Self-moving robot

Abstract

The application provides a self-moving robot, which comprises a chassis, a laser radar and a front wheel assembly. The laser radar is fixedly connected to one side of the chassis, and the front wheel assembly is rotatably supported on the side of the chassis away from the laser radar. The front wheel assembly is at least partially overlapped with the laser radar in the projection on the chassis. The front wheel assembly is at least partially overlapped with the laser radar in the projection on the chassis, so that the laser radar can be sufficiently supported and stabilized by the chassis and the front wheel assembly, avoiding shaking or damage of the laser radar caused by excessive external pressure.

Description

Technical Field

[0001] This application relates to the field of self-moving robots, and specifically to a self-moving robot. Background Technology

[0002] Currently, self-moving robots can be applied to home services, such as robot vacuums, robot mops, or robot scrubbers. Typically, self-moving robots have a lidar sensor on their top cover for navigation. However, the lidar usually needs to pass through an opening in the top cover, and the lidar itself lacks effective support, resulting in limited bonding strength between the lidar and the top cover. This makes them susceptible to shaking or damage from excessive external pressure. Summary of the Invention

[0003] This application provides a self-moving robot to solve the technical problem that the lidar lacks effective support from its top cover, resulting in limited bonding strength between the lidar and the top cover, making it susceptible to shaking or damage from excessive external pressure.

[0004] This application provides a self-moving robot, which includes a chassis, a lidar, and a front wheel assembly. The lidar is fixedly connected to one side of the chassis, and the front wheel assembly is rotatably supported on the side of the chassis opposite to the lidar. The orthographic projection of the front wheel assembly on the chassis at least partially overlaps with the orthographic projection of the lidar on the chassis.

[0005] Unlike existing technologies, the aforementioned self-moving robot is fixedly connected to one side of the chassis via the lidar, and the front wheel assembly is rotatably supported on the side of the chassis away from the lidar. The orthographic projection of the front wheel assembly on the chassis at least partially overlaps with the orthographic projection of the lidar on the chassis, so that the lidar can receive sufficient support and stability from the chassis and the front wheel assembly, avoiding the lidar from shaking or being damaged by excessive external pressure. Attached Figure Description

[0006] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0007] Figure 1 This is a schematic diagram of the longitudinal cross-sectional structure of a self-moving robot provided in an embodiment of this application;

[0008] Figure 2 yes Figure 1 An exploded schematic diagram of part of the structure of the provided self-moving robot;

[0009] Figure 3 yes Figure 1 Top view diagram of the provided self-moving robot Figure 1 (Front wheel assembly and lidar not installed);

[0010] Figure 4 yes Figure 3 Enlarged view of point A in the middle;

[0011] Figure 5 yes Figure 1 Top view diagram of the provided self-moving robot Figure 2 (Install front wheel assembly and lidar);

[0012] Figure 6 yes Figure 5 Enlarged view of point B Figure 1 ;

[0013] Figure 7 yes Figure 2 Enlarged schematic diagram of some parts of the structure (including lidar, front wheel assembly and front end of chassis). Figure 1 ;

[0014] Figure 8 yes Figure 5 Enlarged view of point B Figure 2 ;

[0015] Figure 9 yes Figure 2 Enlarged schematic diagram of some parts of the structure (including lidar, front wheel assembly and front end of chassis). Figure 2 ;

[0016] Figure 10 yes Figure 2 Enlarged schematic diagram of some parts of the structure (including lidar, front wheel assembly and front end of chassis). Figure 3 . Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0018] It should be noted that, unless there is a conflict, the various features in the embodiments of this application can be combined with each other, all of which are within the protection scope of this application. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. Moreover, the terms "first," "second," and "third" used in this application do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0019] Please see Figure 1 and Figure 2 This application provides a self-moving robot 100, which includes a chassis 10, a lidar 20, and a front wheel assembly 30. The lidar 20 is fixedly connected to one side of the chassis 10. The front wheel assembly 30 is rotatably supported on the side of the chassis 10 opposite to the lidar 20, and the orthographic projection of the front wheel assembly 30 on the chassis 10 at least partially coincides with the orthographic projection of the lidar 20 on the chassis 10.

