352results about How to "Walk fast" patented technology

The invention provides a lead obstacle-crossing robot walking device, which adopts a dual-arm and three-joint wheeled structure; the two arms alternately hold the line to avoid the obstacle when crossing the obstacle, the device adopts wheels to ensure the running speed during the walking process and comprises a front walking wheel 1, a rear walking wheel 2, a front compacting wheel 3, a rear compacting wheel 4, a front walking wheel arm 5, a rear walking wheel arm 6, a front compacting wheel arm 7, a rear compacting wheel arm 8, four front motors 9, four rear motors 10, a front joint arm 11,a rear joint arm 12 and a body 13. The robot walking device can cross typical lead obstacles such as an anti-vibration hammer, a compression pipe, a spacing rod, a suspension clamp and the like, and can be used as high-voltage transmission line inspection robot walking device or lead deicing robot walking device. The platform has the advantages of simple mechanism, simple control type, low controlprecision requirement, fast walking and obstacle-crossing speed and the like.

Disclosed are an apparatus for an interspinous fixation and / or distraction of vertebrae and a methodology for minimally invasive implantation of the apparatus in the spine of a patient. The apparatus corresponds to a pair of teardrop shaped lateral wing elements spaced apart by a central core element that may be selectively sized during the implantation process. The wings and central core are held together by a single threaded bolt and locking nut configuration resulting in a simple structure that may be easily implanted with minimal patient discomfort.

The invention relates to a mobile robot, in particular to a double-arm four-wheel polling robot mechanism comprising a box body, a front arm mechanism and a rear arm mechanism, wherein the front arm mechanism and the rear arm mechanism are of the same structure and are respectively installed on the box body; each arm mechanism comprises travelling mechanisms, turnover mechanisms, an elevating gear, a clamping mechanism and a supporting arm, wherein one end of the supporting arm is connected with the box body, and the other end of the supporting arm is hinged with the elevating gear the two ends of which are respectively provided with the front turnover mechanism and the rear turnover mechanism; the front travelling mechanism and the rear travelling mechanism which can be turned over to the vertical state from the horizontal state are respectively connected to the output end of the front turnover mechanism and the output end of the rear turnover mechanism; the front travelling mechanism, the rear travelling mechanism, the front turnover mechanism and the rear turnover mechanism are linked with the elevating gear; and the clamping mechanism which is installed on the supporting arm and can clamp earth wires by moving up and down is arranged just below the front travelling mechanism and the rear travelling mechanism. The robot mechanism provided by the invention has the advantages of good safety protection performance, strong crawling and obstacle-detouring capability, large working space, wide application range and the like.

The invention provides a wheel-foot conversion type mobile robot system, relating to mobile robots. The wheel-foot conversion type mobile robot system is used for solving the problems that the obstacle avoidance ability of the existing wheeled robots is poor and the walking speed of the existing footed robots is low. According to the wheel-foot conversion type mobile robot system, one end of each central axle is fixedly connected and is axially locked through a corresponding first limiting block, a shoulder is arranged at the other end of each central axle, a spring sleeves each central axle and is located between a corresponding bearing and the corresponding shoulder, a central blind hole is formed in the other end of each central axle, and a first key groove is formed in each central blind hole; semi-annular grooves are formed in fixed half wheels along the circumferential direction, movable half wheels and the fixed half wheels are in turning connection relatively to the central axles, complete wheels are formed by the fixed half wheels and the movable half wheels during the conversion to a wheeled state, the movable half wheels are turned into the semi-annular grooves of the fixed half wheels during the conversion to a footed state, and single scrolls are mounted on the central axles. The wheel-foot conversion type mobile robot system belongs to the field of the mobile robots.

The invention provides a method and system for controlling motion of a robot. The method comprises a step S20 of judging whether a current position of the robot is on a planned route according to input map information, the planned route and real-time position information, and calculating target position information of the robot on the planned route; a step S30 of making the robot be towards a target position according to the real-time position information and the target position information if the current position of the robot is not on the planned route, or else directly skipping to a step S40; and the step S40 of calculating linear velocity, angular velocity and real-time direction of the robot according to the real-time position information and the target position information and then controlling the robot move. According to the method, a point on the planned route, which is the nearest to the robot, can be calculated to serve as the target position, the robot is towards the target position, so that not only can the robot return to the planned route in the shortest time, but also the robot can walk quickly and precisely according to any planned route.

