Self-moving robot and joint connection structure

Abstract

The present application provides a self-moving robot and a joint connection structure, wherein the self-moving robot includes: a robot body; a water tank module, the water tank module is connected to the robot body through a joint connection structure; wherein the joint connection structure includes: a male end joint, the male end joint is located on the robot body and includes a male end contact component; a female end joint, the female end joint is located on the water tank module and includes a female end contact component; when the water tank module is in a moving working state, the male end contact component and the female end contact component are docked with each other and realize common movement through a flexible part. The present application configures a male end joint and a female end joint on the robot body and the water tank module respectively, and uses a flexible part to form a soft connection between the male end contact component and the female end contact component after docking, thereby greatly improving the service life of the joint and the reliability of the connection.

Description

Technical Field

[0001] The present application relates to the field of intelligent technology, and in particular to a self-moving robot and a joint connection structure. Background Art

[0002] With the progress of society and the continuous improvement of people's living standards, various smart home appliances are constantly updated. The separation of the power supply system and the working system is a common mechanical structure mode. Since the power connector needs to be blindly plugged in or needs to be frequently plugged and unplugged, and is accompanied by strong vibrations during operation, some smart home appliances, such as self-propelled robots, will have the problem of short power connector life. Although wireless power supply can solve this problem, the cost is extremely high. At the same time, the power connector and soft wire in the existing connector connection structure have a series of problems such as loose connection. Therefore, how to improve the connection method of the power connector in smart home appliances and increase the life of the connector has become an urgent problem to be solved. Summary of the Invention

[0003] The purpose of this application is to overcome the defects of the prior art and provide a self-moving robot and a joint connection structure.

[0004] To achieve the above objectives, this application adopts the following technical solutions:

[0005] The present application provides a self-moving robot, comprising:

[0006] Robot body;

[0007] A water tank module, the water tank module being connected to the robot body via a joint connection structure;

[0008] Wherein, the joint connection structure includes:

[0009] a male end connector, the male end connector being located on the robot body and comprising a male end contact assembly;

[0010] a female end connector, the female end connector being located on the water tank module and comprising a female end contact assembly;

[0011] When the water tank module is in a moving working state, the male contact assembly and the female contact assembly are docked with each other and move together through the flexible member.

[0012] Optionally, the male end connector includes a male end bracket;

[0013] The flexible member is mounted on the male end bracket and connected to the male end contact assembly.

[0014] Optionally, the flexible member includes:

[0015] A mounting portion, the mounting portion being arranged on the outside of the flexible member and fixedly connected to the male end bracket;

[0016] A fixing portion is provided in the middle of the flexible member and is fixedly connected to the edge of the male end contact assembly.

[0017] Optionally, the male end bracket includes:

[0018] A male end butt joint, the male end butt joint being protruded toward the side where the female end connector is located;

[0019] A first gap is formed between the male end docking portion and the fixing portion.

[0020] Optionally, a first through hole is provided on the male end docking portion;

[0021] The first through hole is arranged corresponding to the male contact assembly, so that the male contact assembly is in contact and connected with the female contact assembly through the first through hole.

[0022] Optionally, a second gap is formed between the male contact assembly and the first through hole.

[0023] Optionally, the male end bracket further includes:

[0024] The blocking portion is arranged along the edge of the first through hole, and the fixing portion and the blocking portion are interfered with each other during the process of the female contact assembly being separated from the male contact assembly.

[0025] Optionally, a blocking portion is formed in the middle of the male end docking portion;

[0026] The blocking portion is protruding in the direction of the female end connector and separates two adjacent male end contact components;

[0027] A positioning blind hole is provided on the female end bracket of the female end connector, which cooperates with the blocking part.

[0028] Optionally, the flexible member further includes:

[0029] a folded portion, the folded portion being arranged in an annular shape and surrounding the outer side of the male end contact assembly;

[0030] The folded portion is located between the mounting portion and the fixing portion, thereby connecting the mounting portion and the fixing portion.

