CN108433645A

CN108433645A - A kind of sweeping robot device

Info

Publication number: CN108433645A
Application number: CN201810237203.0A
Authority: CN
Inventors: 葛成兰; 尹艳梅; 曾燕霞
Original assignee: Nantong Excellent Art Design Co Ltd
Current assignee: Nantong Excellent Art Design Co Ltd
Priority date: 2018-03-21
Filing date: 2018-03-21
Publication date: 2018-08-24

Abstract

The invention discloses a kind of sweeping robot devices, including mobile shell, the middle position of the mobile shell lower face is provided with a clearing apparatus, rear side inside the mobile shell is provided with a storage dirt space, the front bulkhead in the storage dirt space is provided with a suction inlet diagonally downward, the outer end of the rotary shaft passes through the outer end wall of inductive spacing and is fixedly connected with a support device, the mobile shell upper end is provided with the cylindricality block for being integrated with formula structure, it is provided with an annular groove on the cylindroid of the cylindricality block, one annular moving block is installed in the annular groove, the front end of the annular moving block is embedded to be equipped with image former and audiolocator.In present invention work, image former and audiolocator work at the same time, and Scan orientation completes indoor ground distributor Butut, completion route planning and barrier is facilitated to evade, when being translated into because of pet or moving back and forth for children in device, automatic turning ensure that normal work.

Description

A kind of sweeping robot device

Technical field

Keep a public place clean field the present invention relates to household, specially a kind of sweeping robot device.

Background technology

Currently, as the improvement of people's living standards, the development of science and technology, more and more robots are used in the day of people Often life in, and sweeping robot because it is easy to operate, easy to use be more and more accepted, life, family and It can all be used in office and arrive sweeping robot, and there is also a large amount of sweeping robots in the market, but be mostly random cleaning, Lacking planning, the effect of cleaning leans on the accumulation of clearance time completely, there exists a further problem in that, there is pet in child or family When, it is frequently found sweeping robot and is turned over a bottom surface towards day, dally there, waste the energy, required for also not reaching Cleaning effect.

Invention content

The purpose of the present invention is to provide a kind of sweeping robot devices, to solve mentioned above in the background art ask Topic.

