Manual driving component of a robot

Abstract

The present invention relates to a manual driving component of a robot, comprising: a handle, a first sensing part, a main shaft, a second sensing part and a controller; the handle can be moved up and down and rotated left and right; the first sensing part is used to sense the left and right rotation angle of the handle, and the first sensing part is connected to the handle; one end of the main shaft is connected to the first sensing part; the second sensing part is used to sense the up and down moving angle of the handle, and the second sensing part is connected to the main shaft; the controller is used to obtain the left and right rotation angle and the up and down moving angle of the handle, and control the robot to operate at a specified angle. The above manual driving component can control the robot to move forward, backward, left and right by moving the handle up and down or rotating the handle left and right.

Description

Technical Field

[0001] The invention relates to the field of robots, in particular to a manual driving component of a robot. Background Art

[0002] With the advancement of science and technology, the use of robots is becoming more and more common. At present, commercial robots on the market integrate a variety of cutting-edge technologies, such as lidar, depth cameras, ultrasonic radar, infrared sensors, collision sensors, liquid level sensors, WIFI, 4G, GPS, etc. These technologies ensure that robots can accurately and stably clean the floor in different application scenarios.

[0003] Currently, commercial robots mainly perform cleaning work through automatic navigation. Based on the principle of automatic navigation, there will be blind spots whether it is cleaning along the edges or cleaning in a concentrated manner. In addition, automatic navigation also has the potential risk of system failure, which will affect the overall cleaning effect. Summary of the invention

[0004] In view of the above situation, the present invention proposes a manual driving component of a robot, which can control the robot to move forward, backward, left, and right by moving the handle up and down or rotating the handle left and right.

[0005] The technical solution adopted by the present invention is: a manual driving component of a robot, comprising:

[0006] A handle, which can be moved up and down and rotated left and right;

[0007] A first sensor part, used for sensing the left-right rotation angle of the handle, the first sensor part is connected to the handle;

[0008] A main shaft, one end of which is connected to the first sensing part;

[0009] A second sensor part, used for sensing the up and down movement angle of the handle, the second sensor part is connected to the main shaft; and

[0010] The controller is used to obtain the left and right rotation angles and the up and down movement angles of the handle, and control the robot to run at specified angles.

[0011] In a further embodiment of the present invention, the handle is a U-shaped structure, and is provided with a micro switch for switching between automatic and manual dual control modes.

[0012] In a further embodiment of the present invention, the first sensing unit comprises:

[0013] a first angular velocity sensor;

[0014] A steering rotation shaft, one end of which is connected to the first angular velocity sensor, and the steering rotation shaft includes a first limiting protrusion;

[0015] A fixed shaft connected to the other end of the steering rotating shaft; and

[0016] The rotating assembly has the steering shaft passing through the middle, and the rotating assembly includes a first rotating member and a second rotating member; wherein,

[0017] The first rotating member and the second rotating member are fixed by screw connection, and the first rotating member is connected to the handle;

[0018] The second rotating member includes two blocking bosses, the two blocking bosses are arranged one above the other, and the first limiting protrusion is arranged between the two blocking bosses.

[0019] In a further embodiment of the present invention, the rotating assembly further comprises: a first rotary damper, a return stopper and a first tension spring;

[0020] The fixed shaft includes a second limiting protrusion and a third limiting protrusion;

[0021] The first rotary damper is connected to the steering rotary shaft, and the first rotating member, the first rotary damper and the second rotating member are fixed by screw connection;

[0022] The second rotating member includes a first connecting member and a second connecting member, wherein the first connecting member and the second connecting member are respectively arranged at two ends of the second rotating member;

[0023] The return baffle is respectively in contact with the second limiting protrusion and the third limiting protrusion, one end of the return baffle is connected to the first connecting member, and the other end of the return baffle is connected to the second connecting member through the first tension spring.

[0024] In a further solution of the present invention, the second sensing part further includes a second rotation damper, the second rotation damper is connected to an end of the straight-moving rotation axis away from the second angular velocity sensor, and the second rotation damper is connected to the second fixed bracket.

[0025] In a further embodiment of the present invention, the second sensing part further comprises a bearing assembly, the bearing assembly comprises a bearing seat and a bearing, the bearing seat is connected to the mounting base plate, the bearing seat comprises a mounting hole, the bearing is disposed in the mounting hole, and the bearing is sleeved on the linear rotating shaft.

