134results about How to "Optimize usage efficiency" patented technology

The invention discloses a method for controlling a cleaning robot. The method includes that the cleaning robot runs a round along boundaries of a zone to be cleaned with an origin as a start point, and records boundary feature points of the zone to be cleaned; the zone to be cleaned is divided into a plurality of sub zones according to XY coordinates, and all the sub zones are cleaned orderly; the cleaning start points of the cleaning robot in all the sub zones in the same row are identical, and when the cleaning robot enters a sub zone in the next row to perform clean, the cleaning robot will take a point having a shortest distance with a position of the cleaning robot as a start point to start cleaning the sub zones in the next row. A user can know which sub zones in the zone to be cleaned are cleaned and which sub zones are not be cleaned according to the current position of the robot, and convenience is provided for the user; the cleaning effect of the whole zone to be cleaned can be improved; and the problem that some places in the sub zones are repeatedly cleaned by the cleaning robot and some places are not cleaned by the cleaning robot due to position coordinate errors can be avoided.

The invention discloses a charging power supply system. The charging power supply system comprises a power acquisition device group, a power output device group and transmission cables, wherein the power acquisition device group consists of power acquisition devices; the power output device group consists of power output devices; the transmission cables are used for transmitting high-voltage direct-current power output from the power acquisition devices to the power output devices; the input ends of each of the power acquisition devices are respectively connected with a secondary side of a transformer or a power bus; the direct-current voltages output from the power acquisition devices are equal to each other; the output ends of each of the power acquisition devices are connected in parallel through the transmission cables to form a direct-current power network of which the electric potentials at each point are the same; the input ends of each of the power output devices are connected with any node A in the direct-current power network (300) through the transmission cables; and the output ends of the power output devices provide direct-current power for various charging loads. Power is dynamically acquired from low-ebb users by the power acquisition devices according to a tidal electricity utilization state and the frequency, the pulse width and the conduction interval of power switching devices are dynamically modulated, so that the power supply quality is improved, reactive power, harmonic waves or a negative sequence current are utilized, the no-load power of the transformer and the low-ebb electricity of a power grid are called, and an important base support system is provided for the development of new energy vehicles.

The embodiment of the invention provides a multi-user-file exchange and sharing method and device based on NAS. The device comprises a file exchange core device and a file sharing and exchange client, wherein the file exchange core device establishes a user catalog of users on an NAS device, and the corresponding relation between ID information of the users and ID information of the user catalog and the corresponding relation between ID information and content information of the user catalog are stored; the corresponding relation is searched for so that the content information of the user catalog can be acquired according to the ID information, transmitted by the file sharing and exchange client, of the users and catalog information and file information of the users are managed and operated by calling the NAS device. According to the multi-user-file exchange and sharing method and device based on NAS, the file exchange core device is deployed so that multiple user file spaces can be flexibly and safely managed, and user files can be conveniently stored and extracted; through an existing safety authentication strategy of the users, the user shared files can be shared and exchanged.

The invention provides an air cooling-wet cooling combined type water-saving fog-dispersing cooling tower, which belongs to the field of cooling equipment. The objective of the invention is to overcome the problems of a clumsy overall structure, waste of water resources and a short operation cycle of conventional industrial circulating water cooling towers. According to the invention, one to a plurality of air coolers are arranged on the main body frame of the cooling tower; the air coolers comprise 1 to 10 open circulating water gas-liquid orthogonal membrane plate type air coolers, and the upper parts of the open circulating water gas-liquid orthogonal membrane plate type air coolers correspond to nozzles of a primary water distribution and spray system; a mixed gas chamber is arranged in the cavity of the main body of the cooling tower and between the pedestal of the open circulating water gas-liquid orthogonal membrane plate type air coolers and a top air duct and a bottom tower body base located at two sides; adjustable louvers are arranged on the air inlets of the main body of the cooling tower and on the air inlets of the air coolers; and the air outlets of the open circulating water gas-liquid orthogonal membrane plate type air coolers are communicated with the mixed gas chamber in the main body of the cooling tower. The air cooling-wet cooling combined type water-saving fog-dispersing cooling tower has a simple and practical overall structure and is applicable to cooling of industrial circulating water through combined usage of an air cooling section and a wet cooling section.

