Driving wheel module and self-moving robot

Abstract

The application provides a driving wheel module and a self-moving robot. The driving wheel module is arranged on the self-moving robot. The self-moving robot comprises a frame. The driving wheel module comprises a body part, a driving wheel and an elastic element. One end of the body part is connected to the frame. The driving wheel is arranged on the body part and is driven by a driving motor. The elastic element is connected between the body part and the frame. The elastic element is configured to provide an elastic force between the frame and the body part. Through the above design, the driving wheel module provides the elastic force between the frame and the body part through the elastic element, thereby providing a certain landing force for the driving wheel module to maintain the contact with the ground and traction, and providing a buffering and damping function for the driving wheel module during the walking process of the self-moving robot. The driving wheel module provided with the elastic element forms a set of biased falling suspension system, thereby ensuring the effective driving of the driving wheel module and good passability.

Description

[0001] Cross-references to related applications

[0002] This disclosure claims priority based on Chinese application No. 201910932385.8, filed on September 29, 2019, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to the field of cleaning equipment technology, and in particular to a drive wheel module and a self-moving robot. Background Technology

[0004] Currently, self-moving robots mainly include two types: self-moving robots and mopping robots. Both have relatively limited functionality; to perform sweeping and mopping simultaneously, two sets of equipment must be prepared, doubling the space required. Some combine self-moving and mopping robots by adding a mop to the rear of the robot, achieving integrated sweeping and mopping. However, the mopping function in this integrated cleaning only uses a single mop moving horizontally across the ground, significantly reducing mopping effectiveness and efficiency. Furthermore, the drive wheels of existing self-moving robots are directly mounted on the chassis. When the ground is uneven, or due to their own weight or pressure causing the drive wheels to move upwards relative to the chassis, the lower part of the drive wheels protruding from the chassis is reduced, affecting maneuverability, or even causing the drive wheels to retract into the chassis, resulting in drive failure. Summary of the Invention

[0005] A primary objective of this invention is to overcome at least one of the deficiencies of the prior art and to provide a drive wheel module suitable for self-moving robots that can guarantee effective driving and has good passability.

[0006] Another major objective of this invention is to overcome at least one of the defects of the prior art described above and to provide a self-moving robot having the aforementioned drive wheel module.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] According to one aspect of the present invention, a drive wheel module is provided, disposed in a self-moving robot, the self-moving robot including a frame; wherein, the drive wheel module includes a body portion, a drive wheel, and an elastic element; one end of the body portion is connected to the frame; the drive wheel is disposed on the body portion and driven by a drive motor; the elastic element extends in a vertical plane and has an upper end and a lower end, the lower end being connected to the body portion and the upper end being connected to the frame, the elastic element being configured to provide an elastic force between the frame and the body portion; wherein, when the self-moving robot is placed on the ground, the elastic element is in a compressed state due to the pressing force generated by the weight of the self-moving robot.

[0009] According to one of the embodiments of the present application, the connecting position of the elastic element and the body part is between the one end of the body part and the driving wheel.

[0010] According to one of the embodiments of the present application, a groove is formed on the top of the body part, and the lower end of the elastic element is arranged in the groove.

[0011] According to one of the embodiments of the present application, the elastic element is inclined relative to the one end of the body part in the direction from the body part to the frame.

[0012] According to one of the embodiments of the present application, the elastic element comprises a spring, a spring sheet or a leaf spring.

[0013] According to one of the embodiments of the present application, the driving wheel is arranged on the inner side of the body part relative to the middle part of the frame.

[0014] According to one of the embodiments of the present application, the inner side of the body part relative to the middle part of the frame is provided with a receiving part, and the driving wheel is partially arranged in the receiving part.

[0015] According to one of the embodiments of the present application, the driving motor is arranged on the body part and is drivingly connected to the driving wheel, and the driving motor is located on the outer side of the driving wheel relative to the middle part of the frame.

[0016] According to one of the embodiments of the present application, the axis of the driving motor is located in the projection area of the driving wheel.

[0017] According to one of the embodiments of the present application, the driving wheel has an axle, and the axis of the driving motor is coaxial with the axle.

[0018] According to one of the embodiments of the present application, the driving wheel and the driving motor are drivingly connected through a transmission assembly, and the transmission assembly comprises at least one of a speed reducer and a transmission gear set.

[0019] According to another aspect of the present application, a self-moving robot is provided, wherein the self-moving robot comprises the driving wheel module provided in the present application and described in the above embodiments.

[0020] According to one of the embodiments of the present application, the self-moving robot comprises at least one pair of the driving wheel modules, and the two driving wheel modules in the same pair are symmetrically arranged relative to the frame.

[0021] According to one of the embodiments of the present application, the self-moving robot comprises a dry cleaning device arranged at the bottom of the frame; wherein two driving wheel modules of the pair are respectively located at two end positions of the dry cleaning device.

[0022] According to one of the embodiments of the present application, the self-moving robot further comprises a wet cleaning device comprising a housing and a cleaning assembly arranged in the housing; wherein the self-moving robot further comprises a detachable structure comprising a pressing plate; the pressing plate has a connecting end and a movable end, and the movable end is adjustably connected to the housing; wherein in the connected state of the movable end and the housing, the movable end blocks part of the structure of the cleaning assembly, so that the cleaning assembly is abutted against the housing; and in the non-connected state of the movable end and the housing, the cleaning assembly can be removed from the housing.

[0023] According to one of the embodiments of the present application, the connecting end is connected to the housing.

[0024] According to one of the embodiments of the present application, the connecting end is pivotally connected to the housing by a pivot.

[0025] According to one of the embodiments of the present application, the connecting end is provided with a first shaft hole, the housing is provided with a pivot structure, the pivot structure is provided with a second shaft hole at a position corresponding to the two sides of the connecting end, and the pivot is arranged in the first shaft hole and the second shaft hole to pivotally connect the connecting end and the housing.

[0026] According to one of the embodiments of the present application, the movable end is provided with a first buckle structure, the housing is provided with a second buckle structure at a position corresponding to the movable end, and the first buckle structure and the second buckle structure are buckled and matched.

[0027] According to one of the embodiments of the present application, the shell is provided with a containing space containing the cleaning head, the cleaning head has two opposite connecting ends, one of the connecting ends is detachably connected to one end of the containing space, the other connecting end is located at the other end of the containing space, the movable end is adjustably connected to the other end of the containing space, and the pressing plate presses the other connecting end of the cleaning head against the other end of the containing space in the connected state; and / or the shell is provided with a containing space containing the water return mechanism, the water return mechanism has two opposite connecting ends, one of the connecting ends is detachably connected to one end of the containing space, the other connecting end is located at the other end of the containing space, the movable end is adjustably connected to the other end of the containing space, and the pressing plate presses the other connecting end of the water return mechanism against the other end of the containing space in the connected state.

