CN110881908B

CN110881908B - Mechanical robot of sweeping floor that disk rack angular distance arc was nibbled based on degree of freedom

Info

Publication number: CN110881908B
Application number: CN201911286856.9A
Authority: CN
Inventors: 陈志后
Original assignee: Nantong Green Environmental Protection Ltd
Current assignee: NANTONG GREEN ENVIRONMENTAL PROTECTION Ltd.
Priority date: 2019-12-14
Filing date: 2019-12-14
Publication date: 2021-05-25
Anticipated expiration: 2039-12-14
Also published as: CN112716380A; CN110881908A

Abstract

The invention discloses a sweeping mechanical robot with a disk rack angular distance arc meshing based on a degree of freedom, which structurally comprises: the invention realizes the matching of the plate frame arc meshing case and the clamping wheel plate to form a sweeping effect through the rotation of the angular distance magnetic block disc, and forms an inertia overturning reset effect after the collision of a truss rod through the arc buckling gear ring at the top of the brush cap block, so that a brush holder can overturn and unload force when being vibrated, and then forms an angular distance adjusting effect of the plate frame through the rotation of a free degree, thereby ensuring that the spring wire tooth blocks of the arc buckling gear ring carry out arc meshing pressing and pasting rolling on the truss rod, increasing the friction coefficient and avoiding loosening, ensuring that when a single chip microcomputer carries out variable speed adjustment and control on the rotation of a low-position rotor shaft motor, the disc angular distance magnetic block adjusting and controlling effect of the frame body can be ensured, the potential is careful and separately controlled to brush frame parts one by one, and the stability of the sweeping performance of a robot is ensured.

Description

Mechanical robot of sweeping floor that disk rack angular distance arc was nibbled based on degree of freedom

Technical Field

The invention discloses a sweeping mechanical robot with a disk rack angular distance arc meshing based on a degree of freedom, and belongs to the field of single-chip microcomputers.

Background

Mechanical robot is often used for work such as welding, transport, ground cleaning or voice interaction, is the main equipment that helps people to realize simple and easy life demand and autonomous working motion, and robot's autonomic control often combines singlechip pin branch node potential control, guarantees programming input output's change flexibility ratio, and the public shortcoming of treating optimizing of current technology has:

the brush seat of the sweeping robot is a main part for sweeping the ground, the adjustment of the freedom degree of a transverse shaft and a longitudinal shaft of the walking of the robot is in rotation type propulsion, obstacles are fed back and turned by a light sensation sensor in the front, the robot with the sensor failure is also a phenomenon of direct collision with objects, the brush seat is caused to shake by the transverse and longitudinal plate racks and gradually fall off, the sweeping process is caused, the sweeping process can be caused due to the gap of the brush seat, the sweeping of the bottom surface is uneven, the phenomenon of accumulation of dust particles is avoided, the respiratory environment of people is polluted, the working performance of the robot is seriously influenced, and the whole looseness condition can be caused by the erection of the brush body of the inner frame.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a mechanical sweeping robot with a disk rack angular distance arc meshing based on a degree of freedom, and aims to solve the problems that a brush seat of the sweeping robot is a main part for sweeping the ground, the degree of freedom of a transverse shaft and a longitudinal shaft of the robot walking is adjusted by a rotary type, obstacles are fed back and turned by a light-sensitive sensor in the current direction, the robot with a failed sensor is directly collided with objects, the brush seat is vibrated by the transverse and longitudinal disk racks to gradually fall off, the bottom surface is unevenly swept and dust particles are accumulated due to a gap of the brush seat in the sweeping process, the respiratory environment of people is polluted, the working performance of the robot is seriously influenced, and the integral looseness of the brush body erection of an inner rack is caused.