[0031] Optionally, the female end connector includes a female end bracket;

[0032] A first limiting portion is formed on the outer side of the male end docking portion;

[0033] A second limiting portion is formed on the female end bracket, and the female end contact assembly is located in the second limiting portion;

[0034] During the docking process between the water tank module and the robot body, the first limiting portion cooperates with the second limiting portion so that the male end docking portion is located within the second limiting portion.

[0035] Optionally, a second through hole is provided on the female end bracket;

[0036] The female contact assembly is installed in the second through hole.

[0037] The present application provides another self-moving robot, comprising:

[0038] Robot body;

[0039] A working module connected to the robot body via a joint connection structure;

[0040] Wherein, the joint connection structure includes:

[0041] a male end connector, the male end connector being located on the robot body and comprising a male end contact assembly;

[0042] a female end connector, the female end connector being located on the working module and comprising a female end contact assembly;

[0043] When the working module is in a moving working state, the male contact assembly and the female contact assembly are docked with each other and move together through the flexible member.

[0044] The present application also provides a joint connection structure, comprising:

[0045] A male connector, the male connector comprising a male contact assembly;

[0046] a female connector, the female connector comprising a female contact assembly;

[0047] During the process of docking the male end connector and the female end connector and in a closely adjacent state, the male end contact assembly and the female end contact assembly are automatically docked under the guidance of an external force.

[0048] Optionally, the male contact assembly includes:

[0049] A male contact piece, wherein the male contact piece has an open structure;

[0050] The male end magnetic member is positioned in the male end contact piece through the open side of the male end contact piece and abuts against the closed side of the male end contact piece.

[0051] Optionally, the female contact assembly includes:

[0052] A female end contact piece, wherein the female end contact piece has an open structure;

[0053] The female end magnetic member is abutted against the closed side of the female end contact piece through the open side of the female end contact piece.

[0054] Optionally, the joint connection structure further includes:

[0055] a male end circuit board, wherein the male end circuit board is electrically connected to the male end contact piece and abuts against the male end magnetic member;

[0056] The female end circuit board is electrically connected to the female end contact piece, and the male end circuit board abuts against the female end magnetic component.

[0057] Optionally, during the docking process between the male end connector and the female end connector and when they are in a closely adjacent state, the male end magnetic part and the female end magnetic part attract each other, thereby driving the male end contact and the female end contact to automatically make electrical contact and connection.

[0058] The present application divides the self-moving robot into a power supply system mainly composed of the robot body and a working module mainly composed of the water tank module. By respectively configuring a male connector and a female connector on the robot body and the water tank module, and using flexible parts to form a soft connection between the male contact component and the female contact component after docking, when the water tank module is in a moving working state, even if the water tank module vibrates, the male contact component and the female contact component can achieve common movement or relative position offset, thereby greatly improving the service life of the connector and the reliability of the connection.

[0059] In addition, the male contact assembly and the corresponding female contact assembly of the present application can automatically dock and be powered on under the guidance of external force. Compared with the existing wireless power supply, the cost is lower and it is convenient for blind plugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 is a cross-sectional view of the overall structure of the self-propelled robot provided in an embodiment of the present application;

[0061] Figure 2 Schematic diagram of the decomposed structure of the self-propelled robot provided in an embodiment of the present application;

[0062] Figure 3 This is a cross-sectional view of the overall structure of the joint connection structure provided in an embodiment of the present application;

[0063] Figure 4 This is a schematic diagram of the mating and dismissal of the male and female end contact components provided in an embodiment of the present application;

[0064] Figure 5 This is an exploded view of the structure of the male end connector provided in an embodiment of the present application;

[0065] Figure 6 It is a structural exploded diagram of the female end connector provided in an embodiment of the present application.

[0066] Reference numerals

[0067] 1-male end connector, 2-female end connector, 3-male end contact assembly, 31-male end contact piece, 32-male end magnetic piece, 4-female end contact assembly, 41-female end contact piece, 42-female end magnetic piece, 5-flexible piece, 51-installation part, 52-folded part, 53-fixing part, 61-male end bracket, 611-male end docking part, 612-first through hole, 613-first limiting part, 614-gear part, 615-blocking part, 62-female end bracket, 621-positioning blind hole, 622-second through hole, 623-second limiting part, 71-first gap, 72-second gap, 81-male end circuit board, 82-female end circuit board, 9-robot body, 10-water tank module. DETAILED DESCRIPTION

[0068] The following description sets forth many specific details to facilitate a thorough understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the scope of the present application. Therefore, the present application is not limited to the specific implementations disclosed below.