To achieve the above object, the present invention provides the following technical solutions：A kind of sweeping robot device, including mobile shell Body is provided with a steering slot that Open Side Down, the centre bit for turning to slot upper end wall on front side of the mobile shell lower face The place of setting is fixedly installed a steering motor, and steering motor lower end be connected by power has a steering shaft, the steering shaft lower end solid Surely it is connected with a U-shaped block, and the axis body middle position fixing sleeve of the steering shaft is connected to steering wheel, the cylindricality for turning to slot An annular link slot is provided at wall position corresponding with steering wheel, the steering wheel is connected with annular link slot, institute The lower end for stating U-shaped block is provided with a U-lag that Open Side Down, and a driving wheel, the U-lag right end are provided in the U-lag The lower end of pars intramuralis is provided with a driving space, and the driving space interior is fixedly installed a driving motor, the driving electricity Machine left end be connected by power has a drive shaft, the left end of the drive shaft to pass through the left end wall in driving space and the left end with U-lag Wall rotary type is fixedly connected, and the driving wheel is fixedly attached on the axis body of drive shaft, the rear side of the mobile shell lower face Be symmetrically set with a rolling groove, be respectively provided with a rolling rod in the rolling groove, the left and right ends of the rolling rod respectively with The left and right ends wall rotary type of rolling groove is fixedly connected, and equal fixing sleeve is connected to a scroll wheel on the body of rod of the rolling rod, described The middle position of mobile shell lower face is provided with a clearing apparatus, and the clearing apparatus includes the screening dirt being symmetrical set Plate, grabbing inside the dust guard of right side are provided with a power space, and the power space interior is fixedly installed a power The left end be connected by power of motor, the power motor has a channel washer, the left end of the channel washer to pass through the left end in power space It wall and is fixedly connected with the right side rotary type of left side dust guard, fixing sleeve rolls hair equipped with one on the body of rod of the channel washer Brush, the rear for rolling hairbrush are provided with a fixed link, and the left and right sides dust guard is corresponding with fixed link left and right ends A fixing groove is both provided at position, the end of the fixed link is located in fixing groove and fixing sleeve is equipped with a torque spring, institute The rear and front end for stating torque spring is fixedly connected with the rear and front end wall of fixing groove respectively, and the fixed link lower face is fixedly connected There are a scraper plate tilted backwards, the rear side inside the mobile shell to be provided with a storage dirt space, the rear end in the storage dirt space Wall is provided with an exhaust outlet, and the exhaust outlet, which is connected to, stores up dirt space and free surrounding space, detachable in the exhaust outlet to be equipped with The front bulkhead of one filter screen, the storage dirt space is provided with a suction inlet diagonally downward, the suction inlet connection storage dirt space And free surrounding space, a working space is provided in the left end wall of the suction inlet, and one is fixedly installed inside the working space The right end be connected by power of work drive motor, the work drive motor has a rotating bar, the right end of the rotating bar to pass through working space It right end wall and is fixedly connected with the right end wall rotary type of suction inlet, multiple air drafts is evenly distributed on the body of rod of the rotating bar It fans, the middle position inside the mobile shell is provided with a vertical space, and the upper end in the vertical space is installed with One triggering inductor, the vertical space interior incude sphere equipped with one, and the left and right sides inside the mobile shell is symmetrically set It is equipped with an inductive spacing, an induction machine is fixedly installed inside the inductive spacing, the induction machine is empty far from storage dirt Between outer end be connected by power have a rotary shaft, the outer end of the rotary shaft passes through the outer end wall of inductive spacing and is fixedly connected with one Support device, the support device include seal casinghousing, and the seal casinghousing is internally provided with a sealing space, and the sealing is empty Between be internally provided with a sealing plate, an elevating lever, the lower end of the elevating lever are symmetrically arranged with before and after the lower end of the sealing plate It both passes through the lower end wall of sealing space and is respectively fixedly connected with the front and rear sides of end face on the supporting plate, the seal casinghousing front end Face has been fixedly arranged at the upper side a pulsometer, and a venthole, the venthole are provided on the upside of the sealing space front bulkhead Communication seals space and pulsometer, the mobile shell upper end are provided with the cylindricality block for being integrated with formula structure, the cylindricality Be provided with an annular groove on the cylindroid of block, an annular moving block be installed in the annular groove, the annular groove rear end it is interior It is provided with a driving groove in the wall of side, a transmission gear is provided in the driving groove, the rear end of the transmission gear is pierced by biography It moves slot and is connected with the inward bottom wall of annular moving block, the center position of the transmission gear upper surface is fixedly connected with One transmission shaft, the upper end of the transmission shaft and servo motor be connected by power, the annular front of the slot, left end and right end inner end It is both provided with a driven slot in wall, a driven gear, the centre position army of the driven gear are both provided in the driven slot Fixing sleeve is connected to a rotation axis, and the upper and lower ends of the rotation axis are fixed with the upper and lower ends wall rotary type of driven slot respectively to be connected It connects, the outside of the driven gear is pierced by driven slot and is connected with the inward bottom wall of annular moving block, and the annular turns The front end of motion block is embedded to be equipped with image former and audiolocator.

Preferably, the driving wheel lower end is located at the outside turned on the downside of slot, the lower end of the scroll wheel, which is located at, to be rolled Outside on the downside of slot, and the driving wheel lower end and scroll wheel lower end are identical at a distance from mobile shell lower face.

Preferably, the lower end for rolling hairbrush is in close contact with ground, it is located at the lower ending opening of the suction inlet Between the dust guard of the left and right sides and positioned at the rear side for rolling hairbrush.