[0028] From the above technical solution, the driving wheel module and the self-moving robot provided by the present application have the following advantages and positive effects:

[0029] The driving wheel module provided by the present application is suitable for a self-moving robot and comprises a body part, a driving wheel and an elastic element. One end of the body part is connected to a frame. The driving wheel is arranged on the body part and is driven by a driving motor. The elastic element is arranged in a vertical plane and has upper and lower ends connected to the body part and the frame, respectively. The elastic element can provide an elastic force between the frame and the body part. Through the above design, the driving wheel module provided by the present application provides a downward elastic force between the frame and the body part through the elastic element, thereby providing a certain landing force for the driving wheel module to maintain contact with the ground and traction, and providing a buffering and damping function for the driving wheel module during the walking process of the self-moving robot. The driving wheel module provided with the elastic element forms a set of biased falling suspension system, ensuring effective driving of the driving wheel module and good passability. BRIEF DESCRIPTION OF DRAWINGS

[0030] The various objects, features and advantages of the present application will become more apparent from the following detailed description of preferred embodiments of the present application considered in conjunction with the drawings. The drawings are not necessarily to scale, the emphasis instead being placed upon illustrating the principles of the present application. In the drawings, like reference numerals identify like or similar elements throughout the several views. Among other things:

[0031] Figure 1 An oblique view of a self-moving robot according to one embodiment of the present application.

[0032] Figure 2 A schematic view of the bottom structure of a self-moving robot according to one embodiment of the present application.

[0033] Figure 3 Oblique view of the wet cleaning device according to an embodiment of the present application.

[0034] Figure 4 Bottom view of the wet cleaning device according to an embodiment of the present application.

[0035] Figure 5 Side view of the wet cleaning device according to an embodiment of the present application.

[0036] Figure 6 Oblique view of the water tank according to an embodiment of the present application.

[0037] Figure 7 Oblique view of the dust box according to an embodiment of the present application.

[0038] Figure 8 Oblique view of the fan according to an embodiment of the present application.

[0039] Figure 9 Open state diagram of the dust box according to an embodiment of the present application.

[0040] Figure 10 Combined state diagram of the dust box and the fan according to an embodiment of the present application.

[0041] Figure 11 Lifting module diagram according to an embodiment of the present application.

[0042] Figure 12 Side view of the lifting module according to an embodiment of the present application.

[0043] Figure 13 Oblique view of the one-side driving wheel module according to an embodiment of the present application.

[0044] Figure 14 Front view of the one-side driving wheel module according to an embodiment of the present application.

[0045] Figure 15 Partial sectional view of the water level detection device in the water tank according to an embodiment of the present application.

[0046] Figure 16 Overall assembly diagram of the wet cleaning device (including the water tank) according to an embodiment of the present application.

[0047] Figure 17 Bottom view of the wet cleaning device (without the cleaning head) according to an embodiment of the present application.

[0048] Figure 18 Structure diagram of the cleaning head according to an embodiment of the present application.

[0049] Figure 19 Structure diagram of the water absorption roller of one embodiment of the present application.

[0050] Figure 20 Structure diagram of the recovery rod of one embodiment of the present application.

[0051] The reference signs are explained as follows:

[0052] 100. robot; 211. elastic support structure;

[0053] 110. frame; 212. camshaft;

[0054] 120. sensing system; 213. slide;

[0055] 121. position determining device; 220. water feeding mechanism;

[0056] 122. bumper; 221. clean water pump;

[0057] 123. cliff sensor; 222. clean water pump pipe;

[0058] 130. control system; 230. water recovery mechanism;

[0059] 140. drive system; 231. water absorption roller;

[0060] 141. drive wheel module; 232. recovery rod;

[0061] 1411. body part; 233. sewage pump;

[0062] 14111. accommodating part; 234. sewage pump pipe;

[0063] 14112. groove; 235. water absorption material;

[0064] 1412. drive wheel; 236. scraping strip;

[0065] 1413. drive motor; 237. recovery groove;

[0066] 142. driven wheel; 238. worm structure;

[0067] 143. elastic element; 239. sludge box;

[0068] 150. dry cleaning device; 240. water tank;

[0069] 151. cleaning system; 241. clean water tank;

[0070] 152. dust box; 242. sewage tank;

[0071] 153. filter screen; 243. water level detection device;

[0072] 154. dust suction port; 250. lifting module;

[0073] 155. air outlet; 260. power module;

[0074] 156. fan; 261. power transmission device;

[0075] 160. energy system; 262. motor;

[0076] 170. human-computer interaction system; 270. guide wheel;

[0077] 171. tail light; 280. pressing plate;

[0078] 200. wet cleaning device; 281. connecting end;

[0079] 201. housing; 282. movable end.

[0080] 210. cleaning head; DETAILED DESCRIPTION

[0081] The features and advantages of the present application will be more fully understood from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0082] In the following description of various example embodiments of the present application, reference is made to the accompanying drawings that form a part hereof, and in which are shown by way of illustration various example structures, systems, and steps in which aspects of the present application can be practiced. It is to be understood that other specific arrangements of parts, structures, example devices, systems, and steps can be utilized and structural and functional modifications can be made without departing from the scope of the present application. Also, while the terms "top," "bottom," "front," "back," and the like can be used in this specification to describe various example features and elements of the present application, these terms are used herein merely to facilitate explanation of the present application and are not intended to limit the scope of the present application in any way.

[0083] As Figure 13 and Figure 14The diagram shows a perspective view and a side view of the drive wheel module 141 proposed in an exemplary embodiment of the present invention. The drive wheel module 141 proposed in this invention is applicable to a self-moving robot 100, which includes a frame 110. The drive wheel module 141 includes a body portion 1411, drive wheels 1412, and an elastic element 143. Specifically, one end of the body portion 1411 is connected to the frame 110. The drive wheel 1412 is disposed on the body portion 1411 and is driven by a drive motor 1413. The elastic element 143 is arranged generally along a vertical plane, but is not limited to a vertical arrangement. The elastic element 143 has an upper end and a lower end. The lower end of the elastic element 143 is connected to the body portion 1411, and the upper end is connected to the frame 110. When the self-moving robot 100 is placed on the ground, the elastic element 143 is compressed by the pressure generated by the weight of the self-moving robot 100. Through the above design, the drive wheel module 141 proposed in this invention provides a generally downward elastic force between the frame 110 and the main body 1411 through the elastic element 143, thereby providing a certain ground contact force for the drive wheel module 141 to maintain contact and traction with the ground, and can provide a buffering and shock absorption function for the drive wheel module 141 during the walking of the self-moving robot 100, so that the drive wheel module 141 with the elastic element 143 forms an offset falling suspension system, ensuring the effective driving of the drive wheel module 141 and having good passability.