[0069] The terms used in one or more embodiments of this specification are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of this specification. The singular forms "a," "the," and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0070] It should be understood that although the terms "first," "second," and the like may be used in one or more embodiments of this specification to describe various information, such information should not be limited to these terms. These terms are merely used to distinguish information of the same type from one another. For example, "first" could also be referred to as "second," and similarly, "second" could also be referred to as "first," without departing from the scope of one or more embodiments of this specification.

[0071] like Figure 1 and Figure 2As shown, the present application provides a self-moving robot, including a robot body 9 and a working module. For example, taking a sweeping robot as an example, the working module is a water tank module 10, which is connected to the robot body 9 through a joint connection structure. The robot body 9 serves as a power supply system and provides electrical energy to the water tank module 10 as the working system through the joint connection structure. The water tank module 10 can help the self-moving robot of the present application to achieve specific functions such as cleaning or spraying by attaching other machinery. In addition to the above-mentioned sweeping robot, the self-moving robot can also be a waxing robot, and the working module is a waxing module.

[0072] Among them, the connector connection structure includes a male connector 1 and a female connector 2, the male connector 1 is located on the robot body 9 and includes a male contact component 3 used as a contact point, the female connector 2 is located on the water tank module 10 and includes a female contact component 4 used as a contact point, any male contact component 3 corresponds to one female contact component 4, and the specific number is determined according to the actual needs of the self-moving robot. When the water tank module 10 is in a moving working state, the male contact component 3 and the female contact component 4 are docked with each other and softly connected through a flexible part 5. After the male connector 1 and the female connector 2 are engaged with each other, the connector connection structure is energized to enable the water tank module 10 to enter the working state. At the same time, when severe vibration occurs during the operation of the water tank module 10, the male contact component 3 and the corresponding female contact component 4 are inertially offset through the flexible part 5. The flexible part 5 prevents separation or relative displacement between the male contact component 3 and the corresponding female contact component 4 through its own deformation or displacement, thereby achieving common movement.

[0073] It should be noted that the flexible part 5 can be installed on the male end connector 1 and / or the female end connector 2, that is, by arranging the flexible part 5 on at least one end of the male end connector 1 and the female end connector 2, a soft connection is ensured between the male end connector 1 and the female end connector 2, and the flexible part 5 is required to be directly connected to the male end contact component 3 and / or the female end contact component 4. For example, when the flexible part 5 is only installed on the male end connector 1, the flexible part 5 is connected to the male end contact component 3, or, when the flexible part 5 is only installed on the female end connector 2, the flexible part 5 is connected to the female end contact component 4, or, the flexible part 5 is respectively installed on the male end connector 1 and the female end connector 2, and connected to the male end contact component 3 and the female end contact component 4.

[0074] Optionally, the male connector 1 and the female connector 2 can also be the power supply interface and power demand interface of the same product, for example, the power supply interface and power demand interface between a mobile robot and a charging base station, or the power supply interface and power demand interface between a window cleaning robot and a power cord, etc. This application does not make specific restrictions here.

[0075] This application divides the self-moving robot into a power supply system mainly composed of the robot body 9 and a working module mainly composed of the water tank module 10. By respectively configuring a male end connector 1 and a female end connector 2 on the robot body 9 and the water tank module 10, and by using a flexible part 5 to form a soft connection between the male end contact component 3 and the female end contact component 4 after docking, when the water tank module 10 is in a moving working state, even if the water tank module 10 vibrates, the male end contact component 3 and the female end contact component 4 can also achieve common movement or relative position offset, thereby greatly improving the service life of the connector and the reliability of the connection. For example, the flexible part 5 can be made of silicone, rubber, TPE elastomer, etc., so that the flexible body itself has a certain elasticity.