Compared with prior art, the beneficial effects of the invention are as follows：In present invention work, supported by driving wheel and scroll wheel Single unit system is played, servo motor work is rotated by transmission shaft band nutating gear, to drive annular moving block in annular groove Interior rotation is connected by driven gear and annular moving block, plays the role of support, keep rotation angle more accurate, be convenient for Positioning, meanwhile, with the rotation of annular moving block, image former and audiolocator work at the same time, and Scan orientation completes room Interior ground distributor Butut facilitates completion route planning and barrier to evade, in use, driving motor works, passes through drive shaft band When steering motor works, the rotation of U-shaped block is driven by steering shaft to drive the advance of single unit system for dynamic driving wheel rotation, from And complete steering task, wherein support is played the role of in the cooperation of steering wheel and annular link slot, in moving process, power electric Machine works, and is driven by channel washer and rolls hairbrush rotation, to raise the dust adhered on ground, sundries, then, work drive motor Work drives exhaust fan rotation by rotating bar, to suck the dust and sundries that are raised in the air, sucking storage by suction inlet Turbid air in dirt space, after the filtering of filter screen, cleaned air is discharged by exhaust outlet, and dust and sundries are left on It stores up in dirt space, wherein scraper plate can scrape the rubbish of area's attachment on the ground, and can prevent from rolling the dust that hairbrush raises It is discharged from rear, makes the cleaner of floor cleaning, when ground attachment is too firm, scraper plate can be in the effect of torque spring Under turn over, by returning in situ after protrusion, avoid scraper plate and damaged because stress is excessive, in device because doting on Object or moving back and forth for children and when translating into, induction sphere under gravity it is mobile with trigger inductor and contact, induction machine Work drives support device rotation by rotary shaft, stops after half rotation, at this point, air pressure pump work, in the effect of air pressure Under, sealing plate pushes support plate to move down by elevating lever, and support plate is contacted with ground plays the role of support, mobile shell After rising to enough height, induction machine reversely rotates half-turn, makes the lower face of mobile shell close to ground, the reversed work of pulsometer Make, elevating lever retracts into sealing space, to make device complete overturning, ensure that normal work.

Description of the drawings

Fig. 1 is a kind of overlooking structure diagram of sweeping robot device entirety complete section of the present invention；

Fig. 2 is a kind of left view structural representation of sweeping robot device entirety complete section of the present invention；

Fig. 3 is the overlooking structure diagram of clearing apparatus complete section in a kind of sweeping robot device of the present invention

Fig. 4 is the main structure diagram of driving wheel connection type complete section in a kind of sweeping robot device of the present invention；

Fig. 5 is the left view structural representation of support device complete section in a kind of sweeping robot device of the present invention；

Fig. 6 is the overlooking structure diagram of annular moving block connection type complete section in a kind of sweeping robot device of the present invention.