The invention belongs to the field of bionic robots and relates to a bionic quadruped robot with energy storage effect. The rigid spine of the existing bionic quadruped robot is modified. The bionic quadruped robot comprises a front trunk, a rear trunk, a spine, a left front leg unit, a right front leg unit, a left rear leg unit and a right rear leg unit. The front trunk and the rear trunk are connected with front and rear ends of the spine, respectively. The spine can drive the front trunk to rotate relative to the rear trunk. The left front leg unit, the right front leg unit, the left rear leg unit and the right rear left leg unit have same structures and are connected to left and right sides of the front and rear trunks, respectively. The spine is added between the front and rear trunks; the whole shape is more approximate to a true quadruped animal; when the robot walks, the front and rear trunks allow a larger step through the spine pitching up or down, and the robot can walk faster; less energy is lost when the robot touches the ground, motion stability is improved, and utilization rate of energy is increased.

The invention relates to a robot capable of synchronously climbing stairs. The robot comprises a tray component, a first walking component, a second walking component and a rotation driving device, wherein the tray component comprises a first support member, a second support member and a third support member, of which the mutual distance and height can be adjusted according to stair steps, the first walking component and the second walking component are respectively connected to the lower ends of the first and third support members and are the same in structure, each walking component comprises an axle, a left wheel member and a right wheel member which are located at the two ends of the axle, the two wheel members are symmetric and identical in structure, shape curves of each wheel rim consist of end-to-end-connected Archimedean spirals and arcs, then, the distance from the wheel rims to the axes of the axles is changed along with rotation, and the rotation driving device is mounted at the lower end of the second support member, is in transmission connection with the first walking component and the second walking component respectively and drives the first walking component and the second walking component. The robot can bear a heavy load, keep horizontal, stably and automatically climb the stairs and walk on flat ground.

The invention relates to an intelligent pantograph device for trolley bus and a using method thereof, which relate to the field of intelligent control of pantograph of a trolley bus and solve the problem that the conventional trolley bus can only realize overtaking on a single side and the problem that the automatic connection cannot be realized between the pantograph and a contact wire in an overtaking process. In the invention, when the pantograph is lifted, a contact wire tracing program based on the processing of image captured by an infrared camera on a pantograph assembly is adopted to regulate the angle of the pantograph, a movable cable clamp is used to compensate for an error, and thus, the pantograph is connected to the contact wire automatically; during overtaking, a rear vehicle informs a front vehicle of lowering the pantograph through a communication unit and determines if to allow the pantograph of the front vehicle to return, the contact wire tracking program is used to lower the pantograph of the front vehicle if the pantograph of the front vehicle does not return, and the head of the pantograph is allowed to return to the edge above the vehicle body; and when the pantograph is lowered, the pantograph can fall and return automatically. The device can realize the automation of the power connection and disconnection of the trolley bus and the automation of overtaking, and greatly improve the operation efficiency and flexibility of the trolley bus. Thus, the device has certain practical value.

The invention discloses a construction method of a shallow-buried subsurface-excavated cross-shaped cross-strut tunnel. The method includes the following steps of conducting construction preparation, conducting measurement and pay-off on a tunnel advanced support and the tunnel contour line according to construction design requirements, conducting advanced geological forecasting through the geophysical prospecting advanced geological forecasting and drilling advanced geological forecasting combined mode, conducting advanced pipe shed grouting and advanced curtain grouting, checking the grouting effect, entering the next procedure if the grouting effect meets the construction requirement, conducting advanced pipe shed and advanced curtain grouting again if the grouting effect does not meet the construction requirement, conducting excavation support construction on construction areas on by one from top to bottom and from left to right, conducting primary support and temporary support sealing and conducting monitoring and measuring after the primary tunnel transverse end face construction is completed, repeatedly executing the steps for the next circulation of construction if the design requirement is met, conducting support strengthening if the design requirement is not met, and regulating excavation parameters to conduct excavation support construction again till the design requirement is met.

The invention relates to a piezoelectric actuator, in particular to an inner driving type passive clamping piezoelectric actuator. The problems that according to an existing inner driving type clamping piezoelectric actuator, self locking cannot be achieved during outage, a driver is slow in running speed, and requirements for machining accuracy of a clamping body and a guiding track are high are solved. The inner driving type passive clamping piezoelectric actuator comprises a guiding track, driving bodies, a driving piezoelectric stack, two clamping piezoelectric stacks and two clamping bodies. Each clamping body comprises a piezoelectric stack pre-tightening piece, two clamping triangle amplified flexible hinges, two clamping piezoelectric stack supporting bodies and two clamping heads. Each driving body comprises two driving triangle amplified flexible hinges, two driving piezoelectric stack supporting bodies and two driving piezoelectric stack pre-tightening pieces. The driving bodies connected with the clamping bodies are arranged between the two clamping bodies. The driving bodies and the clamping bodies are placed in grooves of two arms of the guiding track. The piezoelectric actuator is used in a micro-driving process.