[0020] Unlike existing technologies, the aforementioned self-moving robot 100 is fixedly connected to one side of the chassis 10 via the lidar 20. The front wheel assembly 30 is rotatably supported on the side of the chassis 10 away from the lidar 20. The orthographic projection of the front wheel assembly 30 on the chassis 10 at least partially overlaps with the orthographic projection of the lidar 20 on the chassis 10, so that the lidar 20 can receive sufficient support and stability from the chassis 10 and the front wheel assembly 30, preventing the lidar 20 from shaking or being damaged by excessive external pressure.

[0021] It is understood that the self-moving robot 100 can be a cleaning robot, such as a sweeping robot, a mopping robot, a floor washing robot, or a window cleaning robot; the self-moving robot 100 can also be other types of robots, such as a transport robot or a patrol robot, etc., and is not limited here. This application uses a cleaning robot as an example for illustration in its embodiments.

[0022] In this embodiment, the self-moving robot 100 may include a chassis 10 and a top cover assembly 60. The top cover assembly 60 is detachably mounted on the chassis 10 to protect the various functional components inside the self-moving robot 100 from damage caused by severe impacts or accidental liquid spills during use. The chassis 10 and / or the top cover assembly 60 are used to carry and support the various functional components. In an optional embodiment, the body of the self-moving robot 100 may also have other designs and structures, such as a one-piece molded structure or a structure with separate left and right sides. This application embodiment does not limit the material, shape, structure, etc. of the body.

[0023] An inner cavity 61 is formed between the chassis 10 and the upper cover assembly 60. The inner cavity 61 provides an area 15 for arranging the internal components of the self-moving robot 100. The self-moving robot 100 has a dust collection box, a vacuum pump, a battery, a main circuit board, a ground detection sensor, a collision detection sensor, and a wall-following sensor arranged in the inner cavity 61. The upper cover assembly 60 includes a middle shell 50 and a collision side plate 62 movably connected to the middle shell 50. The middle shell 50 is the main body of the upper cover assembly 60, and buttons can be provided on the middle shell 50. The middle shell 50 and the collision side plate 62 together cover the chassis 10, and the middle shell 50 is fixedly connected to the chassis 10 by screws or other means. The collision side plate 62 is movable relative to the chassis 10 and the middle shell 50. The self-moving robot 100 also includes an elastic element that elastically connects the chassis 10 and the collision side plate 62, and the elastic element can provide elastic support force to the collision side plate 62. When the collision side plate 62 hits an obstacle, it can retract relative to the middle shell 50, and then the collision side plate 62 expands relative to the middle shell 50 under the elastic action of the elastic element. The collision side plate 62 can be any shape such as arc, ring, or U-shape, and can be set according to actual needs, without limitation here.

[0024] The self-moving robot 100 includes a walking mechanism mounted on the bottom of the chassis 10 and extending outwards from the chassis 10 to drive the main body of the self-moving robot 100. The walking mechanism includes a pair of opposing drive wheels 65 and a front wheel assembly 30. The pair of drive wheels 65 and the front wheel assembly 30 are triangularly distributed on the chassis 10. The pair of drive wheels 65 can actively drive the main body of the self-moving robot 100, and the front wheel assembly 30 can support the self-moving robot 100 and follow its movement.

[0025] The lidar 20 is installed in the cavity 61 between the upper cover assembly 60 and the chassis 10, so that the lidar 20 does not need to protrude from the upper cover assembly 60, which helps to prevent the lidar 20 from being hit by external collisions or obstacles.

[0026] The lidar 20 can be a mechanical lidar or a solid-state lidar, which can be configured as needed. In this embodiment, the lidar 20 is a mechanical lidar, specifically a D-TOF lidar, which measures distance using the time-of-flight principle. The lidar 20 includes a housing assembly fixedly connected to the robot body and a drive device fixedly connected to the housing assembly. The drive device can drive the ranging component to rotate. The ranging component includes a laser emitter and a single-photon detector chip. The plane containing the emission path of the laser emitter and the receiving path of the single-photon detector chip is perpendicular to the rotation axis of the ranging component, and the emission path of the laser emitter is parallel to the receiving path of the single-photon detector chip. In other embodiments, the lidar 20 can also be a triangulation ranging radar.

[0027] The LiDAR 20 can scan the environment in which the self-moving robot 100 is located. The self-moving robot 100 can build an environmental map model based on the scanning signal of the LiDAR 20, and then navigate the self-moving robot 100 according to the environmental map model.