The invention relates to a tank-shaped container, comprising a tank body, a reinforcing ring arranged on the outer side of the tank body and a bottom discharging valve arranged below one end of the tank body. A manhole, a safety valve, an air-phase valve, a top discharging hole and an overflowing box are arranged on the top of the tank body. An overflowing tube used for guiding liquid in the overflowing box to the outside of the tank-shaped container is arranged at the bottom of the overflowing box. The two ends of the tank body are respectively welded onto the end frames of the two ends by apron rings, and the end frames of the two ends are respectively connected with a vertical bottom beam and a reinforcing inclined support. A stair fixedly arranged on the end frame of one end is led to a path board fixedly arranged on the top of the tank-shaped container. An angle part, an angle column, a top beam, a bottom beam, the reinforcing inclined support and a top angle board are connected to form the end frame. A reinforcing plate is welded on the internal surface of the lower wall of a rectangular tube of the bottom beam. The tank-shaped container has the main advantages that the distance between the lower surface of the end part of the bottom beam of the end frame and the lower surface of the angle part of the end frame is enlarged, therefore, the stressing condition of the bottom beam of the end frame during conveying is enhanced and the service efficiency of the tank-shaped container is improved.

A manufacturing method of a package carrier is provided. A first opening communicating an upper surface and a lower surface of a substrate is formed. A heat-conducting element having a top surface and a bottom surface is configured in the first opening and fixed into the first opening via an insulation material. A first insulation layer and a first metal layer are laminated onto the upper surface. A second insulation layer and a second metal layer are laminated onto the lower surface. A second opening and a third opening respectively exposing portions of the top and the bottom surfaces are formed. At least one through via passing through the first metal layer, the first insulation layer, the substrate, the second insulation layer and the second metal layer is formed. A third metal layer covering the first and second metal layers and an inner wall of the through via is formed.

The invention discloses a support frame for a solar cell panel. The support frame comprises a circular base; a ring-shaped groove is formed in the upper end of the circular base; two sliding blocks are symmetrically arranged in the ring-shaped groove; the upper end of each sliding block is fixedly connected with a first connecting block; the ends, far away from the sliding blocks, of the first connecting blocks extend out of the ring-shaped groove and are respectively and fixedly connected with support blocks; the upper ends of the support blocks are respectively and fixedly connected with hydraulic cylinders; drive ends of the hydraulic cylinders are separately connected with a hydraulic rod; the upper end of each hydraulic rod is fixedly connected with a support plate; a U-shaped grooveis formed in the upper end of each support plate; a second connecting block is inserted into the U-shaped groove. The support frame is convenient in installation and disassembly of the solar cell panel, can adjust the angle and gradient of the solar cell panel, and fully increases the service efficiency of the solar cell panel.

The invention discloses an automatic cooling device for a transformer. A partition plate is horizontally arranged in a device shell body, and the device shell body is divided into a transformer installing bin on the upper part and a cooling bin on the lower part; an air inlet and a plurality of heat dissipation holes are formed in the device shell body; the air inlet is formed in the lower part ofthe partition plate; the transformer is arranged on the partition plate and is located in the transformer installing bin; a recycling water box is arranged in the cooling bin; one end of a water inlet pipe is connected with an exterior water source, and the other end of the water inlet pipe extends into the device shell body and is connected with the upper part of the recycling water box; a waterinlet control valve is arranged on the pipeline, on the outer side of the device shell body, of the water inlet pipe; one end of a water discharging pipe is connected with the lower part of the recycling water box, and the other end of the water discharging pipe extends out of the device shell body and is connected with a water discharging system; and a water discharging control valve is arrangedon the pipeline, on the outer side of the device shell body, of the water discharging pipe. According to the automatic cooling device for the transformer, cooling and heat dissipation can be automatically conducted according to the temperature of the transformer, the cooling efficiency is high, the temperature cooling effect is great, heat dissipation is ensured and at the same time energy is saved due to intelligent heat dissipation and recycling of cooling water, and the application range is wider.

The invention discloses a domestic sewage treatment device. The device comprises a processor main body, a sewage inlet is arranged on the upper surface of the processor main body, a sewage treatment channel is connected to the lower part of the sewage inlet and a sewage treatment mechanism is arranged in the processor main body. The domestic sewage treatment device is characterized in that first and second expanding and rotation mechanisms for making a first filter plate and a second filter plate expand into a debris treatment tank and rotate are arranged in the debris treatment tank, the bottom of the first filter plate is provided with a first gravity sensor connected to the first expanding and rotation mechanism, and the bottom of the second filter plate is provided with a second gravity sensor connected to the second expanding and rotation mechanism. The device solves the problem of debris accumulation in the sewage treatment process, realizes smooth sewage treatment and greatly improves sewage treatment efficiency.