In order to achieve the purpose, the invention is realized by the following technical scheme: a mechanical robot of sweeping floor that grazes based on plate rail angular distance arc of degree of freedom, its structure includes: the handle rod, the draw buckle arc groove block, the bent frame batten, the plate frame arc meshing machine case, the clamping wheel plate, the bearing ring column and the sleeve body, wherein the plate frame arc meshing machine case is nested on the tops of the bearing ring column and the sleeve body, the bearing ring column is mechanically connected with the sleeve body, the axes of the bearing ring column and the sleeve body are collinear, the clamping wheel plate is provided with two clamping wheel plates which are respectively nested on the left side and the right side of the plate frame arc meshing machine case, the bent frame batten is respectively nested on the left end and the right end of the handle rod, the bent frame batten is mechanically connected with the plate frame arc meshing machine case through a hinge, the draw buckle arc groove block is tightly attached on the top of the plate frame arc meshing machine case, the plate frame arc meshing machine case is provided with two vibration isolation ball covers, an arc top shell groove body, an integrated circuit board seat, a single chip microcomputer, a rotor shaft motor, an angular distance magnetic block plate, a truss rod and an arc buckling brush seat, the vibration, the integrated circuit board seat is tightly attached to the top surface of the single chip microcomputer and located on the same horizontal plane, the single chip microcomputer is arranged at the top end of the inside of the arc top shell groove body, the integrated circuit board seat is electrically connected with a rotor shaft motor through a conducting wire, the rotor shaft motor is mechanically connected with the angular distance magnetic block disc, the truss rod horizontally penetrates through the inside of the angular distance magnetic block disc and is located on the same horizontal plane, the arc buckling brush seat is buckled with the truss rod together, and the arc top shell groove body is nested on the tops of the bearing ring column and the sleeve barrel body.

In order to optimize the technical scheme, the method further comprises the following steps:

as a further improvement of the invention, the vibration isolation ball cover consists of a ball spring rod cover and a ball groove inner chamber, the ball groove inner chamber and the ball spring rod cover are of an integral structure, the axes of the ball groove inner chamber and the ball spring rod cover are collinear, and the ball groove inner chamber is arranged in the ball spring rod cover and is positioned on the same vertical plane.

As a further improvement of the invention, the spring rod cover of the capsule bead consists of a spring short column, a capsule bead and a round side shell cover, wherein the spring short column is arranged inside the round side shell cover, and the capsule bead and the round side shell cover are in interference fit.

As a further improvement of the invention, the rotor shaft motor is composed of a motor housing, a rotor post and a sleeve wheel, the motor housing is nested on the top of the rotor post and is on the same vertical line, and the rotor post and the sleeve wheel are mechanically connected and are perpendicular to each other.

As a further improvement of the invention, the angular distance magnetic block disc comprises a magnetic guide block, a folding fan plate, a magic tape plate and a shaft wheel disc, wherein the magnetic guide block is mechanically connected with the folding fan plate and is positioned on the same vertical surface, the folding fan plate is tightly attached to the magic tape plate, and the shaft wheel disc and the folding fan plate are in clearance fit and have collinear axes.

As a further improvement of the invention, the magnetic guide block consists of an electromagnetic storage frame block, a pull buckle belt, a pin traction block and a magnetic pole plate block, wherein the electromagnetic storage frame block is buckled with the pin traction block through the pull buckle belt and is positioned on the same horizontal plane, and the electromagnetic storage frame block and the pin traction block are both arranged inside the magnetic pole plate block.

As a further improvement of the invention, the arc buckling brush seat consists of a brush body, a brush cap block and an arc buckling tooth ring, wherein the brush body and the brush cap block are nested into a whole, and the brush cap block and the arc buckling tooth ring are buckled together and are mutually vertical.

As a further improvement of the invention, the arc buckle tooth ring consists of a ball brush piece, a spring wire tooth block, a sliding ring groove and a clamping end block, wherein the ball brush piece is movably connected with the sliding ring groove and is positioned on the same vertical surface, the spring wire tooth block is provided with more than two spring wire tooth blocks which are inserted and embedded together around the circle center of the sliding ring groove, and the clamping end block is nested below the bottom of the sliding ring groove.