[0076] In a specific embodiment of the present application, Figure 3 As shown, the male connector 1 includes a male bracket 61 for forming the main structure of the male connector 1. The flexible member 5 is mounted on the male bracket 61 and connected to the male contact assembly 3. Specifically, the flexible member 5 includes a mounting portion 51 and a fixing portion 53. The mounting portion 51 is arranged on the outside of the flexible member 5 and is fixedly connected to the male bracket 61. The fixing portion 53 is arranged in the middle of the flexible member 5 and is fixedly connected to the male contact assembly 3. Specifically, the male bracket 61 includes a male docking portion 611, which protrudes toward the side where the female connector 2 is located. A first gap 71 is formed between the male docking portion 611 and the fixing portion 53. When the axial direction of the male bracket 61 is defined as the transverse direction, the first gap 71 forms a longitudinal gap perpendicular to the axial direction of the male bracket 61, thereby allowing the male contact assembly 3 to have freedom in the axial direction of the male bracket 61.

[0077] In this application, a first gap 71 is formed between the fixing portion 53 and the male end bracket 61, so that the fixing portion 53 of the flexible member 5 can have freedom in the axial direction of the male end bracket 61, thereby enabling the male end contact assembly 3 arranged on the fixing portion 53 to be relatively offset relative to the male end bracket 61 and produce an anti-seismic effect.

[0078] At the same time, a first through hole 612 is provided on the male end docking portion 611, and the first through hole 612 is provided corresponding to the male end contact component 3, so that the male end contact component 3 is in contact and connected with the female end contact component 4 through the first through hole 612, and a second gap 72 is formed between the male end contact component 3 and the first through hole 612. When the axial direction of the male end bracket 61 is defined as horizontal, the second gap 72 forms a horizontal gap along the axial direction of the male end bracket 61. The existence of the second gap 72 enables the male end contact component 3 to be relatively offset relative to the first through hole 612, so that the male end contact component 3 will not collide with the male end bracket 61 during vibration, thereby increasing the service life of the connector.

[0079] In the above embodiment, the male end bracket 61 also includes a stop portion 614, which is arranged along the edge of the first through hole 612. When the female end contact component 4 is separated from the male end contact component 3, the fixing portion 53 interferes with the stop portion 614, thereby preventing the male end contact component 3 from causing the flexible portion 5 to cause excessive deformation and damage.

[0080] A blocking portion 615 is formed in the middle of the male end docking portion 611. The blocking portion 615 protrudes in the direction of the female end connector 2 and separates two adjacent male end contact components 3 to prevent leakage. A positioning blind hole 621 that cooperates with the blocking portion 615 is provided on the female end bracket 62 of the female end connector 2. The blocking portion 615 and the positioning blind hole 621 can help users achieve quick and accurate positioning during docking.

[0081] Optionally, the flexible member 5 further includes a corrugated portion 52, which is annularly arranged and surrounds the outer side of the male contact assembly 3. The corrugated portion 52 is located between the mounting portion 51 and the fixing portion 53 and expands toward a side away from the male bracket 61 to form an arc or stepped structure, thereby connecting the mounting portion 51 and the fixing portion 53. The corrugated portion 52 indirectly creates a larger deformation space for the flexible portion 5.

[0082] In the above embodiment, the female end connector 2 includes a female end bracket 62, a first limiting portion 613 is formed on the outer side of the male end docking portion 611, and a second limiting portion 623 is formed on the female end bracket 62. The female end contact assembly 4 is located within the second limiting portion 623. During the docking process between the water tank module 10 and the robot body 9, the first limiting portion 613 and the second limiting portion 623 cooperate to position the male end docking portion 611 within the second limiting portion 623, thereby achieving a rigid connection between the male end connector 1 and the female end connector 2, forming a mutually fitting inlay structure, and ensuring the stability and reliability of the internal soft connection. At the same time, a second through hole 622 is provided on the female end bracket 62, and the female end contact assembly 4 is installed in the second through hole 622.