A control unit controls execution of an instruction according to a decode result of an instruction code. A GRA register stores an access attribute for each of the plurality of general-purpose registers. A mode storage unit stores modes for controlling an operation of a CPU. When the control unit makes a request for access to the general-purpose register, register access allowance determining circuit determines whether the access to the general-purpose register in question is to be allowed or not, depending on the access attribute stored in the GRA register and the mode stored in the mode storage unit. Therefore, the number of the general-purpose registers used corresponding to the mode can be changed, and efficiency of use of the general-purpose registers can be optimized.

The invention discloses a formula for preventing wrinkle, removing beverage and retarding skin aging, and relates to the technical field of medicines. The formula comprises the following components: 30g of polygonum multiflorum, 30g of radix astragali, 30g of pseudo-ginseng, 15g of rhodiola rosea, 15g of gynostemma pentaphyllum, 10g of American ginseng, 50g of radix angelicae, 50g of atractylodes macrocephala, 30g of bletilla striata, 30g of rhizoma typhonii, 30g of poria cocos, 30g of stiff silkworms, 15g of honeysuckle, 30g of radix scrophulariae, 30g of leonurus artemisia, 30g of radix ophiopogonis, 30g of chrysanthemum, 0-30g of abrus cantoniensis hance, 0-30g of selfheal, 30g of loranthus parasiticus, 0-30g of caulis spatholobi, 0-30g of angelica sinensis, 30g of lycium barbarum, 30g of carthamus tinctorius, 30g of rehmannia glutinosa, 15g of lithospermum, 0-20g of acacia catechu, 20g of rheum officinale, 30g of white paeony roots, 30g of ligusticum wallichii, 0-30g of gastrodia elata, 0-20g of acanthopanax roots, 0-30g of crocus sativus, 30g of witch hazel, 0-30g of arbutin, 0-30g of salvia japonica, 0-30g of ginseng, 0-30g of aloe, 30g of calendula, 0-10g of pearl powder and 0-10g of fructus cannabis. The formula is capable of preventing wrinkle, removing beverage and retarding skin aging and is free of side effects, good in use effect and low in cost.

The invention relates to immobilized lysine decarboxylase, a preparation thereof, a 1, 5-pentane diamine preparation method and the prepared 1, 5-pentane diamine. The invention specifically relates toimmobilized lysine decarboxylase comprising an aldehyde group-modified polymer carrier and lysine decarboxylase, and a method for preparing immobilized lysine decarboxylase by the aldehyde group-modified polymer carrier; a method for preparing 1, 5-pentane diamine by the immobilized lysine decarboxylase, and the prepared 1, 5-pentane diamine thereof. The immobilization method has high enzyme immobilization efficiency and good stability in use, improves the use efficiency of enzyme, solves the problem of poor use stability of free lysine decarboxylase (cells) in traditional processes, greatlyreduces the use cost of the carrier and the biological production cost of 1, 5-pentanediamine, simplifies the separation step of 1, 5-pentane diamine solution and enzyme, increases the degree of automation of the production of 1, 5-pentane diamine, and promotes the process of industrialization of biological production of 1, 5-pentanediamine.

An article of footwear (1) including a sole assembly (2) and an upper (3), the upper (3) including a flexible envelope (4), the footwear (1) extending lengthwise from a rear end (5) to a front end (6), widthwise between a lateral side (7) and a medial side (8), and height-wise from the sole assembly (2) to an upper end (9), the footwear (1) including a stiffener (15) located in the area of the rear end (5). The boot includes a reinforcement (33) which is at least partially superimposed onto the stiffener (15).

The invention discloses a management system of intelligence row / photocopying, its implementation structure contains a computer group, an internal network environment, a Print Server / MFP Server and a printer / multi-purpose business machine; This invention joins the software management function into the printer server / multi-purpose business machine servers, causes the printer server / multi-purpose business machine servers not only receiving computer's print command to actuate the printer, the multi-purpose business machine or the scanner movement, also at least having one of the functions such as the basic statistics analysis, the management by supervision and the security watch and so on; Regarding the output functions of the printer, the multi-purpose business machine or scanner, the enterprise can perform to manage and make it standard, then enables the row / photocopying output action more effective.