Specific implementation mode

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

- 6 are please referred to Fig.1, a kind of embodiment provided by the invention：A kind of sweeping robot device, including mobile shell 1, A steering slot 2 that Open Side Down, the centre bit for turning to 2 upper end wall of slot are provided on front side of 1 lower face of the mobile shell The place of setting is fixedly installed a steering motor 3, and 3 lower end be connected by power of the steering motor has a steering shaft 4, under the steering shaft 4 End is fixedly connected with a U-shaped block 5, and the axis body middle position fixing sleeve of the steering shaft 4 is connected to steering wheel 6, the steering An annular link slot 7, the steering wheel 6 and annular link slot are provided at the cylindrical wall of slot 2 position corresponding with steering wheel 6 7 are connected, and the lower end of the U-shaped block 5 is provided with a U-lag 8 that Open Side Down, a driving wheel is provided in the U-lag 8 9, the lower end of 8 right end pars intramuralis of the U-lag is provided with a driving space 10, and one is fixedly installed inside the driving space 10 Driving motor 11,11 left end be connected by power of the driving motor have a drive shaft 12, the left end of the drive shaft 12 to pass through driving It the left end wall in space 10 and is fixedly connected with the left end wall rotary type of U-lag 8, the driving wheel 9 is fixedly attached to drive shaft 12 Axis body on, a rolling groove 13 is symmetrically set on rear side of 1 lower face of the mobile shell, is all provided in the rolling groove 13 A rolling rod 14 is set, the left and right ends of the rolling rod 14 are fixedly connected with the left and right ends wall rotary type of rolling groove 13 respectively, Equal fixing sleeve is connected to a scroll wheel 15 on the body of rod of the rolling rod 14, and the middle position of 1 lower face of the mobile shell is set It is equipped with a clearing apparatus 16, the clearing apparatus 16 includes the dust guard 17 being symmetrical set, in the right side dust guard 17 Grabbing for portion is provided with a power space 18, and a power motor 19, the power are fixedly installed inside the power space 18 The left end be connected by power of motor 19 has a channel washer 20, the left end of the channel washer 20 pass through the left end wall in power space 19 and with The right side rotary type of left side dust guard 17 is fixedly connected, and fixing sleeve rolls hairbrush equipped with one on the body of rod of the channel washer 20 21, the rear for rolling hairbrush 21 is provided with a fixed link 22, the left and right sides dust guard 17 and fixed link 22 or so two It holds and is both provided with a fixing groove 23 at corresponding position, the end of the fixed link 22 is located in fixing groove 23 and fixing sleeve is equipped with The rear and front end of one torque spring 24, the torque spring 24 is fixedly connected with the rear and front end wall of fixing groove 23 respectively, described 22 lower face of fixed link is fixedly connected with a scraper plate 25 tilted backwards, and the rear side inside the mobile shell 1 is provided with a storage The aft bulkhead in dirt space 26, the storage dirt space 26 is provided with an exhaust outlet 27,26 He of the connection storage dirt of the exhaust outlet 27 space Free surrounding space, detachable in the exhaust outlet 27 to be equipped with a filter screen 59, the front bulkhead in the storage dirt space 26 is provided with One suction inlet 28 diagonally downward, the connection storage dirt of the suction inlet 28 space 26 and free surrounding space, the left end of the suction inlet 28 It is provided with a working space 29 in wall, a work drive motor 30, the work drive motor are fixedly installed inside the working space 29 30 right end be connected by power has a rotating bar 31, the right end of the rotating bar 31 to pass through right end wall and and the dust suction of working space 29 The right end wall rotary type of mouth 28 is fixedly connected, and multiple exhaust fans 32, the shifting are evenly distributed on the body of rod of the rotating bar 31 Middle position inside dynamic shell 1 is provided with a vertical space 33, and the upper end in the vertical space 33 is installed with one and touches Inductor 34 is sent out, 33 inside of the vertical space incudes sphere 35 equipped with one, and the left and right sides inside the mobile shell 1 is symmetrical It is provided with an inductive spacing 36, an induction machine 37, the induction machine 37 are fixedly installed inside the inductive spacing 36 Outer end be connected by power far from storage dirt space 26 has a rotary shaft 38, the outer end of the rotary shaft 38 to pass through the outer of inductive spacing 36 End wall and it is fixedly connected with a support device 39, the support device 39 includes seal casinghousing 40, inside the seal casinghousing 40 It is provided with a sealing space 41, the sealing space 41 is internally provided with a sealing plate 42, before and after the lower end of the sealing plate 42 It is symmetrically arranged with an elevating lever 43, the lower end of the elevating lever 43 both passes through the lower end wall of sealing space 41 and is respectively fixedly connected with Front and rear sides in 44 upper surface of support plate, 40 front end face of the seal casinghousing have been fixedly arranged at the upper side a pulsometer 45, institute It states and is provided with a venthole 46 on the upside of 41 front bulkhead of sealing space, 46 communication seals space 41 of the venthole and pulsometer 45,1 upper end of the mobile shell is provided with the cylindricality block 47 for being integrated with formula structure, is set on the cylindroid of the cylindricality block 47 It is equipped with an annular groove 48, an annular moving block 49, the inward bottom wall of 48 rear end of the annular groove are installed in the annular groove 48 It is inside provided with a driving groove 50, a transmission gear 51 is provided in the driving groove 50, the rear end of the transmission gear 51 is pierced by It driving groove 50 and is connected with the inward bottom wall of annular moving block 49, the center position of 51 upper surface of the transmission gear is solid Surely a transmission shaft 52, upper end and 53 be connected by power of servo motor of the transmission shaft 52,48 front end of the annular groove, a left side are connected with It is both provided with a driven slot 54 in the inward bottom wall of end and right end, a driven gear 55, institute are both provided in the driven slot 54 The centre position army fixing sleeve for stating driven gear 55 is connected to a rotation axis 56, the upper and lower ends of the rotation axis 56 respectively with it is driven The upper and lower ends wall rotary type of slot 54 is fixedly connected, and the outside of the driven gear 55 is pierced by driven slot 54 and is rotated with annular The inward bottom wall of block 49 is connected, and the front end of the annular moving block 49 is embedded to be equipped with image former 57 and sound wave is fixed Position device 58.

Valuably, 9 lower end of the driving wheel is located at the outside for turning to 2 downside of slot, and the lower end of the scroll wheel 15 is located at rolling The outside of 13 downside of dynamic slot, and 9 lower end of the driving wheel and 15 lower end of scroll wheel are identical at a distance from 1 lower face of mobile shell, Its effect is to support single unit system by driving wheel 9 and scroll wheel 15, is convenient for the movement of device.

