Oil smoke pipeline cleaning device and system

Abstract

The invention discloses a cooking fume pipeline cleaning device and system, and relates to the technical field of cooking fume pipeline cleaning, the device comprises a main control cabin and a cleaning turret, the cooking fume pipeline cleaning system comprises a control box, a control circuit board, a negative pressure suction mechanism and a cooking fume pipeline cleaning device, and a control panel is arranged in the control box; a rocker, a speed regulator, an image switch and a self-absorption switch are arranged on the control panel; the rocker is electrically connected with a rocker interface on the control circuit board; the speed regulator is electrically connected with the input end of the rotary speed regulation control module; the image switch is electrically connected with the front high-definition camera and the rear high-definition camera; and the self-suction switch is electrically connected with the negative pressure suction mechanism. Intelligentization of oil smoke pipeline cleaning can be achieved, the rotating speed of the high-pressure nozzle of the oil smoke pipeline cleaning device can be remotely controlled through the control box, meanwhile, the high-pressure nozzle can achieve the 360-degree all-dimensional washing effect, and the oil smoke pipeline cleaning device can be controlled to move forwards and backwards and rotate leftwards and rightwards.

Description

Technical Field

[0001] The present invention belongs to the technical field of fume duct cleaning, and particularly relates to a fume duct cleaning device and system. Background Art

[0002] With the development of the catering industry, the number of large fume ducts is increasing. However, due to lack of timely cleaning, large fume ducts pose safety hazards.

[0003] Currently on the market, the method of cleaning the exhaust fume duct mainly involves workers entering the duct to shovel out the oil dirt and clean the duct with a cleaning agent. This type of cleaning method has a very high labor intensity, great operation difficulty, high cleaning cost, and cannot effectively clean the fume duct. Summary of the Invention

[0004] The purpose of the present invention is to provide a fume duct cleaning device and system to solve the problems existing in the prior art.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] The present invention provides a fume duct cleaning device, including:

[0007] A main control cabin, a first servo motor, a second servo motor, and a cleaning turret. The first servo motor and the second servo motor are arranged inside the main control cabin. The first servo motor and the second servo motor are used to provide driving force for the fume duct cleaning device to move forward. A front high-definition camera and a front lighting lamp are arranged at the front end of the main control cabin; a rear high-definition camera, a first aviation plug, and a sewage suction pipe quick connector are arranged at the rear end of the main control cabin;

[0008] A flushing gun barrel penetrates through the middle of the cleaning turret. A high-pressure nozzle with adjustable water output is installed at the front end of the flushing gun barrel. A rear lighting lamp is installed at the rear end of the cleaning turret. A third servo motor is arranged inside the cleaning turret, and the third servo motor is used to drive the flushing gun barrel to rotate.

[0009] Optionally, a sewage suction component is further installed inside the main control cabin. The sewage suction component includes an outer jacket box and a sewage suction pipe. The tail end of the sewage suction pipe extends into the inside of the outer jacket box and is vertically installed with a socket pipe. A lifting cover is slidably installed inside the outer jacket box. A connecting pipe integrally formed in the middle of the lifting cover is slidably inserted into the inside of the socket pipe at the bottom end. A mini electric push rod is installed between the two ends of the bottom of the lifting cover and the bottom of the outer jacket box; a rubber sleeve is fixed at the top edge of the lifting cover, and sewage suction slots are opened at both ends of the rubber sleeve.

[0010] Optionally, the cleaning turret is installed on the top end of the main control cabin, and a waterproof rubber pad is provided between the cleaning turret and the main control cabin.

[0011] The present application also provides an oil fume duct cleaning system, including a control box, a control circuit board, a negative pressure suction mechanism, and an oil fume duct cleaning device. A control panel is arranged inside the control box, and a rocker, a speed regulator, an image switch, a self-priming switch, and a rotation speed control module are arranged on the control panel;

[0012] The rocker is electrically connected to the rocker interface on the control circuit board, and the rocker is used to control the movement direction of the oil fume duct cleaning device;

[0013] The speed regulator is electrically connected to the input end of the rotation speed control module, and the output end of the rotation speed control module is electrically connected to a third servo motor. The speed regulator is used to control the rotation speed of the high-pressure nozzle;

[0014] The image switch is electrically connected to a front high-definition camera and a rear high-definition camera;

[0015] The self-priming switch is electrically connected to the negative pressure suction mechanism, and the negative pressure suction mechanism is connected to a sewage suction pipe quick connector through a sewage suction pipe.