[0084] Optionally, such as Figure 13 As shown, in this embodiment, the connection position between the elastic element 143 and the body portion 1411 can be between that end of the body portion 1411 and the drive wheel 1412. In other embodiments, the connection position between the elastic element 143 and the body portion 1411 can also be located on the side of the drive wheel 1412 that is relatively away from that end of the body portion 1411, that is, the drive wheel 1412 can be located between that end of the body portion 1411 and the elastic element 143. Alternatively, the connection position between the elastic element 143 and the body portion 1411 can also be located on the inner or outer side of the drive wheel 1412, and is not limited to this embodiment.

[0085] Optionally, such as Figure 13 As shown, in this embodiment, a groove 14112 may be provided on the top of the main body 1411, and on this basis, the lower end of the elastic element 143 is disposed in the groove 14112.

[0086] Optionally, such as Figure 13As shown, in the present embodiment, the elastic element 143 can be inclined relative to the one end of the body portion 1411 in the direction from the body portion 1411 to the frame 110. Through the above design, the force exerted by the elastic element 143 on the body portion 1411 can be kept as much as possible in the direction of the movement of the body portion 1411 relative to the frame 110, so as to optimize the landing force and the buffering effect provided by the elastic element 143.

[0087] Optionally, as shown in Figure 13 As shown, in the present embodiment, the elastic element 143 can comprise a spring. Further, the spring can be a tension spring or a compression spring. In other embodiments, the elastic element 143 can also comprise a spring piece or a leaf spring, which are not limited to the present embodiment.

[0088] Optionally, as shown in Figure 13 and Figure 14 As shown, in the present embodiment, the driving motor 1413 is arranged on the body portion 1411, and the driving motor 1413 can be located outside the driving wheel 1412 relative to the middle portion of the frame 110. Through the above design, the driving wheel module 141 of the present application will not be affected by the space of other functional structures (such as the wet cleaning device 200 and the dry cleaning device, etc.) arranged in the middle portion of the frame 110 of the mobile robot 100, so as to make the arrangement of the driving motor 1413 and the driving wheel 1412 more convenient and reasonable, and to leave a larger space between the driving motor 1413 and the driving wheel 1412, which is convenient for the installation, maintenance and replacement of the driving wheel 1412 and the driving motor 1413, and is also convenient for the arrangement of other structures such as the transmission assembly.

[0089] Further, as shown in Figure 13 Based on the design that the driving motor 1413 is located outside the driving wheel 1412, in the present embodiment, the driving wheel 1412 can have an axle. On this basis, the axis of the driving motor 1413 and the axle can preferably be located on the same axis, which can be referred to as Figure 13The dashed lines shown indicate that the drive wheel 1412 and the drive motor 1413 are arranged coaxially. This design facilitates the transmission connection between the drive wheel 1412 and the drive motor 1413, and also improves the arrangement of other structures such as transmission components, thereby further optimizing the structural layout of the drive wheel module 141. In other embodiments, the drive wheel 1412 and the drive motor 1413 can also be arranged non-coaxially, meaning the axle of the drive wheel 1412 and the axis of the drive motor 1413 can be offset in the radial direction of the drive wheel 1412 to meet the arrangement needs of different types of drive wheels 1412, drive motors 1413, different forms of transmission components, or other structures. For example, in another embodiment, the axis of the drive motor 1413 can be located within the projected area of ​​the drive wheel 1412, and this is not limited to this embodiment.

[0090] Furthermore, such as Figure 13 As shown, based on the design of the drive motor 1413 located outside the drive wheel 1412, in this embodiment, the drive wheel 1412 and the drive motor 1413 can be connected by a transmission assembly. The transmission assembly may include a reducer and a transmission gear set. Specifically, based on the design of the drive wheel 1412 having an axle, the drive motor 1413 can be connected to the input end of the reducer. The speed is adjusted by the reducer, and the output end of the reducer is connected to the transmission gear set, which in turn is connected to the axle of the drive wheel 1412. Through this design, the drive motor 1413 can have a speed-adjustable function in driving the drive wheel 1412, making the power transmission smoother and more seamless. In other embodiments, the transmission assembly may only include a reducer, or only include a transmission gear set, or may include other forms of transmission structures, and is not limited to this embodiment.

[0091] Furthermore, such as Figure 13 As shown, based on the design of the drive motor 1413 located outside the drive wheel 1412, in this embodiment, the drive wheel 1412 can be disposed on the inner side of the main body 1411 relative to the middle of the frame 110. Through this design, more space can be provided on the main body 1411 for the drive motor 1413 and other structures, further optimizing the structural arrangement of the drive wheel module 141. In other embodiments, the drive wheel 1412 can also be disposed at other locations on the main body 1411, such as in the middle of the main body 1411, and is not limited to this embodiment.

[0092] Furthermore, such as Figure 13As shown, based on the design that the driving wheel 1412 is arranged at the inner side of the middle part of the frame 110 of the body part 1411, in the present embodiment, the inner side of the body part 1411 relative to the middle part of the frame 110 can be provided with a receiving part 14111, for example, a slot or a recess, etc. On this basis, the driving wheel 1412 is partially received in the receiving part 14111, and the bottom of the driving wheel 1412 is extended out of the receiving part 14111 to contact the ground to realize the walking function.

[0093] Based on the above detailed description of the exemplary embodiment of the driving wheel module 141 of the present application, the following will describe an exemplary embodiment of the self-moving robot 100 of the present application.

[0094] In the present embodiment, the self-moving robot 100 of the present application comprises the driving wheel module 141 of the present application and is described in detail in the above embodiment.

[0095] Optionally, in the present embodiment, the self-moving robot 100 of the present application comprises two driving wheel modules 141, which are symmetrically arranged relative to the frame 110. In other embodiments, the self-moving robot 100 can also comprise multiple pairs of driving wheel modules 141, and is not limited to the present embodiment.