Valuably, the lower end for rolling hairbrush 21 is in close contact with ground, position at the lower ending opening of the suction inlet 28 Between left and right sides dust guard 17 and positioned at the rear side for rolling hairbrush 21.Its effect is that power motor 19 works, and passes through cleaning Bar 20, which drives, rolls the rotation of hairbrush 21, and to raise the dust adhered on ground, sundries, then, work drive motor 30 works, and passes through Rotating bar 31 drives exhaust fan 32 to rotate, and to suck the dust and sundries raised in the air by suction inlet 28, completes ground Cleaning.

Specifically used mode：In present invention work, single unit system, servo electricity are supported by driving wheel 9 and scroll wheel 15 Machine 53 works, and is rotated with nutating gear 51 by transmission shaft 52, to drive the rotation in annular groove 48 of annular moving block 49, It is connected by driven gear 55 and annular moving block 49, plays the role of support, keep rotation angle more accurate, convenient for fixed Position, meanwhile, with the rotation of annular moving block 49, image former 57 and audiolocator 58 work at the same time, and Scan orientation is complete At indoor ground distributor Butut, completion route planning and barrier is facilitated to evade, in use, driving motor 11 works, passes through drive Moving axis 12 drives driving wheel 9 to rotate, and to drive the advance of single unit system, when steering motor 3 works, U is driven by steering shaft 4 Shape block 5 rotates, to complete steering task, wherein support is played the role of in steering wheel 6 and the cooperation of annular link slot 7, mobile In the process, power motor 19 works, and is driven by channel washer 20 and rolls the rotation of hairbrush 21, to raise the ash adhered on ground Dirt, sundries, then, work drive motor 30 work, and drive exhaust fan 32 to rotate by rotating bar 31, to be sucked by suction inlet 28 The dust and sundries raised in the air, the turbid air in dirt space 26 is stored up in sucking, clean empty after the filtering of filter screen 59 Gas is discharged by exhaust outlet 27, and dust and sundries are left in storage dirt space 26, wherein scraper plate 25 can scrape area and be attached to ground On rubbish, and can prevent from rolling the dust that raises of hairbrush 21 and be discharged from rear, make the cleaner of floor cleaning, work as ground When attachment is too firm, scraper plate 25 can turn under the action of torque spring 24, by returning to original after protrusion Position, avoids scraper plate 25 and is damaged because stress is excessive, when being translated into because of pet or moving back and forth for children in device, induction Sphere 35 moves under gravity to be contacted with triggering inductor 34, and induction machine 37 works, and branch is driven by rotary shaft 38 Support arrangement 39 rotates, and stops after half rotation, at this point, pulsometer 45 works, under the influence of air pressure, sealing plate 42 passes through lifting Bar 43 pushes support plate 44 to move down, and support plate 44 is contacted with ground plays the role of support, and mobile shell 1 rises to enough After height, induction machine 37 reversely rotates half-turn, makes the lower face of mobile shell close to ground, 45 reverse operation of pulsometer rises Drop bar 43 retracts into sealing space 41, to make device complete overturning, ensure that normal work.

It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.