As a further improvement of the invention, the capsule ball is of a ball-ball capsule shell structure with a lateral ball cavity, the left side is thin, the right side is thick, the elastic acting force is enhanced due to the deflection effect when the single side is pressed to be butted, the uniformity of the vibration isolation effect is ensured, and the rolling arc surface forms an annular force-unloading effect.

As a further improvement of the invention, the pin traction block is a column block structure with a square frame and double short rod pins are inserted at the right side, so that the pin hooking fan plate can conveniently form an extending and folding effect, and the annular electric power guiding effect of the magnet influenced by electric power is improved.

As a further improvement of the invention, the ball brush piece is of a ball plate structure that a fin with a wide left part and a narrow right part is inserted on the ball, so that the rolling friction of the spherical surface of the ball is facilitated when the fin slides, the reduction of the contact area is ensured, and the uniform speed effect of the sliding brush ring surface formed by lifting the plate is ensured.

As a further improvement of the invention, the spring wire tooth block is of a convex block structure with a compression spring wire embedded in an isosceles trapezoid tooth block with a narrow upper part and a wide lower part, so that the trapezoidal inclined plate can be folded conveniently at an angle, the integral compact covering and wrapping degree during rod piece meshing is ensured, and the stability of anti-tripping is improved.

Advantageous effects

The invention relates to a sweeping mechanical robot based on disk rack angular distance arc meshing of a degree of freedom, which is characterized in that a handle rod is held by a hand to lift a bent rack batten to drive a clamping wheel plate and an arc top shell groove of a disk rack arc meshing machine box to form the carrying and placing operation of the robot, a worker pushes and embeds a single chip microcomputer under an integrated circuit board seat to form potential output through a hand pulling and buckling arc groove block on a bottom surface with dust, then a power supply is started to be led into a bearing ring column and a sleeve barrel to form the robot displacement effect controlled through linkage rotation of a rotor shaft motor, meanwhile, a rotor column rod in a motor shell drives a shaft sleeve wheel and a shaft wheel disc of an angular distance magnetic block disc to rotate to form the magic folding fan plate penetrating through a truss rod to tear a pasting plate to unfold and rotate the effect, and an electric storage magnetic frame block of a magnetic block enables a pin traction block to form charge equidirectional displacement operation in an electromagnetic field in a magnetic pole plate block under the potential, when the brush body grafting brush cap piece of brush holder is detained to the guarantee arc sweeps the dust subaerial, the ball brush piece that detains the ring gear through the arc becomes the gyration clip effect of clip end block round spring wire tooth piece and sliding ring groove formation, guarantee spring wire tooth piece presss from both sides the roof pressure to the package that compacts of truss rod, promote the rolling number of turns displacement volume that the precision regulation of horizontal contained angle was indulged and impel the bottom surface to clean, form mechanical robot's singlechip is from dynamic control effect, also improve the loaded down with trivial details operation of degree of freedom, reach the transmission of simply working.

The invention has the following advantages after operation:

the application disk frame arc meshing machine case cooperatees with the clip wheel board, right arc through clip wheel board and detain the brush holder, then under the potential control of singlechip, truss pole through the electric current butt joint bottom forms one and rotates the effect of sweeping the floor through the angular distance magnetic path circle, and through the arc knot ring gear at brush cap piece top, form the inertia upset reset effect after a truss pole anticollision, make the brush holder can overturn when receiving vibrations and unload the power, cooperate the gyration of degree of freedom again to form the angular distance regulation effect of disk frame, the spring wire tooth piece of guarantee arc knot ring carries out the arc meshing to the truss pole and presses the subsides roll, increase coefficient of friction and avoid not hard up, when making the singlechip carry out variable speed regulation and control to the rotation of low order rotor shaft motor, can ensure the disk angular distance magnetic path regulation and control effect of support body, let the careful branch control of electric potential brush holder part one by one, guarantee the stability of robot performance of sweeping the floor.