The invention provides a soil steam sterilization machine which is small in size, low in energy consumption, flexible in action, efficient in work and capable of sterilizing soil used for facility horticulture. The machine comprises a steam generating device and at least one steam disc, wherein the steam generating device and the steam discs are connected to a frame of a crawler, and the steam discs are located in front of the frame and connected to the frame in the mode that the steam discs can move vertically and horizontally relative to the frame. Each steam disc comprises a hollow steam disc body and an injector connected to the lower portion of the steam disc body and communicated with the steam disc body. A steam outlet of the steam generating device is communicated with each steam disc body.

The invention provides a travelling mechanism of an inspection robot for realizing obstacle crossing, and relates to a robot. The travelling mechanism of the inspection robot for realizing obstacle crossing can enable the inspection robot to stably, quickly and fully-automatically cross an obstacle on an overhead line when the inspection robot walks on a cable. The travelling mechanism is provided with a lifting cabin, a lifting arm, a gearwheel, upper and lower direct-current reducing motors, upper and lower belts, travelling wheel arms, a pressure spring, a U-shaped bracket and upper and lower travelling wheels, wherein a detection device and a U-shaped bracket rotation servo system are arranged in the lifting cabin; the U-shaped bracket rotation servo system is connected with the gearwheel in the middle of the lifting arm through the lifting arm; the gearwheel is driven to rotate so as to realize plus or minus 90-degree rotation of the U-shaped bracket; the U-shaped bracket is connected with the walking wheel arms through the pressure spring; a hinge spring pressing mechanism is arranged on the travelling wheel arm; the upper direct-current reducing motor is connected with the upper travelling wheel through the upper belt; the lower direct-current reducing motor is connected with the lower travelling wheel through the lower belt; and the upper travelling wheel and the lower travelling wheel are respectively arranged at the upper part and the lower part of the cable and are tightly pressed on the cable.

The invention discloses a two-leg robot leg mechanism based on driving of artificial muscles. The two-leg robot leg mechanism comprises a single-shaft hip joint, thigh rods, a pneumatic artificial muscle driving mechanism, bionic knee joints, crus rods, ankle joint transmission mechanisms and artificial flexible feet, wherein the single-shaft hip joint is connected with the thigh rods, the thigh rods are connected with the bionic knee joints, the bionic knee joints, the crus rods, the ankle joint transmission mechanisms and the artificial flexible feet are sequentially connected, the pneumatic artificial muscle driving mechanism comprises a transverse rod, the transverse rod is perpendicularly fixed in the thigh rods, two pneumatic artificial muscles are arranged in parallel, one ends of the two pneumatic artificial muscles are fixedly connected with the transverse rod, the other ends of the two pneumatic artificial muscles are connected to each other through a chain, the chain is connected with a driving shaft of the bionic knee joints through a chain wheel, and driving is achieved through opposite pulling of the pair of pneumatic muscles. The two-leg robot leg mechanism has the advantages of being natural in walking gait, high in adaptability to road conditions, small in motion impact, high in walking speed, small in energy consumption, capable of achieving flexible motion of joints, simple in structure and delicate in design.

The invention provides a brake circuit of a hydraulic motor and relates to a brake control oil circuit of a hydraulic motor. The aim of the invention is that the hydraulic oil circuit enters a cut-offstate when stopping work, so the hydraulic motor does not drive the oil circuit to operate even though sliding down a slope, the hydraulic elements such as a pump and the like are not damaged due toreverse operation of the hydraulic motor, and simultaneously the hydraulic motor is also applied with a reverse operation resistance. The brake circuit comprises a brake oil circuit and a control circuit which is formed by a three-position three-way hydraulic control reversing valve, a one-way valve(1), a one-way valve(2), a one-way valve(7) and a one-way valve(8) and has the combined functions ofreversing and locking the oil circuit. The brake circuit has the advantages that: firstly, that power oil can reliably drive the hydraulic motor to operate is ensured; secondly, the control circuit having the combined functions of reversing and locking the oil circuit is arranged in the circuit, the automatic locking of the circuits is realized, and the pump, thehydraulic elements and the like are protected when the machine is shut down; and finally, the brake circuit ensures a crawling crane moves down along the slope at a constant speed, prevents the crawling crane from running at an accelerated speed under the action of gravity and avoids control failure.