[0028] Please see Figure 1 and Figure 3 The chassis 10 has a front end 63 and a rear end 64 disposed opposite to the front end 63. The collision side plate 62 of the self-moving robot 100 is movably connected to the front end 63 of the chassis 10. The lidar 20 is fixed to the chassis 10 near the front end 63 and the collision side plate 62. A suitable distance is maintained between the lidar 20 and the collision side plate 62 to allow sufficient space for the collision side plate 62 to move and to prevent the collision side plate 62 from damaging the lidar 20. The collision side plate 62 has a light-transmitting area for the lidar 20 to receive and transmit light. The front wheel assembly 30 is connected to the chassis 10 near the front end 63 and the collision side plate 62. The front wheel assembly 30 is supported on the bottom of the chassis 10. That is, the front wheel assembly 30 and the lidar 20 are respectively connected to opposite sides of the chassis 10. Furthermore, the orthographic projection of the front wheel assembly 30 on the chassis 10 and the orthographic projection of the lidar 20 on the chassis 10 at least partially overlap, so that the front wheel assembly 30 and the lidar 20 occupy approximately the same area of ​​the chassis 10. The structure is relatively compact, which helps to reduce the area 15 occupied by the chassis 10.

[0029] Please see Figure 1 and Figure 2 Furthermore, the chassis 10 is provided with a support structure 11 located between the lidar 20 and the front wheel assembly 30. The support structure 11 forms a protruding structure 12 on the side near the lidar 20 and a wheel groove 13 on the side near the front wheel assembly 30. The wheel groove 13 is provided corresponding to the protruding structure 12. The protruding structure 12 supports the bottom of the lidar 20. The front wheel assembly 30 partially accommodates the wheel groove 13 and partially extends out of the wheel groove 13.

[0030] In this embodiment, the supporting structure 11 supports the lidar 20, and the lidar 20 can be fixedly connected to the supporting structure 11 by screws, clips, or plugs. The protruding structure 12 protrudes from the chassis 10 on the side opposite to the front wheel assembly 30, and provides sufficient space for the wheel groove 13, allowing the front wheel assembly 30 to be partially accommodated within the wheel groove 13. The bottom of the lidar 20 is supported by the protruding structure 12, meaning that the protruding structure 12 and the lidar 20 are stacked in the height direction of the self-moving robot 100.

[0031] Please see Figure 2 , Figure 3 and Figure 4 The chassis 10 has a front edge 14, and the protruding structure 12 is spaced apart from the front edge 14. An arrangement area 15 is provided between the protruding structure 12 and the front edge 14. The orthographic projection of the lidar 20 on the chassis 10 at least partially falls within the arrangement area 15. The self-moving robot 100 also includes a recharge alignment device 70, which is installed within the arrangement area 15. The recharge alignment device 70 is used to receive a recharge guidance signal, enabling the self-moving robot 100 to approach the charging device according to the recharge guidance signal, ultimately allowing the self-moving robot 100 to dock with the charging device for charging. The recharge alignment device 70 is flush with the side of the chassis 10 facing away from the protruding structure 12 facing away from the chassis 10, so that the recharge alignment device 70 and the protruding structure 12 form a platform supporting the bottom of the lidar 20. Both the recharge alignment device 70 and the protruding structure 12 abut against the bottom of the lidar 20, making the assembly structure of the protruding structure 12, the recharge alignment device 70 and the lidar 20 compact, which helps to save layout space.

[0032] Please see Figure 1 , Figure 5 and Figure 6The self-moving robot 100 also includes a main circuit board 22, which is fixed to the chassis 10. The main circuit board 22 is located between the front end 63 and the rear end 64, and is positioned relatively close to the front end 63. The main circuit board 22 is electrically connected to the lidar 20 and the pair of drive wheels 65. The main circuit board 22 is arranged adjacent to the lidar 20, and by ensuring that the orthographic projection of the front wheel assembly 30 on the chassis 10 at least partially overlaps with the orthographic projection of the lidar 20 on the chassis 10, interference with the main circuit board 22 can be avoided when the protruding structure 12 moves backward.