[0096] Further, based on the design that the self-moving robot 100 comprises at least one pair of driving wheel modules 141, in the present embodiment, the self-moving robot 100 of the present application comprises a dry cleaning device arranged at the bottom of the frame 110. On this basis, the two driving wheel modules 141 of the same pair are respectively located at the two end positions of the dry cleaning device.

[0097] Optionally, as Figure 4As shown, in the present embodiment, the self-moving robot 100 according to the present application comprises a wet cleaning device 200, which comprises a housing 201 and a cleaning assembly (the cleaning assembly can comprise a cleaning head 210, a water feeding mechanism 220, and a water recovery mechanism 230) arranged on the housing 201. The water feeding mechanism 220 is used to feed clean water to the cleaning head 210, and the water recovery mechanism 230 is used to recover sewage on the surface cleaned by the cleaning head 210. On this basis, the self-moving robot 100 according to the present application can further comprise a detachable structure. Specifically, the detachable structure comprises a pressing plate 280, which has a connecting end 281 and a movable end 282. The connecting end 281 is connected to the housing 201, and the movable end 282 is adjustably clamped to the housing 201. Accordingly, in the clamped state of the movable end 282 and the housing 201, the movable end 282 stops part of the structure of the cleaning assembly, so that the cleaning assembly abuts against the housing 201. In the unclamped state of the movable end 282 and the housing 201, the cleaning assembly can be removed from the housing 201. Through the above design, the user can use the detachable structure to more conveniently disassemble, clean, and replace the cleaning assembly, such as the cleaning head 210, the water absorbing roller 231, and the recovery rod 232, and at the same time, it is beneficial to the later maintenance, maintenance, and repair of the self-moving robot 100.

[0098] Further, as shown in Figure 4 the present embodiment, based on the design that the wet cleaning device 200 is provided with the detachable structure, the connecting end 281 can be pivotally connected to the housing 201. In other embodiments, the connecting end 281 can also be connected to the housing 201 by other means, such as clamping, hinging, detachable connection through a connecting piece, etc., which are not limited to the present embodiment.

[0099] Further, as shown in Figure 4 the present embodiment, based on the design that the connecting end 281 is pivotally connected to the housing 201, the connecting end 281 can be pivotally connected to the housing 201 by a pivot. In other embodiments, the connecting end 281 can also be connected to the housing 201 by other structures, such as a shaft pin, etc., which are not limited to the present embodiment.

[0100] Further, as shown in Figure 4 the present embodiment, based on the design that the connecting end 281 is pivotally connected to the housing 201 by a pivot, the connecting end 281 can be provided with a first shaft hole. Correspondingly, the housing 201 can have a pivot structure, which is provided with a second shaft hole at a position corresponding to each side of the connecting end 281. On this basis, the pivot is arranged in the first shaft hole and the second shaft hole, so as to pivotally connect the connecting end 281 and the housing 201.

[0101] Further, as shown in Figure 4As shown, based on the design of the detachable structure of the wet cleaning device 200, in the present embodiment, the movable end 282 can be provided with a first buckle structure. Correspondingly, the shell 201 can be provided with a second buckle structure corresponding to the position of the movable end 282, and the first buckle structure and the second buckle structure are in clamping cooperation. Specifically, the above two buckle structures can adopt a structure form of mutually cooperating male and female buckles, two mutually cooperating tenons, a clamping column and a clamping hole, etc., which are not limited to the present embodiment.

[0102] Further, as shown, Figure 4 based on the design of the detachable structure of the wet cleaning device 200, in the present embodiment, the shell 201 is provided with a containing space containing the cleaning head 210, and the cleaning head 210 has two opposite connecting ends, one of which is detachably connected to one end of the containing space, and the other of which is located at the other end of the containing space. On this basis, the movable end 282 is adjustably clamped to the other end of the containing space. Accordingly, in the clamped state of the movable end 282 and the shell 201, the pressing plate 280 presses the other connecting end of the cleaning head 210 against the other end of the containing space.

[0103] Further, as shown, Figure 4 based on the design of the detachable structure of the wet cleaning device 200, in the present embodiment, the shell 201 is provided with a containing space containing the water return mechanism 230, and the water return mechanism 230 has two opposite connecting ends, one of which is detachably connected to one end of the containing space, and the other of which is located at the other end of the containing space. On this basis, the movable end 282 is adjustably clamped to the other end of the containing space. Accordingly, in the clamped state of the movable end 282 and the shell 201, the pressing plate 280 presses the other connecting end of the water return mechanism 230 against the other end of the containing space.

[0104] As described above, in the present embodiment, the cleaning head 210 and the water return mechanism 230 (including the water suction roller 231 and the recovery rod 232) are both arranged in the containing space, and one end of each of them is detachably connected to one end (the same direction end) of the containing space, and the other end of each of them can be pressed against the other end of the containing space by the movable end 282 of the pressing plate 280. In other embodiments, the shell 201 can also be provided with only a containing space containing the cleaning head 210, or only a containing space containing the water return mechanism 230, or different containing spaces containing the cleaning head 210 and the water return mechanism 230 respectively, on this basis, the movable end 282 of the pressing plate 280 can correspond to each of the above containing spaces respectively, to press and position at least one of the cleaning head 210 and the water return mechanism 230, thereby providing a quick release function for each functional structure of the wet cleaning device 200 of the self-moving robot 100.

[0105] Based on the above exemplary description, the structure, connection mode and functional relationship of each main component of the self-moving robot proposed by the present application will be described in detail below.

[0106] Figures 1-2 is a structural schematic diagram of a robot according to an exemplary embodiment, as shown in Figures 1-2 The robot 100 can be a self-moving robot, a floor cleaning robot, etc. automatic cleaning equipment, which can include a frame 110, a perception system 120, a control system 130, a drive system 140, a dry cleaning device 150, an energy system 160 and a human-computer interaction system 170. Among them:

[0107] The perception system 120 includes a position determination device 121 located above the frame 110, a bumper 122 located at the front portion 111 of the frame 110, a cliff sensor 123 and an ultrasonic sensor (not shown in the figure), an infrared sensor (not shown in the figure), a magnetometer (not shown in the figure), an accelerometer (not shown in the figure), a gyroscope (not shown in the figure), an odometer (not shown in the figure) and other sensing devices, which provide various position information and motion state information of the machine to the control system 130. The position determination device 121 includes but is not limited to a camera, a laser ranging device (LDS).