[0026] In a further embodiment of the present invention, the manual driving assembly further comprises an elastic restoring portion for resetting by moving up and down, and the elastic restoring portion comprises:

[0027] The first roller;

[0028] Second roller shaft;

[0029] The second bracket includes two first sliding holes for accommodating the two ends of the first roller shaft respectively and two second sliding holes for accommodating the two ends of the second roller shaft respectively, the first sliding holes and the second sliding holes are arranged with a vertical interval, the first roller shaft and the second roller shaft can slide up and down in the first sliding holes and the second sliding holes respectively, and the main shaft is placed between the first roller shaft and the second roller shaft and can push them to move upward and downward respectively;

[0030] a second tension spring, used for returning the second roller shaft to its original position after the second roller shaft deviates from its initial position, one end of the second tension spring being connected to the second roller shaft, and the other end being fixed to the second bracket;

[0031] The third tension spring is used to reset the first roller shaft after it deviates from the initial position. One end of the third tension spring is connected to the first roller shaft, and the other end is fixed to the second bracket.

[0032] In a further embodiment of the present invention, the elastic recovery portion further comprises:

[0033] a third connecting member, disposed on the top of the second bracket, the third connecting member being connected to one end of the second tension spring;

[0034] The fourth connecting member is arranged at the bottom of the second bracket, and the fourth connecting member is connected to one end of the third tension spring.

[0035] In a further embodiment of the present invention, a protective sleeve is provided at one end of the main shaft close to the second bracket.

[0036] In a further embodiment of the present invention, a first copper sleeve is sleeved on the contact surface between the first roller and the two first sliding holes, and a second copper sleeve is sleeved on the contact surface between the second roller and the two second sliding holes.

[0037] The beneficial effects of the present invention are that a first sensor for sensing the left and right rotation angle of the handle and a second sensor for sensing the up and down movement angle of the handle are provided on the manual driving component of the robot. The two sensor parts feed back the recorded angle change information to the controller of the robot, and then the controller issues a control instruction to make the robot make corresponding movements. The up and down movement angle of the manual driving component of the robot determines the speed of the robot's forward or backward movement, and the left and right movement angle of the manual driving component of the robot determines the left and right swing angle of the robot, thereby realizing manual control of the robot's forward, backward, left and right movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention.

[0039] Figure 2 It is a diagram of the overall structure of an embodiment of the present invention.

[0040] Figure 3 It is a structural exploded view of the first sensing unit according to an embodiment of the present invention.

[0041] Figure 4 It is a disassembled diagram of the rotating assembly structure of an embodiment of the present invention.

[0042] Figure 5 It is a disassembled diagram of the fixed shaft structure of an embodiment of the present invention.

[0043] Figure 6 1 is a main shaft structure diagram of an embodiment of the present invention.

[0044] Figure 7 It is a structural exploded view of the second sensing unit according to an embodiment of the present invention.

[0045] Figure 8 2 is a schematic diagram of the structure of the elastic recovery portion of an embodiment of the present invention.

[0046] In the figure, the handle 100; the first sensing part 200, the first angular velocity sensor 210, the steering rotation axis 220, the fixed axis 230, the second limiting protrusion 231, the third limiting protrusion 232, the rotating assembly 240, the first rotating member 241, the first rotary damping 242, the second rotating member 243, the first connecting member 2431, the second connecting member 2432, the blocking boss 2433, the return block 244, the first tension spring 245; the main shaft 300; the second sensing part 400, the straight rotation axis 410, the second ... Speed ​​sensor 420, first fixed bracket 430, second fixed bracket 440, mounting base plate 450, second rotary damper 460, bearing assembly 470, bearing seat 471, mounting hole 4711, bearing 472; elastic return portion 500, first roller 510, second roller 520, second bracket 530, first sliding hole 531, second sliding hole 532, third connecting member 540, second tension spring 550, fourth connecting member 560, third tension spring 570, first copper sleeve 580, second copper sleeve 590. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the following is a further detailed description of a manual driving assembly of a robot of the present invention in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0048] In the description of the present invention, unless otherwise specified, "multiple" means two or more; the terms "center", "longitudinal", "lateral", "up", "down", "left", "right", "inside", "outside", "front end", "rear end", "head", "tail", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third" and the like are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0049] In the description of this utility, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this utility can be understood by specific circumstances.