The invention discloses an agricultural weeding and irrigation integrated machine comprising an integrated machine body; an integrated machine chassis is installed at a bottom of the integrated machine body; wheels are movably connected to a bottom of the integrated machine chassis; a vehicle frame is fixedly connected to a right side of the chassis; a water tank is fixedly connected to a right side of the vehicle frame; a water pipe is fixedly connected to a bottom of the water tank; a shunt tubes are fixedly connected to a bottom of the water pipe. The invention achieves the effect of environmental protection, realizes zero discharge of machinery, and achieves the advantages of simple structure. The weeding through the simultaneous rotation of the six weeding blades greatly improves theweeding efficiency and facilitates the disassembly and replacement between the irrigation nozzles and the shunt tubes. The adjustment of water pressure and the control of water speed limit the outflowspeed of water, increase the coverage of irrigation, and achieve good use efficiency; therefore, the problems that the existing lawn mower and irrigation machine cannot be used at the same time and the structure is complex and inefficient use are effectively solved.

The invention discloses a chromium alloy large profile steel finishing roller and a manufacturing method thereof. The manufacturing method comprises the following specific manufacturing steps that theroller is prepared from the following raw material of, in percentage by weight, 0.35-%0.65% of carbon, 0.45%-0.75% of silicon, 0.60%-0.80% of manganese, 0.60%-1.00% of nickel and 4.00%-6.00% of chromium, 0.50%-0.80% of vanadium, furnace charge is added into a power frequency electric furnace, current low-power operation is carried out, rapidly heating at high power is carried out when the furnacecharge enters a critical temperature, alloy is added into the furnace charge supplemented after the furnace charge is completely molten, slagging, removing residual impurity elements and gas elementsare sequentially carried out by using a slagging agent after several minutes, other alloy elements are activated by using active elements, and organically fusing is carried out, wherein a top pouringprocess is adopted for pouring, and the hot box opening process is adopted for rolling. The prepared roller has the advantages of refined microstructure grains, high hardness, small fall, good wear resistance, excellent toughness and strength, strong hot crack resistance and excellent rolled material surface quality.

The invention belongs to the technical field of metal cutting machining, and relates to a multi-parameter sensing cutting tool wear monitoring method. The cutting tool wear monitoring method providedby the invention is real-time online monitoring of a cutting process, and the cutting tool wear monitoring method comprises the following steps of measuring signals such as cutting power, cutting force, cutting vibration and cutting temperature in the cutting process on line through a plurality of sensors; fitting a multi-parameter sensing equation of the wear amount of the rear tool surface of atool with respect to the measurement signals and cutting parameters; and establishing a software system integrating sensing equation solutions, and realizing real-time monitoring of the wear of the cutting tool through the solutions to the sensing equation. The multi-signal measurement can realize the monitoring precision guarantee of the tool wear; and the fitting and solving of the sensing equation can realize intelligent monitoring of the tool wear. The multi-parameter sensing cutting tool wear monitoring method provided by the invention can be widely applied to tool wear monitoring in a metal material cutting process, realizes the intelligence of a cutting unit, and promotes comprehensive improvement of the service life of the tool and the cutting production efficiency.

The invention provides a drying device for textile machinery which is convenient for drying, and relates to the field of machinery. The drying device for textile machinery that is convenient for drying includes a base, a box body is fixedly installed on the top of the base, a fixing plate is fixedly installed on the top of the box body, and both sides of the bottom of the fixing plate are fixedly installed with A buffer rod, the end of the buffer rod away from the fixing plate is fixedly connected through a pressure block. The drying device for textile machinery that is convenient for drying, through the improvement of the box, the motor is set to drive the connecting rod on the turntable to move, so that the slide plate moves, and the limit rod limits the slide plate, so Under the action of the spring and the return spring, the protruding rod can blow and dry the textiles inside the box, and at the same time, the hot air blower can blow air on the textiles through the air pipe, thus achieving the effect of rapid drying of the textiles and improving the quality of the textiles. The working efficiency of the drying device for textile machinery is improved.