[0108] Each component in the perception system 120 can operate independently or jointly to more accurately achieve the intended function. The cliff sensor 123 and the ultrasonic sensor are used to identify the cleaning surface to determine the physical properties of the cleaning surface, including surface material, cleaning degree, etc., and can be combined with a camera, a laser ranging device, etc. to make more accurate judgments.

[0109] For example, the ultrasonic sensor can be used to determine whether the cleaning surface is a carpet. If the ultrasonic sensor determines that the cleaning surface is a carpet material, the control system 130 controls the robot 100 to perform carpet mode cleaning.

[0110] The front portion 111 of the frame 110 can carry the bumper 122. During the cleaning process, when the drive wheel module 141 propels the robot to walk on the ground, the bumper 122 detects one or more events (or objects) in the travel path of the robot 100 via a sensor system, such as an infrared sensor. The robot can control the drive wheel module 141 to make the robot respond to the events (or objects) detected by the bumper 122, such as obstacles, walls, etc., such as moving away from the obstacles.

[0111] The control system 130 is disposed on a circuit board within the chassis 110, and includes a computing processor, such as a central processing unit, an application processor, in communication with a non-transitory memory, such as a hard disk, a flash memory, a random access memory. The application processor uses a positioning algorithm, such as SLAM, to draw a real-time map of the environment in which the robot is located based on the obstacle information fed back by the laser ranging device. In combination with the distance information, speed information fed back by the buffer 122, cliff sensor 123, and ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer, etc. sensing device, the control system comprehensively judges the current working state of the robot, such as crossing the threshold, being on the carpet, being at the cliff, being stuck above or below, being full of dust box, being picked up, etc. and gives specific next action strategy for different situations, so that the work of the robot is more in line with the requirements of the owner, and better user experience is achieved. Further, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, greatly improving the cleaning efficiency of the robot.

[0112] The drive system 140 can manipulate the robot 100 to travel across the ground based on drive commands having distance and angle information, such as x, y, and theta components. Figure 13 、 Figure 14 For the oblique view and front view of the one-side drive wheel module 141 in an embodiment of the present application, as shown in the figure, the drive system 140 includes the drive wheel module 141, which can control the left wheel and the right wheel at the same time. In order to more accurately control the movement of the robot, the drive wheel module 141 preferably includes a left drive wheel module and a right drive wheel module. The left and right drive wheel modules are opposite along the transverse axis defined by the chassis 110.

[0113] In order for the robot to move more stably on the ground or have stronger movement ability, the robot can include one or more driven wheels 142, which include but are not limited to universal wheels. The drive wheel module includes a walking wheel and a drive motor as well as a control circuit for controlling the drive motor. The drive wheel module can also be connected to a circuit for measuring the drive current and an odometer. The drive wheel module 141 can be detachably connected to the chassis 110, facilitating disassembly and maintenance. The cleaning element of the robot 100 contacts the surface to be cleaned with a certain pressure.

[0114] The main cleaning function of the dry cleaning device 150 is derived from the sweeping system 151 composed of the rolling brush structure, the dust box structure, the fan structure, the air outlet, and the connecting components therebetween. The rolling brush structure with a certain interference with the ground sweeps the garbage on the ground and brings it to the front of the dust suction port between the rolling brush structure and the dust box structure, and then the garbage is sucked into the dust box structure by the suction gas generated by the fan structure and passing through the dust box structure. The dust removal capacity of the sweeper can be characterized by the dust pickup efficiency DPU. The dust pickup efficiency DPU is affected by the rolling brush structure and the material, the air duct composed of the dust suction port, the dust box structure, the fan structure, the air outlet, and the connecting components therebetween, the type and power of the fan, and is a complex system design problem. Compared with ordinary plug-in vacuum cleaners, the improvement of the dust removal capacity is more significant for self-moving robots with limited energy. Because the improvement of the dust removal capacity directly and effectively reduces the energy requirement, that is, the robot that can clean 80 square meters of ground with one charge can evolve into a robot that can clean 180 square meters or more with one charge. Moreover, the service life of the battery will be greatly increased by reducing the number of charges, so that the user will replace the battery more frequently. More intuitively and importantly, the improvement of the dust removal capacity is the most obvious and important user experience, and the user will directly conclude whether the sweeping / cleaning is clean. The dry cleaning device can also include a side brush 152 having a rotating shaft at an angle relative to the ground for moving debris into the rolling brush area of the dry cleaning device 150.

[0115] The energy system 160 includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, which are connected with a single-chip microcomputer control circuit. The host is connected with the charging pile through the charging electrode arranged on the side or the lower part of the machine body for charging. If dust adheres to the exposed charging electrode, the electrode periphery of the plastic machine body will be melted and deformed due to the accumulation of electric charge during the charging process, and even the electrode itself will be deformed, which cannot continue normal charging.

[0116] The human-computer interaction system 170 includes keys on the host panel for users to select functions, and can also include a display screen and / or an indicator light and / or a loudspeaker to show the current state of the machine or the function selection item to the user, and can also include a mobile phone client program. For path navigation type cleaning equipment, the mobile phone client can show the user a map of the environment where the equipment is located, and the position of the machine, and can provide more rich and personalized function items to the user.

[0117] The human-computer interaction system 170 further includes a tail light 171 arranged on the chassis.

[0118] To more clearly describe the behavior of the robot, the following directional definitions are made: the robot 100 can travel on the ground by various combinations of movements relative to the following three mutually perpendicular axes defined by the frame 110: a lateral axis x, an anterior-posterior axis y, and a central vertical axis z. The forward driving direction along the anterior-posterior axis y is denoted as "forward", and the backward driving direction along the anterior-posterior axis y is denoted as "backward". The lateral axis x is substantially an axis extending between the right wheel and the left wheel of the robot along the center point of the drive wheel module 141. The robot 100 can rotate about the x-axis. When the forward portion of the robot 100 is tilted upward and the rearward portion is tilted downward, it is "pitched up", and when the forward portion of the robot 100 is tilted downward and the rearward portion is tilted upward, it is "pitched down". In addition, the robot 100 can rotate about the z-axis. In the forward direction of the robot, when the robot 100 is tilted to the right of the Y-axis, it is "turned right", and when the robot 100 is tilted to the left of the y-axis, it is "turned left".

[0119] Figures 3-5 The wet cleaning device 200 comprises at least one cleaning head 210, which comprises a water feeding mechanism 220, a water returning mechanism 230, a water tank 240, and a lifting module 250. The wet cleaning device 200 comprises a power module 260, which simultaneously transmits the power of a single motor 262 to the cleaning head 210, the water feeding mechanism 220, the water returning mechanism 230, the water tank 240, and the lifting module 250 through a power transmission device 261. The energy system 160 provides power and energy for the power module 260, and is overall controlled by the control system 130.