[0083] The present application also provides a connector connection structure, including a male connector 1 and a female connector 2, wherein the male connector 1 includes a male contact assembly 3, and the female connector 2 includes a female contact assembly 4. During the docking process between the male connector 1 and the female connector 2 and when they are in a closely adjacent state, the male contact assembly 3 and the female contact assembly 4 are automatically docked under the guidance of external force.

[0084] The male contact assembly 3 and the corresponding female contact assembly 4 of the present application can automatically dock and be powered on under the guidance of external force. Compared with the existing wireless power supply, the cost is lower and it is convenient for blind plugging.

[0085] In a specific embodiment of the present application, the external force may be a magnetic force, such as Figure 4 As shown, the male contact assembly 3 includes a male contact 31 and a male magnetic part 32. The male contact 31 is an open structure, such as a "J" shape or a "U" shape. The male magnetic part 32 is limited by the open side of the male contact 31 and is set in the male contact 31, and is pressed against the closed side of the male contact 31.

[0086] The female end contact assembly 4 includes a female end contact piece 41 and a female end magnetic piece 42 . The female end contact piece 41 is an open structure. The female end magnetic piece 42 abuts against the closed side of the female end contact piece 41 through the open side of the female end contact piece 41 .

[0087] Specifically, if Figure 5As shown, one end of the male contact 31 is connected to the flexible part 5, and the other end is arranged corresponding to the female contact component 4 through the male bracket 61. The male magnetic part 32 is sleeved in the male contact 31 so that the male contact 31 has a magnetic function, and the male magnetic part 32 exposes one end of the male contact 31 close to the flexible part 5 so as to be connected to the male circuit board 81. The male circuit board 81 is electrically connected to the male contact 31, and the male circuit board 81 and the male magnetic part 32 are pressed against each other.

[0088] At the same time, if Figure 6 As shown, one end of the female end contact 41 is connected to the female end bracket 62, and the other end is arranged corresponding to the male end contact component 3 through the female end bracket 62, and the female end magnetic part 42 is sleeved in the female end contact 41 so that the female end contact 41 has a magnetic function, and the female end contact 41 is exposed close to one end of the flexible part 5 so as to be connected to the female end circuit board 82, the female end circuit board 82, the female end circuit board 82 is electrically connected to the female end contact 41, and the male end circuit board 81 is pressed against the female end magnetic part 42.

[0089] During the blind insertion process of the male contact component 3 and the corresponding female contact component 4 of the present application, it is assumed that they are installed from the female connector 2 to the male connector 1. When the distance between the male contact component 3 and the corresponding female contact component 4 is less than the preset magnetic attraction distance, the male magnetic part 32 and the female magnetic part 42 attract each other so that the male contact 31 moves toward the female contact 41 until the male contact 31 and the female contact 41 attract each other and contact and are energized.

[0090] During the operation of the product, the male contact 31 and the female contact 41 will not be relatively displaced or separated under the action of the magnetic force and the flexible part 5, but will move relative to the male bracket 61, thereby improving the life of the connector; during the removal of the female connector 2, the male contact assembly 3 is blocked by the blocking part 614, thereby separating the male contact 31 from the female contact 41.

[0091] Of course, it should be conceivable that the male contact assembly 3 and the female contact assembly 4 can also be connected by plugging or snapping, etc., and this application does not limit this.

[0092] Since the self-moving robot of the present application may vibrate violently during operation, the service life of the joint can be increased by utilizing the joint connection structure of the present application.

[0093] Application Scenario 1

[0094] Taking the self-moving robot and the joint connection structure of the present application as an example, the self-moving robot is a sweeping robot used in a home. A user needs to clean the floor at home.