The invention discloses a standing type medical sterilizing device. The standing type medical sterilizing device comprises a first long flat plate, a first short flat plate, a second short flat plate,a second long flat plate, an elastic stretching and retracting part, a spring group, an upper main shaft, a lower main shaft, a side main body wall, ultraviolet light posts and a temperature measurement sensor, wherein the upper main shaft and the lower main shaft drive the four flat plates to rotate; in a rotating process, the elastic stretching and retracting part and the spring group drive thefour flat plates to move reciprocally in the longitudinal direction; the ultraviolet light posts are arranged in a manner of directly facing a plurality of lens parts arranged on the side main body wall; the temperature measurement sensor is in temperature sensing contact with an outer main body through a temperature sensing cabin; the temperature measurement sensor, a signal emitter and a powersupply are positioned in the same circuit loop; moreover, the temperature measurement sensor comprises a metal casing, a left power line, a right power line, a left electricity conducting piece, a right electricity conducting piece, a left electricity conducting folded strip, a right electricity conducting folded strip, a left wax strip, a right wax strip and a middle electricity conducting part.According to the design, the sterilizing effect is relatively good, the sterilizing efficiency is relatively high, moreover, the buffering effect is relatively good, and the control efficiency is relatively high.

The invention discloses a control circuit which comprises a controller, a power module, a detection device, a relay, an electromagnetic valve, an audible and visible alarm device and a motor, wherein a power conversion circuit DC converts alternating current voltage into 24V direct current power so as to supply working voltage to the controller and a detector; the controller receives a detection signal of the detection device; starting and stopping of the electromagnetic valve and the motor are controlled by the relay through analytic judgment, so that fire extinguishing operation is finished. The control circuit is advanced in fire extinguishing mechanism, high in fire extinguishing efficiency, safe, harmless and pollution-free to the environment and has high use efficiency and good economical benefit.

The invention discloses a sorting method of a connecting rod balance wheel sorting machine. A swing driving mechanism is correspondingly improved to be in a tiled transmission mode, that is, rotation driving force is converted into balance wheel synchronous swing through single-layer linear transmission of the swing driving mechanism, and the purposes of effectively reducing transmission force loss and transmission noise, improving the synchronous performance of swing control, simplifying the structure, and reducing the later maintenance workload are achieved. The swing control process of a swing power unit is as follows: 1) servo motors drive steering blocks to rotate clockwise or anticlockwise by taking motor output shafts as centers; (2) the steering blocks push multiple sets of steering rods to synchronously and horizontally move in the row or column direction; (3) the steering rods are driven by reversing rods to rotate clockwise or anticlockwise with the connecting points of the steering rods and balance wheel support shafts as the centers; and (4) a whole balance wheel module and the steering rods synchronously rotate, and the conveying direction of goods borne on balance wheels is correspondingly changed.

The invention relates to a diesel engine part surface multilayer wear-resisting anti-friction thin film. The surface of a diesel engine part sequentially comprises a Cr layer, a Cr / MeC transition layer, an MeC-DLC layer, an a-C:H soft and hard alternative layer and an MoS2 layer from inside to outside, wherein Me is a transition metal element. Firstly, the Cr layer is deposited on the surface of the diesel engine part through magnetron sputtering; secondly, the Cr / MeC transition layer is deposited through magnetron sputtering; thirdly, the MeC-DLC layer is deposited through a magnetron sputtering / plasma assisting chemical vapor phase composite deposition method; fourthly, the a-C:H soft and hard alternative layer is deposited through a plasma assisting chemical vapor phase composite deposition method; fifthly, a microtexture is etched on the a-C:H soft and hard alternative layer through a laser etching method; and finally the MoS2 layer is deposited through magnetron sputtering. By means of the thin film, the surface performance of the diesel engine part can be obviously improved, the service life of the diesel engine part surface multilayer wear-resisting anti-friction thin film is prolonged, and the energy using rate and reliability of the diesel engine part surface multilayer wear-resisting anti-friction thin film are improved.

The invention discloses an integrated pump station desilting device and method. The integrated pump station desilting device comprises a pump body and water outlet pipes connected to the pump body, wherein branch water pipes are arranged at water outlets of the water outlet pipes, and jet devices are arranged at the other ends of the branch water pipes. According to the provided pump station desilting device, a small part of water from the water outlet pipes flows into the branch water pipes to form small-flow high-pressure water, the small-flow high-pressure water is jetted out by the jet devices, surrounding water is driven to form a turbulent flow, sediment at the bottom of a pump station is stirred and mixed with water to be pumped away by the water pump, and accordingly, particle accumulation at the bottom of the pump station is avoided, the use efficiency of the pump station is increased, and the safety coefficient of the pump station is increased. The desilting device is simplein structure, good in use effect and easy to apply and popularize.