Claims

1. a kind of sweeping robot device, including mobile shell, it is characterised in that：The front side of the mobile shell lower face is arranged There is a steering slot that Open Side Down, the center position for turning to slot upper end wall is fixedly installed a steering motor, described turn There are a steering shaft, the steering shaft lower end to be fixedly connected with a U-shaped block, and the axis of the steering shaft to motor lower end be connected by power Body middle position fixing sleeve is connected to steering wheel, and one is provided at the cylindrical wall position corresponding with steering wheel for turning to slot Annular link slot, the steering wheel are connected with annular link slot, and the lower end of the U-shaped block is provided with a U that Open Side Down Shape slot is provided with a driving wheel in the U-lag, and the lower end of the U-lag right end pars intramuralis is provided with a driving space, described Driving space interior is fixedly installed a driving motor, and the driving motor left end be connected by power has a drive shaft, the driving The left end of axis passes through the left end wall in driving space and is fixedly connected with the left end wall rotary type of U-lag, the driving wheel fixing sleeve It is connected on the axis body of drive shaft, a rolling groove, the rolling groove is symmetrically set on rear side of the mobile shell lower face It is inside respectively provided with a rolling rod, the left and right ends of the rolling rod are fixedly connected with the left and right ends wall rotary type of rolling groove respectively, Equal fixing sleeve is connected to a scroll wheel on the body of rod of the rolling rod, and the middle position of the mobile shell lower face is provided with one Clearing apparatus, the clearing apparatus include the dust guard being symmetrical set, and grabbing inside the dust guard of right side is provided with One power space, the power space interior are fixedly installed a power motor, and the left end be connected by power of the power motor has The left end of one channel washer, the channel washer passes through the left end wall in power space and is fixed with the right side rotary type of left side dust guard It connecting, fixing sleeve rolls hairbrush equipped with one on the body of rod of the channel washer, and the rear for rolling hairbrush is provided with a fixed link, The left and right sides dust guard is both provided with a fixing groove, the end of the fixed link at position corresponding with fixed link left and right ends Portion is located in fixing groove and fixing sleeve is equipped with a torque spring, the rear and front end of the torque spring respectively with before and after fixing groove End walls are fixedly connected, and the fixed link lower face is fixedly connected with a scraper plate tilted backwards, inside the mobile shell Rear side is provided with a storage dirt space, and the aft bulkhead in the storage dirt space is provided with an exhaust outlet, and the exhaust outlet is connected to Chu Chenkong Between and free surrounding space, detachable in the exhaust outlet to be equipped with a filter screen, the front bulkhead in the storage dirt space is provided with one Suction inlet diagonally downward, the suction inlet connection are stored up dirt space and free surrounding space, are provided in the left end wall of the suction inlet One working space is fixedly installed a work drive motor inside the working space, and the right end be connected by power of the work drive motor has One rotating bar, the right end of the rotating bar, which passes through the right end wall of working space and fixed with the right end wall rotary type of suction inlet, to be connected It connects, multiple exhaust fans is evenly distributed on the body of rod of the rotating bar, the middle position inside the mobile shell is provided with The upper end in one vertical space, the vertical space is installed with a triggering inductor, and the vertical space interior is equipped with a sense Sphere, the left and right sides inside the mobile shell is answered to be symmetrically arranged with an inductive spacing, fixed inside the inductive spacing It is provided with an induction machine, outer end be connected by power of the induction machine far from storage dirt space has a rotary shaft, the rotary shaft Outer end pass through inductive spacing outer end wall and be fixedly connected with a support device, the support device includes seal casinghousing, institute It states seal casinghousing and is internally provided with a sealing space, the sealing space is internally provided with a sealing plate, under the sealing plate An elevating lever is symmetrically arranged with before and after end, the lower end of the elevating lever both passes through the lower end wall of sealing space and is respectively fixedly connected with The front and rear sides of end face on the supporting plate, the seal casinghousing front end face have been fixedly arranged at the upper side a pulsometer, the sealing A venthole, venthole communication seals space and pulsometer are provided on the upside of the front bulkhead of space, on the mobile shell End is provided with the cylindricality block for being integrated with formula structure, and an annular groove, the annular are provided on the cylindroid of the cylindricality block One annular moving block is installed in slot, is provided with a driving groove in the inward bottom wall of the annular groove rear end, in the driving groove It is provided with a transmission gear, the rear end of the transmission gear, which is pierced by driving groove and coordinates with the inward bottom wall of annular moving block, to be connected It connects, the center position of the transmission gear upper surface is fixedly connected with a transmission shaft, upper end and the servo electricity of the transmission shaft Mechanomotive force connects, the annular front of the slot, left end and right end inward bottom wall in be both provided with a driven slot, in the driven slot Be both provided with a driven gear, the centre position army fixing sleeve of the driven gear is connected to a rotation axis, the rotation axis it is upper Lower both ends are fixedly connected with the upper and lower ends wall rotary type of driven slot respectively, the outside of the driven gear be pierced by driven slot and It is connected with the inward bottom wall of annular moving block, the front end of the annular moving block is embedded to be equipped with image former harmony Audiolocator.

2. a kind of sweeping robot device according to claim 1, it is characterised in that：The driving wheel lower end, which is located at, to be turned to Outside on the downside of slot, the lower end of the scroll wheel are located at the outside on the downside of rolling groove, and under the driving wheel lower end and scroll wheel End is identical at a distance from mobile shell lower face.

3. a kind of sweeping robot device according to claim 1, it is characterised in that：The lower end for rolling hairbrush and ground Face is in close contact, between the dust guard of the left and right sides and positioned at the rear side for rolling hairbrush at the lower ending opening of the suction inlet.