[0033] Please see Figure 7 and Figure 8 Furthermore, the protruding structure 12 is provided with an axle hole 121 communicating with the wheel groove 13, and a retaining structure 122 disposed in the axle hole 121. The front wheel assembly 30 includes a rotating shaft 31 and a front wheel body 32 fixedly connected to the rotating shaft 31. One end of the rotating shaft 31 extends into the axle hole 121 and is detachably connected to the retaining structure 122. The front wheel body 32 is fixed to the end of the rotating shaft 31 near the wheel groove 13.

[0034] In this embodiment, the shaft hole 121 may penetrate the protruding structure 12, or the shaft hole 121 may not penetrate the protruding structure 12. Since the retaining structure 122 is disposed within the shaft hole 121, the retaining structure 122 does not additionally increase the height of the protruding structure 12, thus preventing the protruding structure 12 from becoming too tall and interfering with the lidar 20. This also avoids the protruding structure 12 having to be moved backward to avoid the lidar 20 due to its excessive height.

[0035] The front wheel body 32 includes a front wheel bracket 321 fixedly connected to the rotating shaft 31 and a roller 322 rotatably connected to the front wheel bracket 321. The front wheel body 32 is rotatably fitted into the shaft hole 121 via the rotating shaft 31. The rotation axis of the rotating shaft 31 is perpendicular to the rotation axis of the roller 322. The axis of the shaft hole 121 is distributed vertically, the rotation axis of the rotating shaft 31 is distributed vertically, and the rotation axis of the roller 322 is distributed horizontally.

[0036] In some embodiments, the clamping structure 122 includes two elastic arms 125 disposed opposite to each other. The two elastic arms 125 are located on the same horizontal plane and are elastically clamped on opposite sides of the rotating shaft 31. The two elastic arms 125 are perpendicular to the axial direction of the rotating shaft 31, thereby clamping the rotating shaft 31 so that the rotating shaft 31 can rotate relative to the chassis 10. At the same time, the clamping effect can restrict the separation of the rotating shaft 31 from the shaft hole 121, while allowing the rotating shaft 31 to overcome the clamping force and disassemble from the clamping structure 122.

[0037] Please see Figure 4 and Figure 8 The rotating shaft 31 has an annular groove at one end extending into the shaft hole 121. The annular groove extends along the circumferential sidewall of the rotating shaft 31. Both elastic arms 125 are arc-shaped and are wound around the circumference of the rotating shaft 31, respectively engaging with the circumference of the annular groove. The two elastic arms 125 include a first elastic arm and a second elastic arm. The first elastic arm has a first connecting end 71 and a first free end 73 positioned opposite the first connecting end 71. The second elastic arm has a second connecting end 72 and a second free end 74 positioned opposite the second connecting end 72. The first connecting end 71 is connected to the inner wall of the shaft hole 121, and the first free end 73 is movably disposed in a direction perpendicular to the axis of the shaft hole 121. The second connecting end 72 is connected to the inner wall of the shaft hole 121, and the second free end 74 is movably disposed in a direction perpendicular to the axis of the shaft hole 121. The second connecting end 72 and the first free end 73 are adjacent to each other, with a movable gap between them. The first connecting end 71 and the second free end 74 are adjacent to each other, with a movable gap between them. The first free end 73 and the second free end 74 clamp the rotating shaft 31 under elastic action, and the rotating shaft 31 can also overcome the elastic action of the first free end 73 and the second free end 74 and separate from them.

[0038] Please see Figure 9Furthermore, the shaft hole 121 includes a first portion 123 and a second portion 124 adjacent to and connected to the first portion 123. The first portion 123 is disposed near the lidar 20, and the second portion 124 is disposed near the front wheel assembly 30. The diameter of the second portion 124 is larger than the diameter of the first portion 123. The retaining structure 122 is disposed in the first portion 123. The front wheel assembly 30 also includes a bearing 33, which is installed in the second portion 124 and rotates in cooperation with the rotating shaft 31.

[0039] In this embodiment, the first portion 123 and the second portion 124 are arranged side by side along the axial direction of the shaft hole 121. Both the first portion 123 and the second portion 124 are circular. The outer ring of the bearing 33 is fixedly fitted to the circumference of the second portion 124, and the inner ring of the bearing 33 is fixedly fitted to the rotating shaft 31. The outer ring of the bearing 33 can rotate relative to the inner ring of the bearing 33, and the inner ring of the bearing 33 can rotate relative to the outer ring of the bearing 33. The bearing 33 can be any one of a deep groove ball bearing, a thrust ball bearing, a self-aligning roller bearing, or a self-aligning ball bearing, etc., and those skilled in the art can choose according to their needs; no limitation is made here.