[0095] The connector connection structure includes a male connector 1 provided on a robot body 9 of the sweeping robot and a female connector 2 provided on a water tank module 10 of the sweeping robot. A flexible part 5 is installed on the male connector 1, and the flexible part 5 is connected to two male contact components 3. Two female contact components 4 are fixedly installed on the female bracket 62 of the female connector 2. During the mutual engagement of the male connector 1 and the female connector 2, the water tank module 10 is moved closer to the robot body 9. When a relatively obvious magnetic attraction is generated between the male connector 1 and the female connector 2, the flexible part 5 is deformed so that the male contact component 3 and the female contact component 4 are attracted to each other and electrically connected. The sweeping robot enters the working state and cleans the floor. For example, when encountering strong stains, the water tank module 10 enters the vibration mode, and the water tank module 10 generates strong vibrations. The male contact component 3 and the female contact component 4 maintain common movement under the action of the flexible part 5 and the magnetic adsorption force, and no relative position displacement occurs.

[0096] Application Scenario 2

[0097] Taking the self-propelled robot and the joint connection structure of the present application as an example, the self-propelled robot is a window cleaning robot used in a workplace. A user needs to clean the outer glass of an office building.

[0098] The connector connection structure includes a male connector 1 provided on the robot body of the window cleaning robot and a female connector 2 provided on the battery assembly of the window cleaning robot. A flexible part 5 is installed on the male connector 1, and the flexible part 5 is connected to two male contact assemblies 3. Two female contact assemblies 4 are fixedly installed on the female bracket 62 of the female connector 2. During the mutual engagement of the male connector 1 and the female connector 2, the battery assembly is moved closer to the robot body. When a relatively obvious magnetic attraction is generated between the male connector 1 and the female connector 2, the flexible part 5 is deformed so that the male contact assembly 3 and the female contact assembly 4 are attracted to each other and electrically connected. The window cleaning robot enters the working state and cleans the glass. When strong stains appear on the glass surface, the working module enters the reciprocating motion mode, thereby wiping the stained area back and forth. The male contact assembly 3 and the female contact assembly 4 maintain common movement under the action of the flexible part 5 and the magnetic adsorption force, and no relative position offset occurs.

[0099] The preferred specific implementation methods and embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above implementation methods and embodiments. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the concept of the present application.

Claims

1. A self-propelled robot, characterized in that: include: Robot body (9); A water tank module (10), the water tank module (10) being connected to the robot body (9) via a joint connection structure; Wherein, the joint connection structure includes: A male end connector (1), the male end connector (1) being located on the robot body (9) and comprising a male end contact assembly (3); A female end connector (2), the female end connector (2) being located on the water tank module (10) and comprising a female end contact assembly (4); When the water tank module (10) is in a moving working state, the male end contact assembly (3) and the female end contact assembly (4) are docked with each other and move together through the flexible member (5); wherein the male end connector (1) includes a male end bracket (61); The flexible member (5) comprises: a mounting portion (51), the mounting portion (51) being arranged on the outside of the flexible member (5) and fixedly connected to the male end bracket (61); a fixing portion (53), the fixing portion (53) being arranged in the middle of the flexible member (5) and fixedly connected to the edge of the male end contact assembly (3); The flexible member (5) further comprises: a folded portion (52), the folded portion (52) being arranged in an annular shape and surrounding the outer side of the male end contact assembly (3); The folded portion (52) is located between the mounting portion (51) and the fixing portion (53) and expands toward a side away from the male end bracket (61), forming an arc-shaped or stepped structure, thereby connecting the mounting portion (51) and the fixing portion (53).

2. The self-propelled robot according to claim 1, wherein: The male end bracket (61) comprises: a male end butt joint (611), the male end butt joint (611) being arranged to protrude toward the side where the female end connector (2) is located; A first gap (71) is formed between the male end docking portion (611) and the fixing portion (53).

3. The self-moving robot according to claim 2, characterized in that: A first through hole (612) is provided on the male end docking portion (611); The first through hole (612) is arranged corresponding to the male end contact component (3), so that the male end contact component (3) is in contact and connected with the female end contact component (4) through the first through hole (612).

4. The self-moving robot according to claim 3, characterized in that: A second gap (72) is formed between the male end contact assembly (3) and the first through hole (612).

5. The self-moving robot according to claim 3, characterized in that: The male end bracket (61) further includes: A stop portion (614) is provided along an edge of the first through hole (612), and when the female end contact assembly (4) is disengaged from the male end contact assembly (3), the fixing portion (53) and the stop portion (614) interfere with each other.