[0016] Optionally, a power plug for connecting to an external power supply and a second aviation plug for connecting to a first aviation plug are further arranged on the control panel.

[0017] Optionally, a light switch is further arranged on the control panel, and the light switch is electrically connected to a front illuminating lamp and a rear illuminating lamp.

[0018] Optionally, the control circuit board includes an MCU control module, a rocker interface, a motion control module, and a second step-down module. The motion control module, the rocker interface, and the second step-down module are all electrically connected to the MCU control module. The motion control module is used to control the forward, backward, left, and right rotations of the motor. Among them, the control circuit board is arranged in the main control cabin.

[0019] Optionally, the control circuit board further includes a voltage converter and a first step-down module. The input end of the voltage converter is electrically connected to 220V mains electricity, the output end of the voltage converter is electrically connected to the input end of a power supply terminal, the output end of the power supply terminal is electrically connected to the input end of the first step-down module, the output end of the first step-down module is electrically connected to the input end of the second step-down module, and the output end of the second step-down module is electrically connected to the MCU control module.

[0020] Optionally, the control circuit board further includes a left motor output interface, a left motor input interface, a right motor input interface, and a right motor output interface. The motion control module includes a first motion control sub-module, a second motion control sub-module, a third motion control sub-module, and a fourth motion control sub-module. The left motor input interface is electrically connected to the first motion control sub-module and the second motion control sub-module respectively. The left motor output interface is electrically connected to the first servo motor. The right motor input interface is electrically connected to the third motion control sub-module and the fourth motion control sub-module respectively. The right motor output interface is electrically connected to the second servo motor.

[0021] Advantageous effects:

[0022] With the present application, the oil fume duct cleaning device can be intelligently controlled in real time through the control box. Through the design of the lighting lamp and the high-definition camera, the internal situation of the oil fume duct can be monitored in real time. The use of the high-pressure nozzle can achieve a 360-degree omnidirectional flushing effect without affecting the connection of the trailing water pipe at the end. During the entire oil fume duct cleaning process, the operator only needs to control the rocker on the control panel in the control box to control the forward and backward movement and left and right turning of the oil fume duct cleaning device. When fixed-point flushing is required, the rotation speed and angle of the high-pressure nozzle can be adjusted only through the speed regulator on the control panel. Compared with manual cleaning, the operation is more convenient and intelligent, with less workload, and can effectively improve the pipeline cleaning efficiency.

[0023] The overall structure of this device is small and compact. Through the arranged sewage suction component, the operator can connect the device to an external negative pressure suction mechanism through a pipeline to realize the integration of flushing and cleaning and sewage suction and discharge, which is suitable for operating in sunken areas where natural drainage is not possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings forming a part of this application are used to provide a further understanding of this application, making other features, objectives, and advantages of this application more obvious. The schematic embodiments and descriptions of the drawings of this application are used to explain this application and do not constitute an improper limitation to this application. In the drawings:

[0025] Figure 1 is a schematic structural diagram of an oil fume duct cleaning device provided by an embodiment of this application;

[0026] Figure 2 is a schematic structural diagram of another oil fume duct cleaning device provided by an embodiment of this application;

[0027] Figure 3 is a schematic structural diagram of an oil fume duct cleaning device provided by an embodiment of this application;

[0028] Figure 4 is a schematic structural diagram of a control panel provided by an embodiment of this application;

[0029] Figure 5 Circuit diagram of a first step-down module provided by an embodiment of the present application;

[0030] Figure 6 Circuit diagram of a second step-down module provided by an embodiment of the present application;

[0031] Figure 7 Circuit diagram of a rocker interface provided by an embodiment of the present application;

