechanism of a biomimetic six-wheeled leg and aims to solve the problem that a plurality of sensors and complex control logic are adopted by the prior art. The all-wheel drive walking mechanism of the biomimetic six-wheeled leg comprises a front automobile frame, a back automobile frame, a middle freedom degree junction device, wheel legs and driving combination bodies. The wheel legs are a front left wheel leg, a middle left wheel leg, a back left wheel leg, a back right wheel leg, a middle right wheel leg and a front right wheel leg, and the driving combination bodies are a front left driving combination body, a middle left driving combination body, a back left driving combination body, a back right driving combination body, a middle right driving combination body and a front right driving combination body. The middle freedom degree junction device is installed on the middle position of a front base plate of the back automobile frame, the back end of the front automobile frame is connected with the front end of the back automobile frame in a rotating mode, and the front left driving combination body and the front right driving combination body are installed on the left position and the right position in front of the front automobile frame and are connected with the two front wheel legs, and the middle left driving combination body, the back left driving combination body, the back right driving combination body and the middle right driving combination body are installed on four corners of the back automobile frame and are connected with the other wheel legs.

The invention discloses a control method for a movable type four-wheel all-dimensional steering robot chassis. The robot chassis comprises a vehicle frame, wheel groups and a programmable logic controller (PLC) control system, four bearing holes are symmetrically formed in the vehicle frame and are used for installation of the wheel groups, and each wheel group comprises a reduction box, a steering shaft, a servo motor, a coupling, a vibration damper and a hub motor; the servo motor is mounted on a box body, is connected with a worm through the coupling and is used for driving the worm to rotate, and finally the rotating angle of the steering shaft is controlled, the hub motor is arranged below the steering shaft, and the vibration damper is arranged between the hub motor and the steering shaft; and the PLC control system comprises a PLC, a servo driver and an analog quantity input and output module. According to the control method for the movable type four-wheel all-dimensional steering robot chassis, deflection angles of the four wheels are controlled through the PLC, steering of the wheels is achieved, moreover each wheel is controlled by the PLC independently, the wheels move mutually and coordinately according to a mathematical model of a movement track, and established track movement is achieved.

The invention discloses a four-foot bionic walking robot which includes a driving motor, a center shaft, a gearbox, a first inner crank, a first inner swing rod, a space connecting rod, a cam, a leg lifting lever, a steel wire pull cable, an arm body connecting piece, leg parts, a steering mechanism, a first gear, a second gear, a third gear, a fourth gear, a first sliding groove, a first slidingblock, a first roller, a second roller, a first curve sliding groove, a second curve sliding groove, a second sliding groove, a first ball pair, a cross joint, an arm inner sliding rail, arms, a thirdroller, a shoulder sliding groove, thighs, shanks, a fourth roller, a second inner crank, a second sliding block, a third sliding groove, a second inner swing rod, a fourth sliding groove, a second ball pair and a connecting rod. The first gear is a complete gear, the second gear is a 180-degree sector gear, the third gear is a 180-degree sector gear, and the fourth gear is a 180-degree sector gear. The four-foot bionic walking robot has the advantages of being flexible and natural in steering, high in load capacity and low in manufacturing cost and the like, and is suitable for being popularized widely.

The invention provides a method and a device for calcining materials. The device has a splitting type structure comprises a burning chamber, preheating chambers, a calcining chamber, cooling chambers, a heat accumulator, a gas processing unit, a material conveying machine, a feed device, a discharge device and an exhaust gas discharging system. Material to be calcined is conveyed by the material conveying machine between the preheating chambers, between the preheating chambers and the calcining chamber, between the calcining chamber and the cooling chamber and between the cooling chambers. Smoke generated by the burning in the external burning chamber is processed by the gas processing unit, and then enters the burning chamber for calcining the material. Air for cooling lime and preheating limestone material is subject to dust removing by a cyclone separator and is preheated by the heat accumulator, and then enters the burning chamber for supporting combustion. In the invention, the fuel burning and the material calcining are separated, so that the pollution of lime products caused by harmful substances can be avoided, and the quality of the lime product can be improved. The gas is subject to dust removing and then enters the heat accumulator, thus avoiding blocking a gas channel in the heat accumulator. The material conveying machine is used for conveying the material, so that the conveying efficiency is high, and the occupied space is small.

The invention discloses a series-parallel walking robot construction method and a series-parallel walking robot and belongs to the field of walking robots. The series-parallel walking robot comprises a leg mechanism A and a leg mechanism B, one leg mechanism is a series-parallel leg mechanism, and the other leg mechanism is a series-parallel leg mechanism or a foot parallel mechanism. The series-parallel leg mechanism is formed by connecting a thigh mechanism with a foot parallel mechanism in series. The two leg mechanisms have a specific combination of degree of freedom, the upper portions of the two leg mechanisms are fixedly connected together, all components of the two leg mechanisms contain and cross one another and each have an own independent moving space. Toes of the two leg mechanisms are triangular, and the projections of the toes on the horizontal plane are overlapped. When the robot goes forwards, steady walking in any direction can be conducted without adjusting the center of gravity leftwards and rightwards. The number of kinematic pairs of the robot is small, and the height of a robot body is small. The series-parallel walking robot has the advantages of being high in bearing capacity, flexible in steering, high in obstacle crossing ability and uphill and downhill ability, and the like, and can be applied to the service field, the industrial field, the agricultural field, the military field, the spaceflight field and other fields.