The invention discloses a propelled hydraulic cable carrying crane which comprises a power system, a control system and a mechanical executing mechanism, wherein the mechanical executing mechanism mainly comprises a main truss (100), walking type propelling systems (210 and 220) installed at both ends of the main truss, two sets of hydraulic lifting systems (310 and 320) installed on the main truss and a shoulder pole beam (400); the main truss and the shoulder pole beam both adopt length changeable structures; and the hydraulic lifting systems (310 and 320) comprise synchronous stepping continuous lifting jacks and continuous lifting steel strands (510 and 520). The whole crane realizes walking type propelling on a cable by controlling actions of a walking frame and a sliding end beam so as to alternately bear and alternately walk without additional traction equipment and manual disassembly, assembly and conveying of accessories at high altitude, such as clamping cables, hoops, and the like, and the invention has the advantages of high walking speed, high sliding resistance and high safety.

The invention discloses a biped robot gait stability control method based on an inertial navigation system, and belongs to the technical field of robot control. A biped robot is a hydraulic biped robot and comprises a body, thighs and shanks. The body and the thighs are controlled by hydraulic cylinders, and the thighs and the shanks are controlled by hydraulic cylinders. Motion of joints and legsis controlled through the elongation of hydraulic cylinder shafts. The inertial navigation system is arranged in the body of the robot and is horizontally placed on the waist of the body of the robotand used for collecting posture data of the robot, the posture of the robot is adjusted through data fed back by the inertial navigation system so as to keep the upper body of the body upright, gaitstability of the robot is ensured, and the robot is prevented from toppling over. The biped robot gait stability control method is based on a position control strategy of body posture information, andthe body posture information comprises the pitching angle, the roll angle and the course angle. The method is used for avoiding defects in the prior art so as to provide a simplified control processand improve the walking speed.

The invention relates to a four-feet walker which mainly comprises a rack and four mechanical legs connected on four corners of the rack with same structure, wherein each mechanical leg mainly comprises a rectangular annular piece, a first driving branch chain, a second driving branch chain, a third driving branch chain and a semispherical elastic toe; and the first driving branch chain mainly consists of a first motor, a ball screw, a nut, a sleeve, a strip plate, a sliding block, a guide rail and upper and lower sleeve connecting pieces. The second driving branch chain has a structure the same as that of the first driving branch chain, the upper sleeve connecting pieces of the first driving branch chain and the second driving branch chain are respectively arranged in the rectangular annular piece by a first revolute pair and a second revolute pair, the rectangular annular piece is arranged on the rack by a third revolute pair, and the front ends of the strip plates of the first driving branch chain and the second driving branch chain are connected by a fourth revolute pair. The third driving branch chain mainly comprises a second motor, a crank and a connecting rod. The four-feet walker is flexible in operation, quick in walking speed, large in movement space, strong in bearing capability and small in movement inertia.

The invention relates to a moving robot, in particular to a moving obstacle-crossing mechanism of an inspection robot, comprising a front moving mechanism, a front deflection mechanism, a bracket, a lifting mechanism, a rear deflection mechanism and a rear moving mechanism, wherein, the bracket is connected with the inspection robot, the lifting mechanism is hinged with the bracket, the front deflection mechanism and the rear deflection mechanism are symmetrically installed on the lifting mechanism, and the front moving mechanism and the rear moving mechanism are respectively installed on the front deflection mechanism and the rear deflection mechanism to be linked with the front deflection mechanism and the rear deflection mechanism. The advantages of the invention are as follows: the moving mechanism adopted by the invention has functions of both moving and gripping, which facilitates moving, climbing and obstacle-crossing; the adaptability to the road is good, the safety protection is good, and the invention is suitable for needs of field operation and moving on / down the line.