[0032] Figure 8 Circuit diagram of an MCU control module provided by an embodiment of the present application;

[0033] Figure 9 Circuit diagram of a power supply indicator light provided by an embodiment of the present application;

[0034] Figure 10 Circuit diagram of a first motion control sub-module provided by an embodiment of the present application;

[0035] Figure 11 Circuit diagram of a second motion control sub-module provided by an embodiment of the present application;

[0036] Figure 12 Circuit diagram of a third motion control sub-module provided by an embodiment of the present application;

[0037] Figure 13 Circuit diagram of a fourth motion control sub-module provided by an embodiment of the present application;

[0038] In the figure: 1, main control cabin; 2, cleaning turret; 4, flushing gun barrel; 6, rear lighting lamp; 7, high-pressure nozzle; 8, female head of quick plug connector; 11, rear high-definition camera; 12, front high-definition camera; 13, first aviation plug; 14, quick plug connector for sewage suction pipe; 15, front lighting lamp; 24, sewage suction assembly; 241, outer jacket box; 242, sewage suction pipe; 243, lifting cover; 244, connecting pipe; 245, socket pipe; 246, mini electric push rod; 247, rubber sleeve; 248, sewage suction notch. Detailed implementation manners

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or in the prior art, the following will briefly introduce the present invention in combination with the accompanying drawings and the descriptions of the embodiments or the prior art. Obviously, the following descriptions of the structures of the accompanying drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other accompanying drawings can be obtained based on these drawings without creative efforts. It should be noted here that the descriptions of these embodiments are used to help understand the present invention, but do not constitute a limitation to the present invention.

[0040] It should be understood that although terms such as first and second may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another. For example, the first unit may be referred to as the second unit, and similarly, the second unit may be referred to as the first unit, without departing from the scope of the exemplary embodiments of the present invention.

[0041] It should be understood that for the term "and / or" that may appear herein, it is merely an association relationship describing associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, B exists alone, and A and B exist simultaneously; for the term " / and" that may appear herein, it is a description of another association object relationship, indicating that two relationships may exist. For example, A / and B may represent: A exists alone, and A and B exist alone; in addition, for the character " / " that may appear herein, generally, it represents that the front and rear associated objects are an "or" relationship.

[0042] Embodiment 1:

[0043] As Figure 1 shown is a schematic structural diagram of an oil fume duct cleaning device proposed in an embodiment of the present invention, including:

[0044] A main control cabin 1, a first servo motor, a second servo motor, and a cleaning turret 2. The first servo motor and the second servo motor are arranged inside the main control cabin 1. Among them, the first servo motor controls the movement of the left track of the oil fume duct cleaning device, and the second servo motor controls the movement of the right track of the oil fume duct cleaning device. The forward and backward movement and left and right turn of the oil fume duct cleaning device are controlled by the first servo motor and the second servo motor. To facilitate the operator to remotely observe the internal situation of the oil fume duct, a front high-definition camera 12 and a front lighting lamp 15 are provided at the front end of the main control cabin 1; a rear high-definition camera 11, a first aviation plug 13, and a sewage suction pipe quick connector 14 are provided at the rear end of the main control cabin 1; mounting holes for installing the corresponding front high-definition camera 12, front lighting lamp 15, rear high-definition camera 11, first aviation plug 13, sewage pipe quick connector 14, and rear lighting lamp 6 are respectively opened at the front and rear ends of the main control cabin 1 and the rear end of the cleaning turret 2, and sealing rings are provided between the front high-definition camera 12, front lighting lamp 15, rear high-definition camera 11, first aviation plug 13, and rear lighting lamp 6 and the corresponding mounting holes to improve the waterproofness of the entire robot. The first servo motor and the second servo motor provide sufficient forward driving force for the traveling action of the entire device, and the third servo motor facilitates the operator to adjust the angle of the high-pressure nozzle at the front end of the flushing gun barrel 4 to achieve fixed-point flushing.