6. The self-moving robot according to claim 2, characterized in that: A blocking portion (615) is formed in the middle of the male end docking portion (611); The blocking portion (615) is protruding in the direction of the female end connector (2) and separates two adjacent male end contact assemblies (3); A positioning blind hole (621) that matches the blocking portion (615) is provided on the female end bracket (62) of the female end connector (2).

7. The self-moving robot according to claim 2, characterized in that: The female end connector (2) includes a female end bracket (62); A first limiting portion (613) is formed on the outer side of the male end docking portion (611); A second limiting portion (623) is formed on the female end bracket (62), and the female end contact assembly (4) is located in the second limiting portion (623); During the docking process between the water tank module (10) and the robot body (9), the first limiting portion (613) cooperates with the second limiting portion (623) so that the male end docking portion (611) is located within the second limiting portion (623).

8. The self-moving robot according to claim 7, characterized in that: A second through hole (622) is provided on the female end bracket (62); The female end contact assembly (4) is installed in the second through hole (622).

9. A self-propelled robot, characterized in that: include: Robot body (9); A working module, the working module being connected to the robot body (9) via a joint connection structure; Wherein, the joint connection structure includes: A male end connector (1), the male end connector (1) being located on the robot body (9) and comprising a male end contact assembly (3); A female end connector (2), the female end connector (2) being located on the working module and comprising a female end contact assembly (4); When the working module is in a vibrating or reciprocating working state, the male end contact component (3) and the female end contact component (4) are docked with each other and move together through the flexible component (5); The male contact assembly (3) and the female contact assembly (4) are softly connected via a flexible member (5), and the flexible member (5) further comprises: A folded portion (52) is arranged in a ring shape and surrounds the outer side of the male end contact component (3).

10. A joint connection structure, characterized in that: include: A male end connector (1), the male end connector (1) comprising a male end contact assembly (3); A female end connector (2), the female end connector (2) comprising a female end contact assembly (4); During the docking process of the male end connector (1) and the female end connector (2) and in a closely adjacent state, the male end contact component (3) and the female end contact component (4) are automatically docked under the guidance of an external force; wherein the male end contact component (3) and the female end contact component (4) are softly connected via a flexible member (5), and the male end connector (1) includes a male end bracket (61); The flexible member (5) comprises: a mounting portion (51), the mounting portion (51) being arranged on the outside of the flexible member (5) and fixedly connected to the male end bracket (61); a fixing portion (53), the fixing portion (53) being arranged in the middle of the flexible member (5) and fixedly connected to the edge of the male end contact assembly (3); The flexible member (5) further comprises: A folded portion (52) is arranged in a ring shape and surrounds the outer side of the male end contact component (3).

11. The joint connection structure according to claim 10, characterized in that: The male contact assembly (3) comprises: A male contact piece (31), wherein the male contact piece (31) is in an open structure; A male end magnetic part (32) is positioned within the male end contact piece (31) through the open side of the male end contact piece (31) and abuts against the closed side of the male end contact piece (31).

12. The joint connection structure according to claim 11, characterized in that: The female end contact assembly (4) comprises: A female end contact piece (41), wherein the female end contact piece (41) is in an open structure; A female end magnetic member (42), wherein the female end magnetic member (42) abuts against the closed side of the female end contact piece (41) through the open side of the female end contact piece (41).

13. The joint connection structure according to claim 12, characterized in that: Also includes: A male end circuit board (81), the male end circuit board (81) is electrically connected to the male end contact piece (31), and the male end circuit board (81) abuts against the male end magnetic member (32); A female end circuit board (82), wherein the female end circuit board (82) is electrically connected to the female end contact piece (41), and the male end circuit board (81) abuts against the female end magnetic piece (42).

14. The joint connection structure according to claim 12, characterized in that: During the docking process of the male end connector (1) and the female end connector (2) and in a closely adjacent state, the male end magnetic part (32) and the female end magnetic part (42) attract each other, thereby driving the male end contact piece (31) and the female end contact piece (41) to automatically make electrical contact and connection.

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