[0050] See also Figure 1 In a specific implementation manner provided by the present invention, the manual driving component of the cleaning robot mainly includes a handle 100, a first sensor part 200 for sensing the left and right rotation angle of the handle 100, a main shaft 300, a second sensor part 400 for sensing the up and down movement angle of the handle 100, and a controller for obtaining the left and right rotation angle and the up and down movement angle of the handle 100 and controlling the robot to operate at a specified angle; the main shaft 300 is connected to the first sensor part 200 and the second sensor part 400 respectively. When the robot needs to move forward and backward, the angle value of the up and down movement of the handle 100 is recorded by the second sensor part 400 and fed back to the controller of the robot, and then the controller issues a control instruction to make the robot move forward or backward, and the travel speed is determined by the up and down movement angle value; when the robot needs to move left and right, the angle value of the left and right rotation of the handle 100 is recorded by the first sensor part and fed back to the controller of the robot, and then the controller issues a control instruction to make the cleaning machine turn left or right, and the steering angle is determined by the left and right rotation angle value of the handle 100.

[0051] Specifically, see Figure 2The shape of the handle 100 is not limited here. It only needs to be ergonomic and convenient to hold and apply force. Preferably, the handle 100 is set in a "U" shape, and the folded edge formed by the bending of the bottom of the U shape is the hand-holding area, which is convenient for left and right hands to hold; in order to prevent the hand from slipping out, an anti-slip pattern can be set in the hand-holding area of ​​the handle 100; in order to facilitate the activation of the manual control mode, a micro switch can be installed on the handle 100. The specific installation position of the micro switch is not limited here. For example, it can be set in the left hand grip area or the right hand grip area, and the micro switch can also be installed in both hand grip areas at the same time. Preferably, the micro switch is installed in both hand grip areas, and only when both micro switches are continuously pressed, the manual control mode will be activated, and the instructions for forward and backward movement and left and right rotation will be sent to the controller, which can prevent the robot from losing control due to misoperation. The micro switch can be a button type or a touch type, which is not limited here.

[0052] See also Figure 3-5 The first sensing unit 200 includes a first angle sensor 210, a steering rotating shaft 220, a fixed shaft 230 and a rotating assembly 240 for driving the steering rotating shaft 220 to rotate. Specifically, one end of the steering rotating shaft 220 is connected to the first angle sensor 210, and the first angle sensor 210 senses the change in rotation angle through the rotation of the steering rotating shaft 220. The other end of the steering rotating shaft 220 is connected to the fixed shaft 230. The middle part of the rotating assembly 240 is penetrated by the steering rotating shaft 220. The rotating assembly 240 includes a first rotating member 241, a first rotary damper 242, a second rotating member 243, a return baffle 244 and a first tension spring 245, wherein the first rotating member 241, the first rotary damper 242 and the second rotating member 243 are screwed and fixed in sequence by screws, and the first rotating member 241 is connected to the handle 100. When the handle 100 rotates, the first rotating member 241 is driven to rotate. Due to the screw connection with the first rotating member 241, the first rotary damper 242 will rotate synchronously, and then the steering rotation shaft 220 drives the first angle sensor 210 to rotate and sense the rotation angle value. The second rotating member 243 includes a first connecting member 2431, a second connecting member 2432 and two abutting bosses 2433. The first connecting member 2431 and the second connecting member 2432 are installed at both ends of the second rotating member 243. The two abutting bosses 2433 are arranged up and down. The steering rotation shaft 220 is provided with a first limiting protrusion 210 located between the two abutting bosses 2433. When the handle 100 rotates, the second rotating member 243 rotates to a certain angle, and the first limiting protrusion 210 will abut against the abutting boss 2433, and the steering rotation shaft 220 cannot rotate, that is, the maximum steering angle is reached.

[0053] The return blocking piece 244 is in contact with the second limiting protrusion 231 and the third limiting protrusion 232 set on the fixed shaft 230. One end of the return blocking piece 244 is connected to the first connecting member 2431. The other end of the return blocking piece 243 is connected through one end of the first tension spring 245. The other end of the first tension spring 245 is connected to the second connecting member 2432. When the handle 100 turns left, the return blocking piece 243 is blocked from rotating by the second limiting protrusion 231. The second rotating member 243 rotates to produce a displacement difference, and the first tension spring 245 will be stretched. When the handle 100 is released, the first tension spring 245 contracts and the second rotating member 243 is reset. When the handle 100 turns right, the return blocking piece 243 The rotation is blocked by the third limiting protrusion 232, and the first tension spring 245 will be stretched. When the handle 100 is released, the first tension spring 245 contracts and the second rotating member 243 is reset. When the second rotating member 243 is reset, the first rotary damping 242 will drive the steering rotating shaft 220 to reset, and the angle value of the first angle sensor 210 is reset, thereby achieving the effect of automatic reset of the first sensing part 200.