The invention discloses a method for removing sulfamethazine in a water body. According to the method, a nano zero-valent iron-manganese material is used as an activating agent to activate sulfite to treat the sulfamethazine water body; the nanometer zero-valent iron-manganese material comprises zero-valent iron and zero-valent manganese, and the molar ratio of the zero-valent iron to the zero-valent manganese is (1-4): 1. According to the method for removing the sulfadimidine in the water body, the catalytic activation capability of zero-valent iron on the sulfite is enhanced by adding the zero-valent metal manganese, so that the removal effect of the sulfite on the sulfadimidine is remarkably enhanced, and the removal rate is increased by 10%-20%; the method has the advantages of simple process, short reaction time, good removal effect, wide application range, environmental friendliness and the like, and has very high use value and very good application prospect.

The invention provides a preparation method of a nucleic acid probe, which comprises the following steps: mixing and grinding a nucleic acid solid with an amino active group and an activated ester modified dye solid capable of reacting with the amino group, and carrying out one-step reaction to obtain the nucleic acid probe. The nucleic acid solid and the dye solid are mechanically mixed and ground into jelly, and no reaction solvent or other reaction reagent is added in the process. The preparation method of the nucleic acid probe is a solvent-free reaction, does not need a toxic organic solvent, and is more green and pollution-free; and the production process is greatly simplified, and production can be amplified by combining the ball mill.

The invention refers to an attaching module, apparatus for attaching a substrate and method for manufacturing the attaching pad. The attaching module includes a famework and an attaching pad arranged on one side of the framework and capable of attaching with the substrate through attraction among molecules. The attaching pad includes a plurality of attaching parts, a plurality of attaching protrusions of which are arranged in groups. According to an embodiment of the invention, extra power and electric power additional use for stably arranging a substrate are minimized, and compared with a conventional static chuck, service efficiency and security are both improved. Besides, pollution on the substrate caused by residual static electricity when the static chuck is in use can be prevented; compared with the static chuck, the manufacturing costs are lower.

The invention discloses a novel natural product filtering device. The rotating rod has a cavity inside, and there are several through holes on the stirring plate. The through holes communicate with the cavity, and the bottom of the rotating rod is connected with a filter net. The rotating rod rotates on the filter screen, and the filter screen can slide up and down along the inner wall of the filter device. A baffle plate is connected in the cavity of the rotating rod, and the baffle plate is connected below the stirring plate close to the filter screen. A vertical telescopic rod is arranged below the filter screen, and the upper and lower ends of the telescopic rod are respectively connected with a horizontal pressure rod A and a pressure rod B, and the pressure rod A is arranged on the surface in contact with the filter screen. There are several grooves, and a one-way plate is arranged on the groove, and the one-way plate rotates toward the direction close to the filter screen, and a booster pump is arranged in the groove, and the length of the pressure rod A is the length of the filter screen. The length of 0.9 times, the length of the pressure rod B is less than the length of the pressure rod A.

The invention discloses a connecting rod balance wheel sorting machine and a sorting method thereof. Correspondingly, a swing driving mechanism is improved to be in a tiled transmission mode, namely rotation driving force is converted into balance wheel synchronous swing through single-layer linear transmission of the swing driving mechanism. The purposes of effectively reducing transmission forceloss and transmission noise, improving the synchronous performance of swing control, simplifying the structure and reducing the workload of later maintenance are achieved. The connecting rod balancewheel sorting machine comprises a shell module, a rack module, balance wheel modules, a swing power unit and a conveying power unit, wherein the balance wheel modules, the swing power unit and the conveying power unit are installed on the rack module. A plurality of groups of balance wheel modules are distributed in rows and columns. The swing power unit comprises a plurality of groups of reversing rods positioned below each row or each column of balance wheel modules, and a steering rod is connected between each reversing rod and a balance wheel bracket shaft of each balance wheel module. Theend parts of the same sides of the plurality of groups of reversing rods are connected with a steering block driven by an output shaft of a servo motor.