[0045] The middle part of the cleaning turret 2 is penetrated by a flushing gun barrel 4. A high-pressure nozzle 7 with adjustable water output is installed at the front end of the flushing gun barrel 4. A rear lighting lamp 6 is installed at the tail end of the cleaning turret 2. A third servo motor is arranged inside the cleaning turret 2, and the third servo motor is used to drive the flushing gun barrel 4 to rotate. The flushing gun barrel 4 is designed with a curved arc structure. By using the adjustable high-pressure nozzle 7 installed at the front end of the gun barrel and the control panel, the front end of the entire flushing gun barrel 4 can not only achieve a 360-degree all-round flushing effect but also perform speed regulation. The cleaning turret 2 is installed at the top of the main control cabin 1, and a waterproof rubber pad is provided between the cleaning turret 2 and the main control cabin 1.

[0046] As Figures 2-3 shown, a sewage suction component 24 is also installed in the main control cabin 1. The sewage suction component 24 includes an outer jacket box 241 installed at the bottom of the front end of the main control cabin 1. The joints between the outer jacket box 241 and the main control cabin 1 and the drive cabin 3 are sealed with waterproof glue. The sewage suction component 24 also includes a sewage suction pipe 242 with its front end connected to the sewage suction pipe quick-connect joint 14. During use, an external negative pressure suction mechanism is connected to the sewage suction pipe quick-connect joint 14 through a pipeline, and the external negative pressure suction mechanism provides negative pressure. In order to enable the negative pressure suction mechanism to achieve lifting adjustment, the tail end of the sewage suction pipe 242 extends into the inner part of the outer jacket box 241 and is vertically installed with a socket pipe 245. At the same time, a lifting cover 243 is slidably installed inside the outer jacket box 241. A connecting pipe 244 is integrally formed in the middle of the lifting cover 243, and the bottom end of the connecting pipe 244 is slidably inserted into the inner side of the socket pipe 245. The connecting pipe 244 and the inner wall of the socket pipe 245 are slidably fitted. A mini electric push rod 246 is installed between the two ends of the bottom of the lifting cover 243 and the bottom of the outer jacket box 241. A rubber sleeve 247 is fixed at the top edge of the lifting cover 243, and sewage suction notches 248 are opened at both ends of the rubber sleeve 247.

[0047] Correspondingly, the present application also provides an oil fume duct cleaning system, including a control box, a control circuit board, a negative pressure suction mechanism, and an oil fume duct cleaning device. A control panel is arranged inside the control box. As Figure 4 shown in the structural schematic diagram of the control panel, a rocker, a speed regulator, an image switch, a self-priming switch, and a rotation speed control module are arranged on the control panel. The rotation speed control module is arranged on the back of the control panel.

[0048] The rocker is electrically connected to the rocker interface on the control circuit board, and the rocker is used to control the movement direction of the oil fume duct cleaning device.

[0049] The speed regulator is electrically connected to the input end of the rotation speed control module. The output end of the rotation speed control module is electrically connected to the third servo motor through the female head 8 of the quick plug connector. The speed regulator is used to control the rotation speed of the high-pressure nozzle 7.

[0050] The image switch is electrically connected to the front high-definition camera 12 and the rear high-definition camera 11, and is used to clearly see the pipeline conditions during pipeline cleaning, so as to achieve efficient cleaning.

[0051] The self-priming switch is electrically connected to the negative pressure suction mechanism, and the negative pressure suction mechanism is connected to the sewage suction pipe quick connector 14 through a sewage suction pipe. During use, an external negative pressure suction mechanism is connected to the sewage suction pipe quick connector 14 through a sewage suction pipe, and an external negative pressure suction device provides negative pressure.

[0052] As an embodiment of the present application, a power plug for connecting to an external power supply and a second aviation plug for connecting to the first aviation plug 13 are further provided on the control panel. Among them, the 220V mains power is connected through the power plug to supply power to each device on the control panel. The second aviation plug is an electromechanical component for connecting the electrical circuits on the control panel. The aviation plug realizes the connection and disconnection of the circuit through insertion and separation. When the connection between the second aviation plug and the first aviation plug is disconnected, the circuit is disconnected, and the control box cannot control the oil fume pipeline cleaning device.