[0120] The water tank 240 comprises a clean water tank 241 and a sewage tank 242, each of which is independently provided with an opening for facilitating water injection or cleaning.

[0121] As shown in Figure 15 The water tank 240 is further provided with a water level detection device 243, which can detect the water level in the clean water tank 241 and the sewage tank 242. When the water level in the clean water tank 241 is insufficient or the water level in the sewage tank 242 is too high, the user is reminded to manually intervene through the display screen and / or indicator light and / or loudspeaker and / or mobile phone client program of the human-computer interaction system 170.

[0122] The water level detection device 243 used in this embodiment is designed as a hollow float, which is internally provided with a magnet. A Hall sensor is arranged at the bottom of the water tank opposite to the magnet. When the water tank contains a large amount of water, the water level detection device is lifted by the float, and the distance between the magnet and the Hall sensor becomes longer. When the water tank contains a small amount of water, the water level detection device is lowered by the float, and the distance between the magnet and the Hall sensor becomes shorter. The water level is determined by the Hall sensor sensing the distance between the magnet and the Hall sensor.

[0123] The water level detection device 243 can adopt other schemes that can detect the water level, such as a resistance type or a capacitance type.

[0124] The water feeding mechanism 220 includes a clean water pump 221, a clean water pump pipe 222, and a water outlet structure 223. The water feeding mechanism feeds the water in the clean water tank 241 to the water outlet structure 223 through the clean water pump 221 and the clean water pump pipe 222. The water outlet structure 223 can be a spray head, a dripping hole, or a wetting cloth, and uniformly spreads the water in front of the cleaning head 210, so as to wet the cleaning head 210 and the surface to be cleaned. The stains on the wet surface to be cleaned can be more easily cleaned.

[0125] The cleaning head 210 reciprocates along the surface to be cleaned. The contact surface of the cleaning head 210 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate. The reciprocating motion generates high-frequency friction with the surface to be cleaned, so as to remove the stains on the surface to be cleaned.

[0126] As shown in FIGS. 1, 2, and 3, the cleaning head 210 can be made of a material with a certain elasticity, and is provided with shaft holes at both ends, which are respectively sleeved on the cam shaft 212 and the slide 213, so as to realize reciprocating motion. Figure 17 Figure 18 The cleaning head 210 and the wet cleaning device 200 are supported by the elastic support structure 211, such as a reed or a spring. When the cleaning head 210 works, the cleaning head 210 always contacts the surface to be cleaned. During the automatic and / or autonomous cruising of the robot 100, the distance between the surface to be cleaned and the wet cleaning device 200 is not always constant. The elasticity of the cleaning head 210 and the elastic support structure 211 enable the distance between the cleaning head 210 and the wet cleaning device 200 to be passively adjusted according to the operating surface.

[0127] The water recovery mechanism 230 includes a water suction roller 231 and a recovery rod 232. The structure of the water suction roller 231 is as shown in FIG. 4, and the structure of the recovery rod 232 is as shown in FIG. 5. Figure 19 Figure 20 ​​As shown, the water absorption roller 231 is sleeved with a water absorption material 235, and the water absorption roller 231 rotates synchronously during the cleaning of the cleaning head 210, and the sewage after the cleaning of the cleaning head 210 is absorbed by the water absorption material 235 on the water absorption roller 231; the recovery rod 232 is provided with a scraping strip 236, the scraping strip 236 is in close contact with the water absorption roller 231, and the water absorption material 235 on the water absorption roller 231 is extruded, so that the sewage absorbed in the water absorption material 235 flows out to the recovery groove 237 of the recovery rod 232, and the sewage in the recovery groove 237 is transferred to one side through the worm structure 238 of the recovery rod 232, and the end of the recovery rod 232 is provided with a sludge box 239 for filtering solid impurities in the sewage, and the filtered sewage is sent to the sewage tank 242 through the sewage pump 233 and the sewage pump pipe 234.

[0128] The power of the cleaning head 210, the clean water pump 221 and the sewage pump 233 can be automatically and dynamically adjusted according to the working environment of the robot 100. Generally, the user can control the cleaning intensity of the cleaning head 210 and the water volume of the water pump through the man-machine interaction system 170.

[0129] Figure 16 The schematic diagram of the overall assembly effect of the wet cleaning device 200 in the embodiment is shown. The motor 262 is connected with the cleaning head 210, the water absorption roller 231, the recovery rod 232, the clean water pump 221 and the sewage pump 233 through the transmission device. When the wet cleaning device 200 starts, the motor 262 starts to work and rotates forward, the clean water pump 221 sucks clean water from the clean water tank and sprays the clean water in front of the cleaning head 210 through the water outlet structure 223; the cleaning head 210 cleans the surface to be cleaned through reciprocating motion, and the generated sewage is absorbed by the water absorption roller 231 and recovered through the recovery rod 232, and then sucked out by the sewage pump 233 and sent to the sewage tank. When the motor 262 reverses, the cleaning head 210, the water absorption roller 231, the recovery rod 232, the clean water pump 221 and the sewage pump 233 do not work, and the lifting module 250 starts to work.

[0130] The cleaning intensity / efficiency of the robot 100 can also be automatically and dynamically adjusted according to the working environment of the robot 100. For example, the robot 100 can realize dynamic adjustment according to the physical information of the surface to be cleaned detected by the perception system 120. For example, the perception system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil stain and dust, and other information, and transmit these information to the control system 130 of the robot 100. Correspondingly, the control system 130 can command the robot 100 to automatically and dynamically adjust the rotating speed of the motor 262 and the transmission ratio of the power transmission device 261, so as to adjust the preset reciprocating period of the reciprocating motion of the cleaning head 210.

[0131] For example, when the robot 100 is working on a flat surface, the preset reciprocating cycle can be automatically and dynamically adjusted to be longer, and the water volume of the pump can be automatically and dynamically adjusted to be smaller; when the robot 100 is working on a less flat surface, the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the pump can be automatically and dynamically adjusted to be larger. This is because flat surfaces are easier to clean than uneven surfaces, so cleaning uneven surfaces requires the cleaning head 210 to reciprocate more quickly (i.e., at a higher frequency) and use a larger volume of water.