[0054] See also Figure 7 The second sensing unit 400 includes a straight rotating shaft 410, a second angular velocity sensor 420, a first fixed bracket 430, a second fixed bracket 440 and a mounting base 450; a socket hole is provided on the straight rotating shaft 410, and the main shaft 300 is vertically inserted into the socket hole and socketed with the straight rotating shaft 410 to form a cross shape. One end of the straight rotating shaft 410 is connected to the second angular velocity sensor 420, and the other end of the straight rotating shaft 410 is connected to the second fixed bracket 440. The second angular velocity sensor 420 is connected to the first fixed bracket 430. The first fixed bracket 430 and the second fixed bracket 440 are fixed to the mounting base 450 by screws, and the mounting base 450 is installed on the cleaning robot.

[0055] Due to the limitation of the first fixed bracket 430 and the second fixed bracket 440, when the handle 100 is moved up and down to drive the main shaft 300 to move, the straight rotating shaft 410 rotates, and the second angular velocity sensor 420 records the rotation angle of the straight rotating shaft 410, and feeds back the recorded angle change information to the controller of the cleaning robot, and then the controller issues a control command to make the cleaning robot make corresponding movement.

[0056] See also Figure 7In another embodiment, the second sensing unit 400 may be additionally equipped with a second rotary damper 460, which is specifically installed on the second fixed bracket 440 and connected to the end of the straight rotation axis 410 away from the second angular velocity sensor 420. In this way, when the handle 100 is moved up and down and the handle 100 is released, the second rotary damper 440 can quickly drive the straight rotation axis 410 to rotate back to the original state, and the angle value of the second angle sensor 430 is reset. It should be mentioned that the first rotary damper 242 and the second rotary damper 440 have the following two functions: one is to slow down the rotation speed of the handle 100 and the straight rotation axis 410, and the other is to eliminate the shaking of the manual driving component when the cleaning robot walks.

[0057] See also Figure 7 In another embodiment, the second sensing unit 400 may be additionally installed with a bearing assembly 470, the bearing assembly 470 includes a bearing seat 471 and a bearing 472, the bearing seat 471 is connected to the mounting base 450, the bearing seat 471 includes a mounting hole 4711, the bearing 472 is arranged in the mounting hole 4711, and the bearing 472 is sleeved on the straight rotating shaft 410, so that the straight rotating shaft 410 encounters less resistance during rotation and is less likely to break. The number of bearing assemblies 470 is not limited herein, and one or more bearing assemblies may be provided. The present invention preferably provides a bearing assembly 470 at each end of the straight rotating shaft 410.

[0058] See also Figure 8In another embodiment, the manual driving assembly further includes an elastic return portion 500 for resetting by toggling up and down, and the elastic return portion 500 includes a first roller 510, a second roller 520, a second bracket 530, two third connecting members 540, two second tension springs 550, two fourth connecting members 560 and two third tension springs 570. Specifically, the second bracket 530 includes two first sliding holes 531 for respectively accommodating the two ends of the first roller 510 and two second sliding holes 532 for respectively accommodating the two ends of the second roller 520. The first sliding hole 531 and the second sliding hole 532 are arranged at an interval up and down. In this way, the two rollers can slide in the corresponding sliding holes. The two third connecting members 540 are installed on the top of the second bracket 530. The main shaft 300 is arranged between the first roller 510 and the second roller 520. One end of each second tension spring 550 is connected to a third connecting member 540, and the other end is connected to the second roller 520. The two fourth connecting members 560 are arranged at the bottom of the second bracket 530. The two third connecting members 540 are arranged between the two fourth connecting members 560. One end of each third tension spring 570 is connected to a fourth connecting member 560, and the other end is connected to the first roller 510. When the handle 100 is pushed upward, the main shaft 300 presses against the first roller 510 upward and makes it slide in the first sliding hole 531, and the third tension spring 570 is stretched. When the first roller 510 slides to the top, the cleaning robot reaches the maximum displacement of the one-time forward movement. When the handle 100 is released, the third tension spring 570 contracts and resets to drive the first roller 510 to slide back to the initial position. The first roller 510 presses against the main shaft 300 to move downward so that the main shaft 300 returns to the initial position, the straight rotating shaft 410 rotates to the initial position, and the recorded value of the second angular velocity sensor 420 is cleared; when the handle 100 is pushed downward, the main shaft 300 presses against the second roller 520 downward and makes it slide in the second sliding hole 532. When the second roller 520 slides to the bottom, the cleaning robot reaches the maximum displacement of the one-time backward movement. When the handle is released, the second tension spring 550 is released. The contraction and reset drive the second roller 520 to slide back to the initial position. The second roller 520 presses against the main shaft 300 to move upward to make the main shaft 300 return to the initial position. The straight-moving rotating shaft 410 rotates back to the initial position, and the recorded value of the second angular velocity sensor 420 is reset. This not only realizes the automatic reset when the handle 100 is moved up and down, but also ensures the accuracy of the second angular velocity sensor 420.