[0040] Please see Figure 1 and Figure 9 Furthermore, the end of the shaft hole 121 away from the wheel groove 13 passes through the protruding structure 12, and the distance between the end of the rotating shaft 31 extending into the shaft hole 121 and the bottom of the lidar 20 is less than a preset distance threshold.

[0041] In this embodiment, to further reduce the height of the protruding structure 12, the shaft hole 121 is provided through the protruding structure 12, which greatly reduces the distance between the end of the rotating shaft 31 extending into the shaft hole 121 and the bottom of the lidar 20. This reduces the stacking height of the lidar 20 and the protruding structure 12, preventing the lidar 20 from being positioned too high and unable to be properly arranged in the inner cavity 61 of the self-moving robot 100. Since the protruding structure 12 does not require an additional structure to close the shaft hole 121, its height can be reduced, which is beneficial for reducing the stacking height of the lidar 20 and the protruding structure 12. The preset distance threshold can be from 1mm to 5mm.

[0042] Please see Figure 10 Furthermore, the self-moving robot 100 also includes a waterproof component 40, which seals the shaft hole 121 near the bottom end of the lidar 20.

[0043] In this embodiment, since the shaft hole 121 penetrates the protruding structure 12, it connects the wheel groove 13 and the inner cavity 61 of the self-moving robot 100. Furthermore, the end of the shaft hole 121 away from the wheel groove 13 faces the bottom of the lidar 20. Because moisture from the surrounding environment of the self-moving robot 100 may enter the inner cavity 61 of the self-moving robot 100 through the shaft hole 121, and the bottom of the lidar 20 is easily affected by the moisture entering through the shaft hole 121, it can easily lead to oxidation, corrosion, or short circuits of the electrical components of the lidar 20. To overcome the problem caused by the shaft hole 121 penetrating the protruding structure 12, a waterproof component 40 is used to seal the end of the shaft hole 121 near the bottom of the lidar 20, preventing external moisture from penetrating the lidar 20 through the shaft hole 121. The waterproof component 40 can be any one of EVA (ethylene-vinyl acetate copolymer), silicone, or sealing cotton, etc., and those skilled in the art can select a suitable material according to actual needs.

[0044] Please see Figure 10 Furthermore, the lidar 20 includes a housing 21, a circuit board 22, a ranging component 23, and a driving device 24. The housing 21 has a receiving cavity 211 and is fixed to the supporting structure 11. The receiving cavity 211 has an open end 212 facing the shaft hole 121 and the waterproof component 40. The circuit board 22 is fixed to the open end 212 and is disposed in close contact with the waterproof component 40. The ranging component 23 and the driving device 24 are stacked sequentially on the side of the circuit board 22 facing away from the waterproof component 40 and are housed in the receiving cavity. The open end 212 of the receiving cavity 211 facing the shaft hole 121 and the waterproof component 40 facilitates the installation of the circuit board 22, the ranging component 23, and the driving device 24 within the receiving cavity 211 through the open end 212.