[0132] For example, when the robot 100 is working on a tabletop, the preset reciprocating cycle can be automatically and dynamically adjusted to be longer, and the water volume of the pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device 100 is working on the ground, the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the pump can be automatically and dynamically adjusted to be larger. This is because, compared to the ground, the tabletop has less dust and oil, and the material that makes up the tabletop is easier to clean. Therefore, the cleaning head 210 needs to perform fewer reciprocating movements, and the water pump needs to provide a relatively small amount of water to clean the tabletop.

[0133] like Figure 11 and Figure 12 As shown, the lifting module 250 is disposed between the frame 110 and the wet cleaning device 200 and is connected to the motor 262. Both ends of the lifting module 250 are fixed on the frame 110, and the lower part of the lifting module 250 is installed on the wet cleaning device 200. The lifting module 250 dynamically adjusts the distance between the wet cleaning device 200 and the frame 110 through pulley blocks, traction ropes, etc.

[0134] In this embodiment, the lifting module 250 is connected to the motor 262 via a rack 251. When the motor 262 reverses, it pulls the rack downwards, causing the lifting module 250 to lift the wet cleaning device 200 upwards. When the motor 262 is operating normally, the rack 251 disengages from the gear of the motor 262 after completing its stroke, and the lifting module 250 returns the wet cleaning device 200 to its working position.

[0135] For example, when the user instructs the robot 100 through the human-machine interaction system 170 to only use the dry cleaning device for cleaning, the lifting module 250 shortens the distance between the wet cleaning device 200 and the rack 110, and at this time the wet cleaning device 200 is lifted away from the surface to be cleaned. The distance between the wet cleaning device 200 and the surface to be cleaned can also be automatically dynamically adjusted according to the working environment of the robot 100. For example, the robot 100 can detect the physical information of the surface to be cleaned according to the installation of the perception system 120. For example, when the perception system 120 detects that the robot travels on a carpet surface, the lifting module 250 lifts the wet cleaning device 200 to make the wet cleaning device 200 away from the carpet surface, so as to avoid wetting the carpet, and at the same time the cleaning head 210, the clean water pump 221, the sewage pump 233 and the like are all suspended. When the perception system 120 detects that the robot is away from the carpet surface and returns to the ground such as tiles, floor and the like, the lifting module 250 lowers the wet cleaning device 200, and the various components of the wet cleaning device 200 continue to work normally.

[0136] Further, the wet cleaning device 200 is provided with a guide wheel 270, which provides a better working space for the cleaning head 210, increases the effective contact area of each cleaning unit of the cleaning head 210 with the surface to be cleaned, and at the same time ensures that the friction between the wet cleaning device and the surface to be cleaned is small, thereby reducing the overall power consumption of the robot 100.

[0137] Figure 7 FIG. 4 is a structural schematic view of the dust box 152 in the dry cleaning device, Figure 8 FIG. 5 is a structural schematic view of the fan 156 in the dry cleaning device, Figure 9 FIG. 6 is a schematic view of the opening state of the dust box 152, Figure 10 FIG. 7 is a schematic view of the assembly state of the dust box and the fan. The rolling brush structure with a certain interference with the ground sweeps the garbage on the ground and rolls it to the front of the dust suction port 154 between the rolling brush structure and the dust box 152, and then the garbage is sucked into the dust box 152 by the gas generated by the fan 156 structure and passing through the dust box 152. The garbage is isolated inside the dust box 152 near the dust suction port 154 by the filter screen 153, and the filtered air enters the fan 156 through the air outlet 155. Typically, the dust suction port 154 of the dust box 152 is located in front of the machine, the filter screen 153 is horizontally placed in the middle of the dust box 152, and the air outlet 155 is located at the side of the dust box 152. The filter screen completely isolates the dust suction port and the air outlet.

[0138] It should be noted that the self-moving robot shown in the drawings and described in the specification is only one example of many self-moving robots that can employ the principles of the present application. It should be clearly understood that the principles of the present application are by no means limited to any details or any components of the self-moving robot shown in the drawings or described in the specification.

[0139] In an embodiment, the self-moving robot further comprises a frame, a driven wheel, at least one obstacle detection sensor, a dry cleaning device, at least one main brush, at least one side brush, a control system, and a wet cleaning device; the frame comprises a top shell and a bottom plate; the driven wheel is arranged on the bottom plate; the obstacle detection sensor is used to detect obstacles close to or in contact with the self-moving robot, and generate an obstacle detection signal, the obstacle detection sensor comprises a touch sensor, a laser radar, an ultrasonic sensor, an infrared sensor, etc.; the dry cleaning device comprises a fan, an air duct and a dust box, the fan is used to suck up stains and dust on the surface to be cleaned and send them to the dust box through the air duct, the dust box is provided with a filter screen and an air outlet, the filter screen covers the air outlet, so that the airflow blown by the fan through the dust box is filtered; the main brush is used to clean stains, dust or hair on the surface to be cleaned; the side brush is used to clean dust, stains or hair on the edge of the self-moving robot into the range cleaned by the main brush; the control system is operatively coupled to the at least one obstacle detection sensor and the drive motor, wherein the control system is configured to receive the obstacle detection signal and, in response to the obstacle detection signal, generate and transmit corresponding drive control signals to the drive motor to control the movement of the self-moving robot on the surface to be cleaned; the wet cleaning device comprises at least one cleaning head, which reciprocates along the surface to be cleaned.

[0140] In an embodiment, the wet cleaning device comprises a water feeding mechanism, a water returning mechanism and a water tank, the water tank comprises a clean water tank and a sewage tank, the clean water tank is connected with the water feeding mechanism to send clean water in the clean water tank to the cleaning head through the water feeding mechanism, thereby improving the cleaning effect of the cleaning head, and the water returning mechanism sends the sewage on the surface cleaned by the cleaning head back to the sewage tank.

[0141] In an embodiment, the water feeding mechanism and the water returning mechanism are provided with a dynamic adjustment water pump, which dynamically adjusts the power of the water pump with changes in external pressure or the amount of water in the water tank.

[0142] In an embodiment, the water returning mechanism is provided with a garbage recycling device to collect non-water-soluble garbage brought back by the water returning mechanism.

[0143] In an embodiment, the water tank is provided with a water amount detection module.

[0144] In an embodiment, the wet cleaning device comprises a lifting module to control the suspension height of the wet cleaning device.

[0145] In an embodiment, a guide wheel is arranged in front of the wet cleaning device to reduce the forward resistance of the wet cleaning device.