Drawings

Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of the embodiments of the invention when taken in conjunction with the accompanying drawings, in which:

fig. 1 is a schematic structural diagram of a sweeping mechanical robot engaged with a tray angular pitch arc based on a degree of freedom.

Fig. 2 is a detailed sectional view of the tray arc-meshing housing of the present invention.

Fig. 3 is a schematic cross-sectional structural view of the vibration isolation ball cover, the rotor shaft motor and the arc buckle brush holder in the working state.

Fig. 4 is a cross-sectional enlarged structural schematic diagram of the ball spring rod cover in the working state.

FIG. 5 is a schematic view of the magnetic angular separation disk in an overlooking configuration.

Fig. 6 is a schematic view of a three-dimensional internal view structure of the magnetic attraction block in a working state.

FIG. 7 is a schematic side view of the operating state of the arc buckle gear ring of the present invention.

Description of reference numerals: a handle rod-1, a pull buckle arc groove block-2, a bent frame batten-3, a tray arc meshing case-4, a buckle wheel plate-5, a bearing ring column-6, a sleeve body-7, a vibration isolation ball cover-4A, an arc top shell groove body-4B, an integrated circuit board seat-4C, a single chip microcomputer-4D, a rotor shaft motor-4E, an angular distance magnetic block disc-4F, a truss rod-4G, an arc buckle brush seat-4H, a capsule bead spring rod cover-4A 1, a ball groove inner chamber-4A 2, a spring wire short column-4A 11, a capsule bead-4A 12, a round side shell cover-4A 13, a motor shell-4E 1, a rotor column rod-4E 2, a sleeve wheel-4E 3, a magnetic ignition block-4F 1, a folding fan plate-4F 2, a magic tape plate-4F 3, a shaft wheel disc-4F 4, The magnetic storage battery comprises an electromagnetic storage frame block-4F 11, a pulling buckle block-4F 12, a pin traction block-4F 13, a magnetic pole plate block-4F 14, a brush body-4H 1, a brush cap block-4H 2, an arc buckle tooth ring-4H 3, a ball brush block-4H 31, a spring wire tooth block-4H 32, a sliding ring groove-4H 33 and a clamping end block-4H 34.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

The first embodiment is as follows:

referring to fig. 1 to 7, the present invention provides a mechanical sweeping robot with a disk rack angular distance arc meshing based on a degree of freedom, which comprises: the handle holding rod 1, the pull buckle arc groove block 2, the bent frame lath 3, the plate frame arc meshing machine case 4, the clamping buckle wheel plate 5, the bearing ring column 6 and the sleeve body 7, the plate frame arc meshing machine case 4 is nested on the tops of the bearing ring column 6 and the sleeve body 7, the bearing ring column 6 is mechanically connected with the sleeve body 7, the axes of the bearing ring column 6 and the sleeve body 7 are collinear, the clamping buckle wheel plates 5 are arranged on the left side and the right side of the plate frame arc meshing machine case 4, the bent frame lath 3 is arranged on the left end and the right end of the handle holding rod 1, the bent frame lath 3 is mechanically connected with the plate frame arc meshing machine case 4 through hinges, the pull buckle arc groove block 2 is tightly attached to the top of the plate frame arc meshing machine case 4, the plate frame arc meshing machine case 4 is provided with a vibration isolation spherical cover 4A, an arc top shell groove 4B, an integrated circuit board seat 4C, a 4D, a rotor shaft motor 4E, an angular distance magnetic block plate, The vibration isolation ball cover comprises arc buckle brush seats 4H, two vibration isolation ball covers 4A are arranged and are respectively nested on the left side and the right side of the inside of an arc top shell groove body 4B, an integrated circuit board seat 4C is tightly attached to the top surface of a single chip microcomputer 4D and is located on the same horizontal plane, the single chip microcomputer 4D is installed at the top end of the inside of the arc top shell groove body 4B, the integrated circuit board seat 4C is electrically connected with a rotor shaft motor 4E through a conducting wire, the rotor shaft motor 4E is mechanically connected with an angular distance magnetic block disc 4F, a truss rod 4G horizontally penetrates through the inside of the angular distance magnetic block disc 4F and is located on the same horizontal plane, the arc buckle brush seats 4H are buckled with the truss rod 4G, and the arc top shell groove body 4B is nested on the tops of a bearing ring column 6 and.