[0059] It should be mentioned that the number of the second tension spring 560 and the third tension spring 570 in the above embodiment is two, which is only a preferred choice. The number can also be one or more than two. The two second tension springs 560 are respectively installed in the middle of the second roller 520 for connection, and the two third tension springs 570 are installed at both ends of the first roller 510, which is also a preferred choice. The installation positions of the two tension springs can also be interchanged. This has high space utilization and compact structure, which is conducive to the miniaturization of the manual driving components of the cleaning robot.

[0060] See also Figure 6 In order to prevent the main shaft 300 from directly contacting the first roller 510 or the second roller 520 to generate friction and scratch the protective coating on their surfaces, a protective cover 310 can be installed at one end of the main shaft 300 close to the second bracket 530. The protective cover 310 is made of wear-resistant material, and there is no specific limitation. In the present invention, the protective cover 310 is preferably made of polyurethane, which has strong wear resistance and can absorb impact and vibration at a certain hardness.

[0061] See also Figure 8 In order to prevent friction loss between the first roller 510 and the second roller 520 in the corresponding first sliding hole 531 and the second sliding hole group 532, a first copper sleeve 580 is installed on the contact surface between the first roller 510 and the first sliding hole group 521, and a second copper sleeve 590 is installed on the contact surface between the second roller 520 and the second sliding hole 532. In this way, grease will be added to enhance the smoothness of sliding.

[0062] See also Figure 8 In order to make the structure more compact and prevent the first roller 10 and the second roller 520 from interfering with each other in motion, the first sliding hole 531 and the second sliding hole 532 can be arranged in an "eight" shape, so that the assembly relationship between the first roller 510 and the second roller 520 is not only compact, but also has different spatial motion trajectories, and is not prone to motion interference.

[0063] See also Figure 8 In order to save effort and prevent the second tension spring 550 and the third tension spring 570 from being twisted and deformed to affect the sliding of the roller shaft, the first sliding hole 531 can be arranged parallel to the third tension spring 570, and the second sliding hole 532 can be arranged parallel to the second tension spring 560.

[0064] The manual driving component of the cleaning robot is installed in the cleaning robot. The left and right toggle angle of the manual driving component determines the left and right swing angle of the cleaning robot, thus realizing manual control of the front, back, left and right movement of the cleaning robot.

