Self-moving robot

Abstract

The utility model discloses a self-moving robot. The self-moving robot comprises a robot body and a collision buffering structure. Wherein the robot main body is provided with a front collision side, a mounting piece and a limiting piece are arranged in the robot main body, and the collision buffering structure is arranged in the robot main body and is adjacent to the front collision side; the collision buffering structure comprises a collision piece and an elastic piece, the collision piece is provided with a mounting hole, the mounting piece is sleeved with the collision piece through the mounting hole, the collision piece is provided with a collision part, the collision part extends out of the robot body, the elastic piece is connected to the mounting piece, one end of the elastic piece abuts against the robot body, and the other end of the elastic piece abuts against the collision piece. The elastic piece is used for providing reset restoring force for the collision piece, and the limiting piece is movably connected with the collision piece and limits the collision piece to be separated from the installation piece. By means of the arrangement, the problems that an existing anti-collision sensing structure is fixed through screws, and consequently the assembling efficiency and cost of a whole machine are affected are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning equipment, in particular to a self-moving robot. Background Art

[0002] The common self-moving cleaning equipment on the market usually has an anti-collision sensing structure on the front side of its shell. In the existing related technology, the components of the anti-collision sensing structure are generally installed on the shell by screws, and tools such as screwdrivers are usually required for auxiliary installation during assembly. However, the method of fixing the components of the anti-collision sensing structure with screws affects the assembly efficiency and assembly cost of the whole machine. Utility Model Content

[0003] The utility model mainly provides a self-moving robot to solve the problem that the current anti-collision sensing structure is fixed with screws, which affects the assembly efficiency and cost of the whole machine.

[0004] To achieve the above-mentioned purpose, the utility model provides a self-moving robot, which comprises a robot body and a collision buffer structure; wherein:

[0005] The robot body has a front collision side, a mounting member and a limiting member are arranged in the robot body, and the collision buffer structure is arranged in the robot body and adjacent to the front collision side;

[0006] The collision buffer structure includes a collision member and an elastic member, the collision member is provided with a mounting hole, the collision member is sleeved on the mounting member through the mounting hole, the collision member is provided with a collision portion, the collision portion extends out of the robot body, the elastic member is connected to the mounting member, one end of the elastic member abuts against the robot body, and the other end abuts against the collision member, the elastic member is used to provide a restoring force for the collision member to reset, and the limiting member is movably connected to the collision member and limits the collision member from being separated from the mounting member.

[0007] In some embodiments of the present utility model, the collision member includes a first collision body, a second collision body and a connecting body, the first collision body and the second collision body are both connected to the connecting body, and the connecting body is located between the first collision body and the second collision body;

[0008] The mounting hole is formed in the connecting body, the first collision body partially extends out of the robot body, and the collision portion is formed at one end of the first collision body away from the second collision body.

[0009] In some embodiments of the present utility model, the collision member further comprises a matching body, the matching body is connected to the second collision body and the connecting body, and the matching body is provided with a limiting hole;

[0010] The limiting member has a connecting end and a limiting end, the connecting end is connected to the robot body, the limiting end passes through the limiting hole and forms a limiting portion, the limiting portion abuts and cooperates with the edge of the limiting hole, and the limiting portion is used to limit the movement of the matching body from the connecting end to the limiting end.

[0011] In some embodiments of the present invention, the limiting member is further provided with a guiding portion, and the guiding portion cooperates with the hole wall of the limiting hole to guide the collision member to rotate.

[0012] In some embodiments of the utility model, the limiting member includes two limiting bodies, the two limiting bodies are arranged at an interval, one end of the two limiting bodies is connected to the robot body, and the other end passes through the limiting hole, the guide portion is formed on the two limiting bodies, and a limiting flange is formed at the limiting end of any one of the two limiting bodies to constitute the limiting portion.

[0013] In some embodiments of the present invention, the limiting hole is arranged in a long strip shape, and the limiting hole is also extended along the rotation direction of the matching body.