Referring to fig. 3, the rotor shaft motor 4E is composed of a motor housing 4E1, a rotor post 4E2, and a shaft sleeve 4E3, the motor housing 4E1 is nested on top of the rotor post 4E2 and is in the same vertical line, the rotor pole 4E2 is mechanically connected with the shaft sleeve wheel 4E3 and is mutually vertical, the arc buckling brush seat 4H is composed of a brush body 4H1, a brush cap block 4H2 and an arc buckling tooth ring 4H3, the brush body 4H1 and the brush cap block 4H2 are nested into a whole, the brush cap block 4H2 and the arc-shaped buckling tooth ring 4H3 are buckled together and are perpendicular to each other, the phenomenon of angular distance coil winding of inserting the shaft sleeve wheel 4E3 to rotate is formed by butting the conducting wires at the top of the rotor pole 4E2, the coil ring passing through the electric winding is guaranteed to form an angular distance propelling scale value, the rotation precision is guaranteed to be improved, and the center adjusting effect of the disk rack angular distance of the degree of freedom is also achieved.

Referring to fig. 5, the angular distance magnetic block disk 4F is composed of a magnetic guide block 4F1, a folding fan plate 4F2, a magic tape plate 4F3 and a wheel axle disk 4F4, the magnetic guide block 4F1 is mechanically connected with the folding fan plate 4F2 and is located on the same vertical plane, the folding fan plate 4F2 is tightly attached to the magic tape plate 4F3, the wheel axle disk 4F4 and the folding fan plate 4F2 are in clearance fit and have collinear axes, the folding fan plate 4F2 is lined with the wheel axle disk 4F4 to form a multi-position dividing effect of a fan-surface spread angle, the spread angle range of the uniform spread angle can be synchronously pressed and unfolded through the spread angle, and when the ground is cleaned by brushing, the chassis shaft-driven support linkage of the robot is efficient.

Referring to fig. 6, the magnetic lead block 4F1 is composed of a storage magnetic frame block 4F11, a tab strip 4F12, a lead pulling block 4F13, and a magnetic pole plate block 4F14, the electromagnetic storage block 4F11 is buckled with the pin drawing block 4F13 by the pulling buckle strip 4F12 and is positioned on the same horizontal plane, the electromagnetic storage block 4F11 and the lead block 4F13 are both disposed inside the magnetic plate block 4F14, the pin traction block 4F13 is a column block structure with a square frame and double short rod pins inserted at the right side, is convenient for the pins to hook the fan plate to form the extending and folding effects, improves the annular electric power guiding effect of the magnet influenced by electric power, free electrons of the upper and lower alignment electromagnetic pole plates formed by the alignment pin traction block 4F11 through the electromagnetic storage frame block 4F13 are subjected to a rotary electromagnetic field of a winding through the two-position homodromous magnetic frame, so that the electric charges are uniformly oriented to strengthen the traction acting force, and the adjustment accuracy of the spread angle of the disc body is extremely high.