[0053] As an embodiment of the present application, a light switch is further provided on the control panel, and the light switch is electrically connected to the front lighting lamp 15 and the rear lighting lamp 6.

[0054] As an embodiment of the present application, as Figures 5-9 shown, the control circuit board includes an MCU control module, a rocker interface, a motion control module, and a second buck module. The motion control module, the rocker interface, and the second buck module are all electrically connected to the MCU control module. The motion control module is used to control the forward, backward, left, and right turns of the motor. Among them, the control circuit board is arranged in the main control cabin 1. The model of the MCU control module is STC8H1K17, which has the characteristics of high performance, low cost, and rich peripherals, and is the core of the control circuit board; the rocker interface is electrically connected to the rocker, and the forward, backward, left, and right turns of the oil fume pipeline cleaning device are controlled through the rocker and the motion control module; the power supply indicator light is electrically connected to the second buck module, and when the power supply indicator light is on, it proves that the entire circuit is operating normally, and the circuit fault can be judged through the power supply indicator light. The control circuit board further includes a voltage converter and a first buck module. The input end of the voltage converter is electrically connected to the 220V mains power, and the output end of the voltage converter is electrically connected to the input end of the power terminal. The voltage converter is used to convert the 220V voltage into 24V for supplying power to the first servo motor and the second servo motor. The output end of the power terminal is electrically connected to the input end of the first buck module, the output end of the first buck module is electrically connected to the input end of the second buck module, and the output end of the second buck module is electrically connected to the MCU control module. The 24V voltage is converted into 5V voltage through the first buck module and the second buck module to supply power to the main chip.

[0055] As an embodiment of the present application, the control circuit board further includes a left motor output interface, a left motor input interface, a right motor input interface, and a right motor output interface. As shown in Figures 10-13 the figure, the motion control module includes a first motion control sub-module, a second motion control sub-module, a third motion control sub-module, and a fourth motion control sub-module. The motion control module includes a drive chip of model EG2014S, several capacitors, several resistors, several diodes, etc. The left motor input interface is electrically connected to the first motion control sub-module and the second motion control sub-module respectively. The left motor output interface is electrically connected to the first servo motor. The right motor input interface is electrically connected to the third motion control sub-module and the fourth motion control sub-module respectively. The right motor output interface is electrically connected to the second servo motor.

[0056] The present application can intelligently control the oil fume duct cleaning device in real time through the control box. Through the design of the lighting lamp and the high-definition camera, the internal situation of the oil fume duct can be monitored in real time. The use of the high-pressure nozzle can achieve a 360-degree all-round flushing effect without affecting the connection of the trailing water pipe at the end. During the entire oil fume duct cleaning process, the operator only needs to control the rocker on the control panel in the control box to control the forward and backward movement and left and right rotation of the oil fume duct cleaning device. When fixed-point flushing is required, only the speed regulator on the control panel can be used to adjust the rotation speed and angle of the high-pressure nozzle. Compared with manual cleaning, the operation is more convenient and intelligent, with less workload, and can effectively improve the pipeline cleaning efficiency.

[0057] The overall structure of this device is small and compact, and it uses a magnetic adsorption crawler to move forward. While ensuring the free movement of the device, it can effectively fix the device itself, effectively offset the reverse thrust brought by high-pressure flushing water, and through the set sewage suction component, the operator can connect the device to an external negative pressure suction mechanism through a pipeline to realize the integration of flushing and cleaning and sewage suction and discharge, which is suitable for working in sunken areas where natural drainage is impossible.

[0058] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solutions in essence or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disc, etc., including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiments.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

[0060] The foregoing is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An oil fume duct cleaning device, characterized in that, Comprising: A main control cabin (1), a first servo motor, a second servo motor, and a cleaning turret (2). The first servo motor and the second servo motor are arranged inside the main control cabin (1), and the first servo motor and the second servo motor are used to provide driving force for the oil fume duct cleaning device. A front high-definition camera (12) and a front lighting lamp (15) are provided at the front end of the main control cabin (1); a rear high-definition camera (11), a first aviation plug (13), and a sewage suction pipe quick connector (14) are provided at the rear end of the main control cabin (1); A flushing gun barrel (4) penetrates through the middle of the cleaning turret (2). A high-pressure nozzle (7) with adjustable water output is installed at the front end of the flushing gun barrel (4). A rear lighting lamp (6) is installed at the rear end of the cleaning turret (2). A third servo motor is arranged inside the cleaning turret (2), and the third servo motor is used to drive the flushing gun barrel (4) to rotate.