[0065] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A manual driving assembly of a robot, characterized in that: include: A handle, which can be moved up and down and rotated left and right; A first sensor part, used for sensing the left-right rotation angle of the handle, the first sensor part is connected to the handle; A main shaft, one end of which is connected to the first sensing part; A second sensor part, used for sensing the up and down movement angle of the handle, the second sensor part is connected to the main shaft; and The controller obtains the left-right rotation angle and the up-down movement angle of the handle and controls the robot to run at a specified angle; The first sensing part includes a first angle sensor, a steering rotating shaft, a fixed shaft and a rotating assembly for driving the steering rotating shaft to rotate; one end of the steering rotating shaft is connected to the first angle sensor, and the first angle sensor senses the change of the rotation angle through the rotation of the steering rotating shaft, and the other end of the steering rotating shaft is connected to the fixed shaft, and the middle part of the rotating assembly is penetrated by the steering rotating shaft; the rotating assembly includes a first rotating member, a first rotary damper, a second rotating member, a return baffle and a first tension spring; wherein the first rotating member, the first rotary damper and the second rotating member are screwed and fixed in sequence by screws, and the first rotating member is connected to the handle The first rotary member is connected to the steering shaft, and when the handle is rotated, the first rotary member is driven to rotate, and the first rotary damper will rotate synchronously, and then the steering rotary shaft drives the first angle sensor to rotate and sense the rotation angle value; the second rotary member includes a first connecting member, a second connecting member and two resisting bosses, the first connecting member and the second connecting member are installed at both ends of the second rotary member, the two resisting bosses are arranged up and down, and the steering rotary shaft is provided with a first limiting protrusion located between the two resisting bosses, when the handle is rotated, the second rotary member follows and rotates to a certain angle, the first limiting protrusion will resist the resisting boss, and the steering rotary shaft cannot rotate, so as to reach the maximum steering angle; The return blocking piece is in abutment with a second limiting protrusion and a third limiting protrusion arranged on the fixed shaft, one end of the return blocking piece is connected to the first connecting member, the other end of the return blocking piece is connected through one end of the first tension spring, and the other end of the first tension spring is connected to the second connecting member. When the handle turns left, the return blocking piece is blocked from rotating by the second limiting protrusion, and the second rotating member rotates to produce a displacement difference, and the first tension spring will be stretched. When the handle is released, the first tension spring contracts, and the second rotating member is reset; when the handle turns right, the return blocking piece is blocked from rotating by the third limiting protrusion, and the first tension spring will be stretched. When the handle is released, the first tension spring contracts, and the second rotating member is reset; when the second rotating member is reset, the first rotation damping will drive the steering rotating shaft to reset, and the angle value of the first angle sensor is reset; The second sensing part includes a straight-moving rotating shaft, a second angular velocity sensor, a first fixed bracket, a second fixed bracket and a mounting base plate; a socket hole is provided on the straight-moving rotating shaft, and the main shaft is vertically inserted into the socket hole and socketed with the straight-moving rotating shaft to form a cross shape, one end of the straight-moving rotating shaft is connected to the second angular velocity sensor, and the other end of the straight-moving rotating shaft is connected to the second fixed bracket, the second angular velocity sensor is connected to the first fixed bracket, and the first fixed bracket and the second fixed bracket are fixed to the mounting base plate by screws, and the mounting base plate is installed on the cleaning robot; due to the limitation of the first fixed bracket and the second fixed bracket, when the handle is moved up and down to drive the main shaft to move, the straight-moving rotating shaft rotates, and the second angular velocity sensor records the rotation angle of the straight-moving rotating shaft, and feeds back the recorded angle change information to the controller of the cleaning robot, and then the controller issues a control instruction to make the cleaning robot make corresponding movement; It also includes an elastic recovery portion for resetting by moving up and down, and the elastic recovery portion includes: The first roller; Second roller shaft; The second bracket includes two first sliding holes for accommodating the two ends of the first roller shaft respectively and two second sliding holes for accommodating the two ends of the second roller shaft respectively, the first sliding holes and the second sliding holes are arranged with a vertical interval, the first roller shaft and the second roller shaft can slide up and down in the first sliding holes and the second sliding holes respectively, and the main shaft is placed between the first roller shaft and the second roller shaft and can push them to move upward and downward respectively; a second tension spring, used for returning the second roller shaft to its original position after the second roller shaft deviates from its initial position, one end of the second tension spring being connected to the second roller shaft, and the other end being fixed to the second bracket; The third tension spring is used to reset the first roller shaft after it deviates from the initial position. One end of the third tension spring is connected to the first roller shaft, and the other end is fixed to the second bracket.

2. A manual driving assembly of a robot according to claim 1, characterized in that: The handle is a U-shaped structure, and is provided with a micro switch for switching between automatic and manual dual control modes.

3. A manual driving assembly of a robot according to claim 1, characterized in that: The second sensing unit further includes a second gyroscopic damper, which is connected to an end of the straight-moving rotation axis away from the second angular velocity sensor, and is connected to the second fixing bracket.

4. A manual driving assembly of a robot according to claim 1 or 3, characterized in that: The second sensing part also includes a bearing assembly, the bearing assembly includes a bearing seat and a bearing, the bearing seat is connected to the mounting base plate, the bearing seat includes a mounting hole, the bearing is arranged in the mounting hole, and the bearing is sleeved on the linear rotating shaft.

5. The manual driving assembly of a robot according to claim 1, characterized in that: The elastic recovery portion further comprises: a third connecting member, disposed on the top of the second bracket, the third connecting member being connected to one end of the second tension spring; The fourth connecting member is arranged at the bottom of the second bracket, and the fourth connecting member is connected to one end of the third tension spring.

6. A manual driving assembly of a robot according to claim 1 or 5, characterized in that: A protective sleeve is provided at one end of the main shaft close to the second bracket.

7. The manual driving assembly of a robot according to claim 1, characterized in that: A first copper sleeve is sleeved on the contact surface between the first roller and the two first sliding holes, and a second copper sleeve is sleeved on the contact surface between the second roller and the two second sliding holes.

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