Referring to fig. 7, the arc buckle tooth ring 4H3 is composed of a ball brush 4H31, a spring wire tooth block 4H32, a slip ring groove 4H33, and a buckle end block 4H34, the ball brush 4H31 is movably connected with the slip ring groove 4H33 and is located on the same vertical plane, the spring wire tooth block 4H32 is provided with more than two and is inserted and embedded together around the center of the slip ring groove 4H33, the buckle end block 4H34 is embedded under the bottom of the slip ring groove 4H33, the ball brush 4H31 is a ball plate structure in which a fin with a wide left side and a narrow right side is inserted and embedded on a ball, so as to facilitate rolling friction of a ball surface when the fin slides, ensure reduction of a contact area and uniform lifting of the plate to form a slip brush ring surface, the spring wire tooth block 4H32 is an isosceles trapezoid tooth block structure in which a compression spring wire is embedded inside, so as to facilitate folding of a trapezoid inclined plate in spreading angles and ensuring integral packing tightness when the bar members are pressed and engaged, promote anti-tripping's stability, encircle the work of smooth brush spring silk tooth piece 4H32 through ball brush piece 4H31, form the laminating parcel effect that turns to of anchor ring vertical pressure, make the brush body dropout in-process can be owing to the package clamping-force forms the attached effect of compacting, effectively press the upset of laminating member at the power of unloading gyration in-process, and avoid the brush body to drop.

The working process is as follows: people lift the bent frame slat 3 by hand to drive the clamping wheel plate 5 and the arc top shell groove body 4B of the tray arc meshing machine case 4 to form the carrying and placing operation of the robot, on the bottom surface with dust, the working personnel push and embed the singlechip 4D to be inserted under the integrated circuit board seat 4C through the hand-pulling and pulling arc groove block 2 to form potential output, then the power supply is started to be led into the bearing ring column 6 and the sleeve body 7 to form the robot displacement effect controlled by the linkage rotation of the rotor shaft motor 4E, simultaneously the rotor column rod 4E2 in the motor shell 4E1 drives the shaft sleeve wheel 4E3 and the shaft wheel disc 4F4 of the angular distance magnetic block disc 4F to rotate, the effect that the truss rod 4G penetrates through the folding fan plate 4F2 to tear the magic sticking plate 4F3 to open and rotate is formed, and the electricity storage magnetic frame block 4F11 of the magnetic attraction block 4F1 makes the pin traction block 4F13 form the same charge displacement in the magnetic pole plate 4F14 under the potential transmission of the pull belt 4F12, guarantee arc and detain brush body 4H1 grafting brush cap piece 4H2 of brush holder 4H when sweeping the dust subaerial, ball brush piece 4H31 through arc knot tooth ring 4H3 forms the gyration fastener effect of fastener end block 4H34 around spring tooth piece 4H32 and sliding ring groove 4H33, guarantee spring tooth piece 4H32 presss from both sides the roof pressure to truss rod 4G's the package that compacts, promote the roll number of turns displacement volume that the precision regulation of horizontal and vertical contained angle was cleaned with the propulsion bottom surface, form mechanical robot's singlechip autonomic regulation effect, also improve the loaded down with trivial details operation of degree of freedom, reach the simple and easy work transmission.

Example two:

referring to fig. 1 to 7, the present invention provides a mechanical sweeping robot engaged with a tray angular distance arc based on degrees of freedom, which is otherwise the same as embodiment 1, except that:

referring to fig. 3, the vibration isolation ball cover 4A is composed of a ball spring rod cover 4A1 and a ball groove inner chamber 4A2, the ball groove inner chamber 4A2 and the ball spring rod cover 4A1 are of an integral structure and have collinear axes, the ball groove inner chamber 4A2 is installed inside the ball spring rod cover 4A1 and is located on the same vertical plane, the ball groove inner chamber 4A2 is wrapped by the ball spring rod cover 4A1 to form an internal air pressure flow unloading effect, so that the left and right and front and rear anti-collision buffer forces are enhanced, and the flexible pressure resistance of the housing is guaranteed.

Referring to fig. 4, the ball spring rod cover 4a1 is composed of a short spring wire column 4a11, a ball capsule 4a12 and a round-side housing cover 4a13, the short spring wire column 4a11 is installed inside the round-side housing cover 4a13, the ball capsule 4a12 and the round-side housing cover 4a13 are in interference fit, the ball capsule 4a12 is a ball capsule structure with a thin left side and a thick right side, so that the elastic force generated when the ball capsule is pressed on one side is enhanced due to the deflection effect, the uniformity of the vibration isolation effect is ensured, the rolling arc surface forms an annular force-unloading effect, the ball capsule 4a12 is clamped and buckled through the short spring wire column 4a11, the composite elastic stretching effect is formed, the single-side stress condition of the overall anti-collision arc surface is improved, and the uniform annular elastic unloading effect is formed.