The invention discloses a four-wheel-drive bow-type steering multipurpose tractor which comprises a rear frame and a front frame, wherein the rear frame is provided with a diesel engine, a gear box, a transfer box, a braking hub, a power output reduction box, a rear axle and travelling wheels; the front frame is provided with a turning device, a front axle and travelling wheels; a driving belt wheel of the diesel engine is connected with a driven belt wheel of the gear box; an output shaft of the gear box is connected with an input shaft of the transfer box; the two ends of an output shaft of the transfer box are connected with differential mechanisms; the braking hub is mounted at a middle shaft of the transfer box; the driven belt wheel is internally provided with a clutch, and connected with a transmission shaft I; the other end of the transmission shaft I is connected with the power output reduction box; one end of a rear power output shaft achieves rear power output; a driving chain wheel is mounted at the other end of the rear power output shaft, and connected with a driven chain wheel at one end of a transmission shaft II; a small driving chain wheel at the other end of the transmission shaft II is connected with a small driven chain wheel on a transmission shaft III of the turning device; and a front power output shaft of the turning device is connected with matching machines and tools to achieve front power output. The four-wheel-drive bow-type steering multipurpose tractor is provided with multiple power output ports, and is flexible in steering and wide in application scope.

The invention relates to the field of display screen supporting frames, in particular to a novel telescopic spring supporting frame. The novel telescopic spring supporting frame comprises a base, an extension arm, a lifting supporting arm and a display screen hanging tool. The base is provided with the extension arm. An extension arm connecting joint is arranged at the top end of the extension arm and provided with the lifting supporting arm. A swinging head is arranged at the head end of the lifting supporting arm. The display screen hanging tool is arranged at the top end of the swinging head. The extension arm, the lifting supporting arm and the display screen hanging tool are upwards arranged in an oblique angle manner (the display screen hanging tool can be adjusted in a pitching manner), the lifting supporting arm conducts universal rotation with the extension arm connecting joint as the axis, and the lifting supporting arm conducts universal rotation with the swinging head as the axis.

The invention discloses a squid-mantle-like pulse type water-spraying propulsion device in the field of ships, comprising a driving shaft connected with a ship body, wherein a driving gear is fixed on the driving shaft; a driven gear meshed with the driving gear is fixedly sleeved in the middle of a piston cylinder; the lower end of the piston cylinder is vertically communicated with the middle of a water-spraying tank; the piston cylinder is internally provided with rotating bearings as well as a piston rod and a piston which are coaxial; a flange is arranged on the inner wall of the piston; the upper end of the piston rod extends out of the piston cylinder; a shaft shoulder is arranged at the lower end of the piston rod; the rotating bearings are arranged on the flange in the piston and are fixed on the shaft shoulder of the piston rod; a water-absorbing one-way valve is arranged at one end of a water-spraying tank; a water-spraying one-way valve is arranged at the other end of the water-spraying tank; a flange cover fixedly connected with the ship body and a bearing bush jacket fixedly connected with the flange cover are sleeved at the upper end of the piston cylinder; and two thrust bearings are arranged between the inner wall of the bearing jacket and the outer wall of the piston cylinder. The invention has the advantages of favorable reliability, flexible steering, any steering in a range of 360 degrees and simultaneous finishing of water absorbing and spraying actions.

The invention provides an extensible robot for climbing an inner wall of a pipeline. The extensible robot comprises a middle connection mechanism, four extensible arms and two extensible mechanisms. Each extensible arm comprises a friction pad, an arm extensible motor, an arm extensible motor holder, an arm extensible pipe connection frame, an arm extensible lead screw, two outer arm extensible pipes and two inner arm extensible pipes. Each extensible mechanism is composed of an arm connection frame, an extensible motor, an extensible motor holder, an extensible pipe connection frame, an extensible lead screw, two outer extensible pipes and two inner extensible pipes. The middle connection mechanism comprises a center rotary frame I, a center rotary frame II, a steering motor I, a steering motor II and a center joint cross. The middle connection mechanism is fixedly connected with the extensible motor holders of the two extensible mechanisms through the center rotary frame I and the center rotary frame II. The arm connection frame of each extensible mechanism is fixedly connected with the arm extensible motor holder of the corresponding extensible arm. Each arm extensible motor holder is symmetrically provided with two extensible arms. The fixed position and the spatial two-freedom-degree rotation of the robot in the pipeline can be achieved.