[0014] In some embodiments of the present invention, the elastic member is arranged between the connecting body and the robot body, and the elastic member includes a sleeve body and two abutment bodies, the sleeve body is sleeved on the mounting member, the two abutment bodies are both connected to the sleeve body, one of the two abutment bodies abuts against the side wall surface inside the robot body, and the other abuts against the first collision body or the second collision body.

[0015] In some embodiments of the present invention, the self-moving robot further includes a sensing switch, which is disposed in the robot body; a trigger portion is formed at one end of the second collision body away from the connecting body, and the trigger portion cooperates with the sensing switch to trigger the switch.

[0016] In some embodiments of the present invention, the front collision side is provided with an escape opening, and the escape opening is used for the collision part to pass through.

[0017] In some embodiments of the present invention, the number of the collision buffer structures is two, one of the two collision buffer structures is arranged on one side of the front collision side, and the other is arranged on the other side of the front collision side.

[0018] The beneficial effects of the utility model are as follows: different from the prior art, the self-moving robot disclosed by the utility model ensures that the collision part can rotate relative to the mounting part by sleeves of the collision part on the mounting part, and also limits the collision part from being separated from the mounting part by a limiting part, so that the collision part can be stably installed in the robot body. With such an arrangement, there is no need to install and fix it with screws, which saves the process of tightening the screws, which not only improves the assembly efficiency of the self-moving robot as a whole, but also saves materials and effectively reduces the assembly cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0020] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the self-moving robot of the utility model;

[0021] Figure 2 This is a schematic diagram of the exploded structure of an embodiment of the self-moving robot of the utility model;

[0022] Figure 3 It is a partially enlarged schematic diagram of an embodiment of the self-moving robot of the utility model;

[0023] Figure 4 It is a structural schematic diagram of an embodiment of the self-moving robot of the utility model in a non-collision state;

[0024] Figure 5 It is a structural schematic diagram of an embodiment of a collision state of a self-moving robot of the utility model.

[0025] Description of Figure Numbers:

[0026] 100. Self-moving robot; 1. Robot body; 11. Mounting member; 12. Limiting member; 121. Connecting end; 122. Limiting end; 123. Limiting portion; 124. Guide portion; 125. Limiting body; 13. Avoidance opening; 16. Front collision side; 2. Collision buffer structure; 21. Collision member; 211. First collision body; 2111. Trigger portion; 212. Second collision body; 2121. Collision portion; 213. Connecting body; 2131. Mounting hole; 214. Matching body; 2141. Limiting hole; 22. Elastic member; 221. Socket body; 222. Abutting body; 3. Front collision body; 4. Induction switch.

[0027] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In addition, in the present utility model, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0031] The utility model provides a self-moving robot, referring to Figure 1 The self-moving robot 100 may be a cleaning device, such as a cleaning sweeper, a cleaning scrubber, or a cleaning sweeping and mopping robot, etc. The self-moving robot 100 may also be other terminal devices that can move by themselves.

[0032] Reference Figures 1 to 5 The self-moving robot 100 includes a robot body 1 and a collision buffer structure 2, wherein the robot body 1 has a front collision side 16, a mounting member 11 and a limiting member 12 are provided in the robot body 1, and the collision buffer structure 2 is provided in the robot body 1 and is arranged adjacent to the front collision side 16.

[0033] The collision buffer structure 2 includes a collision member 21 and an elastic member 22. The collision member 21 is provided with a mounting hole 2131. The collision member 21 is mounted on the mounting member 11 through the mounting hole 2131. The collision member 21 is provided with a collision portion 2121. The collision portion 2121 extends out of the robot body 1. The elastic member 22 is connected to the mounting member 11. One end of the elastic member 22 abuts against the robot body 1, and the other end abuts against the collision member 21. The elastic member 22 is used to provide a restoring force for the collision member 21 to reset. The limiting member 12 is movably connected to the collision member 21 and limits the collision member 21 from being separated from the mounting member 11.