The support through the robot of sweeping the floor is rotated and is swept the floor, and horizontal ordinate and vertical coordinate alternately operate, let the displacement volume and the propulsion of equipment obtain careful promotion, during nevertheless work as spacing sensor failure, can form the collision condition because inertia rolls, at this moment, the mobility gyration effect of interior atmospheric pressure is formed to bag pearl spring pole cover 4A1 parcel ball groove inner chamber 4A2 through vibration isolation ball cover 4A, guarantee spring silk short column 4A11 and capsule ball 4A12 are inserted in round edge housing cover 4A13 in turn and are formed the stack of extension off-load power, guarantee that the atress of a plurality of anchor ring nodes is even, also improve the pressure area of casing, realize flexible bearing effect, the loss pressure that makes the robot striking is minimum, vibration isolation maintenance equipment inner part.

The invention achieves the purposes that the disk frame arc meshing machine case 4 is matched with the clamping wheel plate 5 through the mutual combination of the components, the arc buckling brush seat 4H is righted through the clamping wheel plate 5, then the current is butted with the bottom truss rod 4G to form the rotary sweeping effect through the angular distance magnetic block disk 4F under the potential control of the single chip microcomputer 4D, the arc buckling tooth ring 4H3 at the top of the brush cap block 4H2 is used for forming the inertia overturning reset effect after the truss rod 4G is collided, the brush seat can overturn and unload force when being vibrated, and the angular distance adjusting effect of the disk frame is formed by matching the rotation of the free degrees, the arc meshing pressure sticking rolling of the truss rod 4G is carried out by the wire tooth block 4H32 of the arc buckling spring tooth ring 4H3, the friction coefficient is increased, the looseness is avoided, and the disk angular distance adjusting effect of the rack body can be ensured when the single chip microcomputer 4D carries out the variable speed adjustment and control on the wheel of the low-position rotor shaft motor 4E, the brush holder components are controlled finely and separately one by one, the stability of the sweeping performance of the robot is guaranteed, and therefore the problem that the brush holder of the sweeping robot is a main component for sweeping the ground is solved, the adjustment of the freedom degrees of the transverse and longitudinal shafts of the robot walking is in rotary propulsion, obstacles are fed back and turned by the light sensor at the current place, the robot with a failed sensor is also in a phenomenon of directly colliding with objects, the brush holder is vibrated by the transverse and longitudinal shaft frame to gradually fall off, the sweeping process is caused, the bottom surface sweeping is uneven due to the gap of the brush holder, the phenomenon of dust particle accumulation is caused, the respiratory environment of people is polluted, the working performance of the robot is seriously influenced, and the problem that the whole body is loosened due to the erection of the brush body of the inner frame is solved.

The specific embodiments described herein are merely illustrative of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the scope of the invention or exceeding the scope of the claims appended hereto.

Claims

1. A mechanical robot of sweeping floor that grazes based on plate rail angular distance arc of degree of freedom, its structure includes: hold pole (1), draw buckle arc groove block (2), bent frame slat (3), plate rail arc and nibble quick-witted case (4), clip wheel board (5), bearing ring post (6), cover barrel (7), plate rail arc nibble quick-witted case (4) nestification is on the top of bearing ring post (6) and cover barrel (7), bearing ring post (6) and cover barrel (7) mechanical connection, clip wheel board (5) are equipped with two and respectively nest in the left and right sides of plate rail arc and nibble quick-witted case (4), bent frame slat (3) are equipped with two and respectively nest in both ends about holding pole (1), bent frame slat (3) are through hinge and plate rail arc and nibble quick-witted case (4) mechanical connection, draw buckle arc groove block (2) hug closely on the top of plate rail arc and nibble quick-witted case (4), its characterized in that:

the disk rack arc meshing case (4) is provided with two vibration isolation ball covers (4A), an arc top shell groove body (4B), an integrated circuit board seat (4C), a single chip microcomputer (4D), a rotor shaft motor (4E), an angular distance magnetic block disk (4F), a truss rod (4G) and an arc buckle brush seat (4H), the vibration isolation ball covers (4A) are respectively nested on the left side and the right side inside the arc top shell groove body (4B), the integrated circuit board seat (4C) is tightly attached to the top surface of the single chip microcomputer (4D), the single chip microcomputer (4D) is arranged at the top end inside the arc top shell groove body (4B), the integrated circuit board seat (4C) is electrically connected with the rotor shaft motor (4E) through a conducting wire, the rotor shaft motor (4E) is mechanically connected with the angular distance magnetic block disk (4F), the truss rod (4G) horizontally penetrates through the inside the angular distance magnetic block disk (4F), the arc buckling brush seat (4H) is buckled with the truss rod (4G), and the arc top shell groove body (4B) is nested on the tops of the bearing ring column (6) and the sleeve barrel body (7);

the magnetic block disk with the angular distance comprises a magnetic block disk (4F1), a folding fan plate (4F2), a magic tape plate (4F3) and a shaft wheel disk (4F4), wherein the magnetic block disk (4F1) is mechanically connected with the folding fan plate (4F2), the folding fan plate (4F2) is tightly attached to the magic tape plate (4F3), the shaft wheel disk (4F4) is matched with the folding fan plate (4F2), the magnetic block (4F1) comprises an electromagnetic storage block (4F11), a pulling buckle belt (4F12), a traction block (4F13) and a magnetic pole plate block (4F14), the electromagnetic storage block (4F11) is buckled with the pin traction block (4F13) through the pulling buckle belt (4F12), and the electromagnetic storage block (4F11) and the pin (4F13) are arranged inside the magnetic pole plate (4F 14).

2. The pan rack angular distance arc engagement sweeping mechanical robot based on the degrees of freedom of claim 1, wherein: vibration isolation ball cover (4A) comprises ball spring pole cover (4A1), ball groove inner chamber (4A2), ball groove inner chamber (4A2) and ball spring pole cover (4A1) structure as an organic whole, ball groove inner chamber (4A2) are installed in the inside of ball spring pole cover (4A1), ball spring pole cover (4A1) comprises spring short column (4A11), capsule ball (4A12), round edge housing cover (4A13), spring short column (4A11) is installed in the inside of round edge housing cover (4A13), capsule ball (4A12) cooperatees with round edge housing cover (4A 13).

3. The pan rack angular distance arc engagement sweeping mechanical robot based on the degrees of freedom of claim 1, wherein: the rotor shaft motor (4E) is composed of a motor shell (4E1), a rotor pole (4E2) and a sleeve wheel (4E3), the motor shell (4E1) is nested on the top of the rotor pole (4E2), and the rotor pole (4E2) is mechanically connected with the sleeve wheel (4E 3).

4. The pan rack angular distance arc engagement sweeping mechanical robot based on the degrees of freedom of claim 1, wherein: the arc buckle brush seat (4H) is composed of a brush body (4H1), a brush cap block (4H2) and an arc buckle tooth ring (4H3), the brush body (4H1) and the brush cap block (4H2) are nested into a whole, the brush cap block (4H2) and the arc buckle tooth ring (4H3) are buckled together, the arc buckle tooth ring (4H3) is composed of a ball brush piece (4H31), a spring wire tooth block (4H32), a sliding ring groove (4H33) and a buckle end block (4H34), the ball brush piece (4H31) is movably connected with the sliding ring groove (4H33), the spring wire tooth block (4H32) is provided with more than two and is inserted and nested together around the circle center of the sliding ring groove (4H33), and the buckle end block (4H34) is nested below the bottom of the sliding ring groove (4H 33).