The invention discloses a modularized 3D building printer which includes spliced and lengthened double-layer walking mechanisms (1-6) positioned on two sides of the bottom and spliced and elevated vertical lifting mechanisms (1-3); three spliced and elevated vertical lifting mechanisms (1-3) are arranged on each side of each spliced and lengthened double-layer walking mechanism (1-6); six spliced and elevated vertical lifting mechanisms (1-3) form three groups, and a modularized longitudinal feed mechanism (1-4) is mounted on each group of the spliced and elevated vertical lifting mechanisms (1-3); a material delivery nozzle (1-1), a component-installation manipulator (1-7) and a material filling device (1-5) are mounted on the three modularized longitudinal feed mechanisms (1-4). The modularized 3D building printer can, based on different sizes of real buildings, be spliced reasonably to meet needs, and has the advantages of high efficiency, more free and convenient printing and automatically installed components.

The invention relates to an inspection robot and in particular relates to a double-wheel-arm locking type inspection robot mechanism which is capable of walking in a high pressure / ultrahigh pressure transmission line and is used for automatically inspecting and detecting transmission line facilities. The double-wheel-arm locking type inspection robot mechanism comprises front and back wheel arms which are mounted on a guide rail base and are of a same structure, wherein each wheel arm is composed of a walking obstacle-detouring mechanism, a lifting mechanism and a rotating mechanism; the walking obstacle-detouring mechanisms are located at the tops of the lifting mechanisms; the top ends of the rotating mechanisms are connected to the lower ends of the lifting mechanisms; the lower ends of the rotating mechanisms are fixedly connected to the guide rail base; a mass center adjusting mechanism is mounted on the guide rail base; a space, which is enclosed by the walking obstacle-detouring mechanisms, is used for enclosing a lead, thereby achieving a safe protective function; and at the obstacle-detouring moment, the walking obstacle-detouring mechanisms are lifted by the lifting mechanisms, the connecting rods of the walking obstacle-detouring mechanism rotate respectively under the action of an opening and closing motor, and the connecting rods are opened left and right so as toavoid an obstacle and pass by the side face of the obstacle, thereby realizing obstacle detouring. The double wheel arm locking type inspection robot mechanism is suitable for obstacles in different sizes and has the advantages of strong obstacle-detouring capacity, high safety, and the like.

The invention discloses a route planning and scheduling system for multiple robots. The system comprises the multiple robots, a route environment planning unit and a scheduling unit, wherein a main control unit and an algorithm unit are arranged on each robot; the route environment planning unit is used for fragmenting all travel routes, forming network structure information and updating the information in real time; the scheduling unit issues a walking task to each main control unit and collects state information of all the robots; each main control unit plans an optimal route of the corresponding robot; each algorithm unit controls walking or obstacle avoidance according to the corresponding optimal route and relevant outside environment information; and all the routes are scored according to scoring rules for optimal route planning. The route planning and scheduling system aims at collaborative unified scheduling among the multiple robots in the system, the walking environment is predicted in advance by updating the state information of all the robots and road condition information in real time, optimization is performed continuously, blockage is avoided, the robots can walk more smoothly and more flexibly, and the purpose of system self-learning is achieved.

The invention discloses a coal block jigger, a coal selection system and a coal selection method, which belongs to coal jigging selection field and is more particularly suitable for select coal blocks. The coal block jigger of the invention is formed by multiplying the inclined angle of a filter board of the existing multi-section jigger and changing a overflow spillway into a clean coal outlet passage; the coal selection system of the coal block jigger comprises the coal block jig, a rock refuse bucket elevator, a middling bucket elevator, a clean coal bucket elevator, a recycling water bucket, a recycling water pump, a water supply device and so on; and the coal selection of the coal block jigger can one-time select rock refuse, middlings, clean coal and a plurality of other products, and the water supply amount in selection is small. By adopting the invention to select coal blocks, processing amount can be increased, a great deal of water can be saved, washing and cleaning cost can be lowered, system steps can be simplified and system overall investment is reduced, thus achieving the effect that can not be achieved by the existing multi-section jigger. The invention is a brand new coal blocks selection jigger, a coal selection system and a coal selection method, which can be used for selecting steam coal and can also substitute dense medium vertical wheelers and inclined wheelers for coal block selection.

The invention relates to a linear separated guide beam template table, wherein its annular linear beam is connected to the inner side of template; the annular linear beam and the table support top template support screw disc, side template support lead screw and bottom template support lead screw between them; the table via walking device is supported on the table walking steel track above the bottom template; one table and two bottom templates are alternatively matched; the bottom template is fixed with guide beam walking steel track which supports the detachable support guide beam; the bottom of detachable support guide beam has walking wheel, while its top is detachably connected via adjustable base and table; the end of detachable support guide beam via the end base of guide beam is supported on the support concrete structure, while its one end is connected to the drawing system; another bottom template is at the concrete pouring position. And it can be used on the template table machine whose section diameter is 6-3m, with large operation space and lower cost.