[0146] In summary, the driving wheel module provided by the present application is suitable for a self-moving robot and comprises a body part, a driving wheel and an elastic element. One end of the body part is connected to a frame. The driving wheel is arranged on the body part and is driven to rotate by a driving motor. The elastic element is arranged to extend in a vertical plane and has an upper end and a lower end connected to the body part and the frame respectively. The elastic element can provide an elastic force between the frame and the body part. Through the above design, the driving wheel module provided by the present application provides a downward elastic force between the frame and the body part through the elastic element, thereby providing a certain landing force for the driving wheel module to maintain contact with the ground and traction, and providing a buffering and damping function for the driving wheel module during walking of the self-moving robot. The driving wheel module provided with the elastic element forms a set of biased falling suspension system, ensuring effective driving of the driving wheel module and good passability.

[0147] Furthermore, the self-moving robot provided by the present application changes the situation that a general self-moving robot can only perform dry cleaning or only perform wet cleaning through the novel design of the ground wiping structure, and changes the status that a general wet self-moving robot can only perform simple cleaning of the ground through the mechanical reciprocating ground wiping structure, thereby improving the cleaning effect and further optimizing the structural design of the self-moving robot.

[0148] The exemplary embodiments of the driving wheel module and the self-moving robot provided by the present application are described and / or illustrated in detail above. However, the embodiments of the present application are not limited to the specific embodiments described herein, but rather, each of the embodiments' components and / or steps can be used independently and separately from other components and / or steps described herein. Each component and / or step of one embodiment can also be used in combination with other components and / or steps of other embodiments. The language used in the description herein has been principally selected for readability and instructional purposes and can not have been selected to delineate or circumscribe the inventive subject matter, resorting as needed to conjunctive language where indelicate or unclear. It is therefore intended that the embodiments disclosed herein be considered in all its possible embodiments, including apparent equivalents.

[0149] Although the driving wheel module and the self-moving robot provided by the present application have been described in accordance with various specific embodiments, it will be recognized that certain modifications are possible to one skilled in the art.

Claims

1. A self-moving robot, characterized in that, Include: frame; A drive wheel module includes a body, a drive wheel, and an elastic element. One end of the body is connected to the frame, and a groove is formed at the top of the body. The drive wheel is located on the inner side of the body relative to the middle of the frame and is driven by a drive motor. The drive motor is located on the body and is connected to the drive wheel, and is located on the outer side of the drive wheel relative to the middle of the frame. The elastic element extends in a vertical plane and has an upper end and a lower end. The lower end is connected to the body and located within the groove. The connection point between the elastic element and the body is between the end of the body connected to the frame and the drive wheel. The upper end is connected to the frame. The elastic element is inclined relative to that end of the body in the direction from the body to the frame. The elastic element is configured to provide an elastic force between the frame and the body. When the self-moving robot is placed on the ground, the elastic element is compressed by the pressure generated by the weight of the self-moving robot. A wet cleaning device includes a housing, a cleaning component disposed on the housing, and a lifting module. The lifting module is used to dynamically adjust the distance between the wet cleaning device and the frame. The lifting module is connected to a motor via a rack. When the motor reverses, it drives the rack to pull downward, and the lifting module drives the wet cleaning device to lift upward. When the motor is working normally, the rack disengages from the motor gear after completing its stroke, and the lifting module drives the wet cleaning device back to the working position.

2. The self-moving robot according to claim 1, characterized in that, The elastic element includes a spring, a sheet spring, or a leaf spring.

3. The self-moving robot according to claim 1, characterized in that, The main body has a receiving portion on its inner side relative to the middle of the frame, and the drive wheel portion is received in the receiving portion.

4. The self-moving robot according to claim 1, characterized in that, The axis of the drive motor is located within the projected area of ​​the drive wheel.

5. The self-moving robot according to claim 1, characterized in that, The drive wheel has an axle, and the axis of the drive motor is on the same axis as the axle.

6. The self-moving robot according to claim 1, characterized in that, The drive wheel and the drive motor are connected by a transmission assembly, which includes at least one of a reducer and a transmission gear set.

7. The self-moving robot according to claim 1, characterized in that, The self-moving robot includes at least one pair of drive wheel modules, with the two drive wheel modules in the same pair arranged symmetrically relative to the frame.

8. The self-moving robot according to claim 7, characterized in that, The self-moving robot includes a dry cleaning device, which is located at the bottom of the frame; wherein, the two drive wheel modules of the same pair are located at both ends of the dry cleaning device.

9. The self-moving robot according to claim 1, characterized in that, The self-moving robot further includes a wet cleaning device, which comprises a housing and a cleaning component disposed on the housing; wherein, the self-moving robot also includes a detachable structure, which comprises: The pressure plate has a connecting end and a movable end, the movable end being adjustablely snapped into the housing; When the movable end and the housing are in a snap-fit ​​state, the movable end blocks part of the structure of the cleaning component, causing the cleaning component to abut against the housing; when the movable end and the housing are not in a snap-fit ​​state, the cleaning component can be removed from the housing.

10. The self-moving robot according to claim 9, characterized in that, The connecting end is connected to the housing.

11. The self-moving robot according to claim 10, characterized in that, The connecting end is pivotally connected to the housing via a pivot.

12. The self-moving robot according to claim 11, characterized in that, The connecting end has a first shaft hole, and the housing has a pivot structure. The pivot structure has second shaft holes at positions corresponding to both sides of the connecting end. The pivot passes through the first shaft hole and the second shaft hole to pivotally connect the connecting end to the housing.

13. The self-moving robot according to claim 9, characterized in that, The movable end is provided with a first snap-fit ​​structure, and the housing is provided with a second snap-fit ​​structure at the position corresponding to the movable end. The first snap-fit ​​structure and the second snap-fit ​​structure are engaged and cooperated.

14. The self-moving robot according to claim 9, characterized in that, The housing is provided with a receiving space for accommodating the cleaning head. The cleaning head has two opposite connecting ends, one of which is detachably connected to one end of the receiving space, and the other connecting end is located at the other end of the receiving space. The movable end is adjustablely engaged with the other end of the receiving space. When the movable end and the housing are engaged, the pressure plate presses and positions the other connecting end of the cleaning head against the other end of the receiving space. Alternatively, the housing is provided with a receiving space for accommodating the water return mechanism. The water return mechanism has two opposite connecting ends, one of which is detachably connected to one end of the receiving space, and the other connecting end is located at the other end of the receiving space. The movable end is adjustablely engaged with the other end of the receiving space. When the movable end and the housing are engaged, the pressure plate presses and positions the other connecting end of the water return mechanism against the other end of the receiving space.

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