2. The device according to claim 1, wherein A sewage suction assembly (24) is further installed inside the main control cabin (1). The sewage suction assembly (24) comprises an outer sleeve box (241) and a sewage suction pipe (242). The tail end of the sewage suction pipe (242) extends into the inside of the outer sleeve box (241) and is vertically installed with a socket pipe (245). A lifting cover (243) is slidably installed inside the outer sleeve box (241). A connecting pipe (244) integrally formed in the middle of the lifting cover (243) is slidably inserted into the inside of the socket pipe (245) at the bottom end. A mini electric push rod (246) is installed between the two ends of the bottom of the lifting cover (243) and the bottom of the outer sleeve box (241); a rubber sleeve (247) is fixed at the top edge of the lifting cover (243), and sewage suction notches (248) are opened at both ends of the rubber sleeve (247).

3. The device according to claim 1, wherein The cleaning turret (2) is installed at the top end of the main control cabin (1), and a waterproof gasket is provided between the cleaning turret (2) and the main control cabin (1).

4. An oil fume duct cleaning system, characterized in that, Comprising an operation box, a control circuit board, a negative pressure suction mechanism, and the oil fume duct cleaning device according to any one of claims 1-3. A control panel is arranged inside the operation box, and a rocker, a speed regulator, an image switch, a self-priming switch, and a rotation speed control module are arranged on the control panel; The rocker is electrically connected to the rocker interface on the control circuit board, and the rocker is used to control the movement direction of the oil fume duct cleaning device; The speed regulator is electrically connected to the input end of the rotation speed control module, and the output end of the rotation speed control module is electrically connected to the third servo motor. The speed regulator is used to control the rotation speed of the high-pressure nozzle (7); The image switch is electrically connected to the front high-definition camera (12) and the rear high-definition camera (11); The self-priming switch is electrically connected to the negative pressure suction mechanism, and the negative pressure suction mechanism is connected to the sewage suction pipe quick connector (14) through a sewage suction pipe.

5. The system according to claim 4, wherein A power plug for connecting to an external power supply and a second aviation plug for connecting to the first aviation plug (13) are further arranged on the control panel.

6. The system according to claim 5, wherein a light switch is further provided on the control panel, and the light switch is electrically connected to the front illuminating lamp (15) and the rear illuminating lamp (6).

7. The system according to claim 4, wherein the control circuit board includes an MCU control module, a rocker interface, a motion control module, and a second step-down module. The motion control module, the rocker interface, and the second step-down module are all electrically connected to the MCU control module. The motion control module is used to control the forward, backward, left, and right turns of the motor. Among them, the control circuit board is arranged in the main control cabin (1).

8. The system according to claim 7, wherein the control circuit board further includes a voltage converter and a first step-down module. The input end of the voltage converter is electrically connected to the 220V mains power supply. The output end of the voltage converter is electrically connected to the input end of the power supply terminal. The output end of the power supply terminal is electrically connected to the input end of the first step-down module. The output end of the first step-down module is electrically connected to the input end of the second step-down module. The output end of the second step-down module is electrically connected to the MCU control module.

9. The system according to claim 7, wherein the control circuit board further includes a left motor output interface, a left motor input interface, a right motor input interface, and a right motor output interface. The motion control module includes a first motion control sub-module, a second motion control sub-module, a third motion control sub-module, and a fourth motion control sub-module. The left motor input interface is respectively electrically connected to the first motion control sub-module and the second motion control sub-module. The left motor output interface is electrically connected to the first servo motor. The right motor input interface is respectively electrically connected to the third motion control sub-module and the fourth motion control sub-module. The right motor output interface is electrically connected to the second servo motor.

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