The invention discloses a deep ploughing, deep scarification and ridge smashing device. The device comprises a motor 1, a transmission case 2 and at least two ridge smashing drill bits. Each ridge smashing drill bit comprises a screw shaft 3, ridge smashing cutters 4, a connecting flange 5 arranged on the top of the screw shaft, a screw blade 6 and a drill tip 7. Each screw blade 6 is mounted on the corresponding screw shaft 3, and the ridge smashing cutters 4 are arranged on the outer edge of each screw blade. The deep ploughing, deep scarification and ridge smashing device is characterized in that the distance from ridge smashing cutter heads of the ridge smashing mechanism to the screw shafts is larger than half the distance between the external diameter parts of every two adjacent screw shafts and smaller than the distance between the external diameter parts of every two adjacent screw shafts. The deep ploughing, deep scarification and ridge smashing device solves the problems that a ridge smashing machine in the prior art is not thorough in cutting of large soil blocks and bad in ridge smashing effect, tillage efficiency is improved, and the application and popularization economic benefits and social benefits are very obvious.

The invention discloses a robot device capable of walking stably. The robot device capable of walking stably consists of a support frame, a motor, a rotation shaft, a plummer block set, a weight set, a cam set and leg parts; the cam set comprises four cams, and every two cams form a group; and each group of the cams which are distributed at 180 degrees are fixedly connected to the rotation shaft. The motor drives the cam set on the rotation shaft to rotate and the four leg parts to move; compared with the prior art, the robot device has the advantages that all the leg parts can move by controlling one motor, so that the problems about the coordination of the motor and the initial state are not involved; therefore, the robot device is convenient to control; and the robot device can quickly move and is high in movement accuracy, high in stability, simple and compact in structure, strong in operability, and suitable for stable and quick movement occasions and moves safely and reliably.

The invention relates to a gap type negative pressure adsorption wall-climbing robot, comprising a bottom plate, a negative pressure generating device, a sealing device, an advancing device and an electric control device, wherein the advancing device is of a dual-crawler type structure; the bottom plate comprises an upper bottom plate and a lower bottom plate, the upper bottom plate covers on thelower bottom plate, the lower bottom plate is suspended below the upper bottom plate by a support pillar, an air inlet hole is formed in the center of the lower bottom plate, a gap is reserved betweenthe peripheral edge of the lower bottom plate and the periphery of the upper bottom plate instead of connection, a flow guide chamber is formed between the upper and lower bottom plates, crawler walking troughs are formed in the lower bottom plate in bilateral symmetry by taking the air inlet hole as a center; the sealing device comprises a flow guide mechanism and a flow stop mechanism, the flowguide mechanism is obliquely arranged in the gap between the peripheries of the upper and lower bottom plates, the flow stop mechanism is arranged on the bottom surface of the lower bottom plate, anda plurality of quantity of sealing bulges are uniformly distributed on the lower surface of the flow stop mechanism. The robot is applicable to common wall surfaces, and meanwhile solves conflict between adsorption force and resistance in the negative pressure adsorption process, so as to flexibly move on the wall surface.

The invention discloses a petroleum pipeline cleaning device which comprises a drive part formed by a motor and a speed reducer, a transmission part formed by a worm wheel-worm, cleaning heads, a packing cup, a shell and the like. Telescopic cylinder rods are arranged at two ends of a cleaner so as to adapt to different pipe diameters. The motor transmits the torque to a worm so as to drive a wormwheel, a chain wheel and a driving walking wheel to move in a pipe, and meanwhile, the torque is transmitted to a cleaning shaft through the speed reducer, so that the aim of cleaning the pipeline isachieved through rotating the cleaning heads. When in work, through the joint action of a triangular support, springs and compression cylinder rods, the tail part of the cleaner can effectively fit to the inner side of the pipeline. When the resistance is too big or the power level is low, air can be pumped into the pipeline, and the cleaner is driven through the trepanned packing cup. The threecleaning heads are arranged at the front end of the cleaner and are connected through connecting buckles, the compression cylinder rods and the cleaning shaft, and the pitching angles of the cleaningheads can be adjusted through the connecting buckles, so that the applicability and the cleaning efficiency of the cleaning device are improved.