[0045] In this embodiment, the outer casing 21 includes a base and a light-transmitting cover fixedly connected to the base, the base and the light-transmitting cover forming the receiving cavity 211. The bottom of the lidar 20 is located on the side of the base away from the light-transmitting cover, and the top of the lidar 20 is located on the side of the light-transmitting cover away from the base. The base of the outer casing 21 can be fixedly connected to the chassis 10 by means of screws or other methods. The base of the outer casing 21 has an open end 212, which is located on the side of the base away from the light-transmitting cover. The waterproof component 40 is sheet-shaped and is fixed to the open end 212 and fitted to the waterproof component 40 by the circuit board 22, which can ensure that the waterproof component 40 keeps the shaft hole 121 sealed. The circuit board 22 can be fixedly connected to the base by means of screws, snap-fit ​​connections, adhesive bonding, or heat fusion welding. The circuit board 22 is electrically connected to the ranging component 23 and the driving device 24. The circuit board 22 can control the driving device 24 to drive the ranging component 23 to rotate, and control the ranging component 23 to transmit and receive environmental scanning signals through the light-transmitting cover to scan the surrounding environment within a preset scanning angle range, wherein the preset scanning angle range can be greater than or equal to 180 degrees.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above, which are not provided in detail for the sake of brevity; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A self-moving robot, characterized in that, The self-moving robot includes a chassis, a lidar, and a front wheel assembly. The lidar is fixedly connected to one side of the chassis, and the front wheel assembly is rotatably supported on the side of the chassis opposite to the lidar. The orthographic projection of the front wheel assembly on the chassis at least partially overlaps with the orthographic projection of the lidar on the chassis. The chassis has a support structure located between the lidar and the front wheel assembly. The support structure forms a protruding structure near the lidar, which supports the bottom of the lidar. The chassis has a front edge, and the protruding structure is spaced apart from the front edge. An arrangement area is provided between the protruding structure and the front edge. The support structure extends to... The front edge forms the arrangement area, and the orthographic projection of the lidar on the chassis at least partially falls within the arrangement area. The self-moving robot also includes a recharge and alignment device, which is installed within the arrangement area. The recharge and alignment device is flush with the side of the protruding structure opposite to the chassis. The recharge and alignment device and the protruding structure form a platform supporting the bottom of the lidar. Both the recharge and alignment device and the protruding structure abut against the bottom of the lidar. The bearing structure forms a wheel groove on the side near the front wheel assembly. The wheel groove is arranged corresponding to the protruding structure. The front wheel assembly partially accommodates the wheel groove and partially extends out of the wheel groove.

2. The self-moving robot as described in claim 1, characterized in that, The protruding structure has an axle hole communicating with the wheel groove, and a retaining structure disposed in the axle hole. The front wheel assembly includes a rotating axle and a front wheel body fixedly connected to the rotating axle. One end of the rotating axle extends into the axle hole and is detachably connected to the retaining structure. The front wheel body is fixed to the end of the rotating axle near the wheel groove.

3. The self-moving robot as described in claim 2, characterized in that, The shaft hole includes a first part and a second part adjacent to and connected to the first part. The first part is located near the lidar, and the second part is located near the front wheel assembly. The diameter of the second part is larger than the diameter of the first part. The retaining structure is disposed in the first part. The front wheel assembly also includes a bearing, which is installed in the second part and rotates in cooperation with the shaft.

4. The self-moving robot as described in claim 2, characterized in that, The end of the shaft hole away from the wheel groove passes through the protruding structure, and the distance between the end of the rotating shaft extending into the shaft hole and the bottom of the lidar is less than a preset distance threshold.

5. The self-moving robot as described in claim 4, characterized in that, The self-moving robot also includes a waterproof component that seals the shaft hole near the bottom end of the lidar.

6. The self-moving robot as described in claim 5, characterized in that, The lidar includes a housing, a circuit board, a ranging component, and a driving device. The housing has a receiving cavity and is fixed to the supporting structure. The receiving cavity has an open end facing the shaft hole and the waterproof component. The circuit board is fixed to the open end and fits against the waterproof component. The ranging component and the driving device are stacked sequentially on the side of the circuit board away from the waterproof component and housed in the receiving cavity.

7. The self-moving robot as described in claim 2, characterized in that, The clamping structure includes two elastic arms arranged opposite each other, which elastically clamp the rotating shaft on opposite sides.

8. The self-moving robot as described in claim 7, characterized in that, The rotating shaft has an annular groove at one end that extends into the shaft hole. The annular groove extends along the circumferential sidewall of the rotating shaft. Both elastic arms are arc-shaped and are respectively held in place by the circumference of the annular groove.

9. The self-moving robot as described in claim 1, characterized in that, The self-moving robot also includes a middle shell, which is fixedly connected to and covers the chassis, and an inner cavity is formed between the middle shell and the chassis, and the lidar is installed in the inner cavity.

10. The self-moving robot as described in claim 2, characterized in that, The clamping structure includes two elastic arms arranged opposite each other, the two elastic arms are located on the same horizontal plane, the two elastic arms are perpendicular to the axis of the rotating shaft, and the two elastic arms are elastically clamped on opposite sides of the rotating shaft respectively.

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