[0034] Based on the above-mentioned scheme, the collision member 21 is sleeved on the mounting member 11 to ensure that the collision member 21 can rotate relative to the mounting member 11, and the limiting member 12 limits the collision member 21 from being separated from the mounting member 11, so that the collision member 21 can be stably installed in the robot body 1. With this arrangement, there is no need to install and fix it with screws, which saves the process of tightening the screws. Not only does it improve the assembly efficiency of the self-moving robot 100, but it also saves materials and effectively reduces the assembly cost.

[0035] The self-moving robot 100 also includes a front collision body 3, which is movably installed on the front collision side 16, and the collision part 2121 collides with the front collision body 3. The collision member 21 and the induction switch 4 of the self-moving robot 100 trigger linkage cooperation. When the self-moving robot 100 encounters an obstacle during its movement, the front collision body 3 collides with the obstacle, and the front collision body 3 is compressed and collides with the collision part 2121. The collision member 21 rotates and triggers the induction switch 4, so that the induction switch 4 can detect the current movement status of the self-moving robot 100. The induction switch 4 is also communicated with the control module of the self-moving robot 100 to provide real-time feedback on the movement status of the self-moving robot 100, so that the self-moving robot 100 can perform obstacle avoidance actions.

[0036] When the front collision body 3 is separated from the collision part 2121 and the pressure on the collision part 2121 is released, the collision member 21 can be smoothly reset under the action of the elastic member 22, effectively avoiding the collision member 21 from being stuck or not smoothly reset.

[0037] In addition, the elastic member 22 can assist the collision part 2121 to a certain extent in buffering the impact of the front collision body 3, so as to play a buffering role and effectively prevent the front collision body 3 from causing a large impact on the collision member 21 when a collision occurs. This can not only prevent the collision member 21 from breaking, rupture or damage, but also enable the collision member 21 to normally link and trigger the sensing switch 4, thereby ensuring the timely responsiveness of the anti-collision sensing of the self-moving robot 100, and also ensure the sensitivity of the triggering coordination of the sensing switch 4 and the collision member 21, thereby greatly improving the reliability of the anti-collision performance of the self-moving robot 100, thereby improving the user's experience.

[0038] By using the elastic member 22 to buffer the impact force of the front impact body 3 on the collision member 21, the service life of the collision member 21 can be extended, and the shell structure of the robot body 1 can be prevented from being damaged, thereby improving the performance of the self-moving robot 100.

[0039] The mounting member 11 may be an axial structure, such as a mounting shaft, a mounting column or a mounting pin, etc. The mounting member 11 may also be other structural members, as long as they can provide a rotation fulcrum for the mounting member 11, which is not limited here.

[0040] Continue to refer to Figures 1 to 5 The front collision side 16 is provided with an avoidance opening 13, and the avoidance opening 13 is for the collision part 2121 to pass through. Such a configuration ensures that the collision part 2121 can extend out of the robot body 1 to cooperate with the front collision body 3 to realize the anti-collision sensing function of the self-moving robot 100; on the other hand, the structural space of the robot body 1 itself is fully utilized to improve the space utilization rate of the structure.

[0041] The collision member 21 includes a first collision body 211, a second collision body 212 and a connecting body 213. The first collision body 211 and the second collision body 212 are both connected to the connecting body 213. The first collision body 211, the second collision body 212 and the connecting body 213 are integrally formed, and the connecting body 213 is located between the first collision body 211 and the second collision body 212. A mounting hole 2131 is formed in the connecting body 213, the first collision body 211 partially extends out of the robot body 1, and the collision portion 2121 is formed at one end of the first collision body 211 away from the second collision body 212.

[0042] The first collision body 211 , the second collision body 212 and the connecting body 213 form the overall structure of the collision member 21 . Such arrangement ensures the reliability of the collision member 21 , thereby ensuring the collision stability of the self-moving robot 100 .

[0043] The connector 213 may be in a cylindrical shape, or in other shapes.

[0044] Continue to refer to Figures 1 to 5 The collision member 21 further includes a matching body 214, which is connected to the second collision body 212 and the connecting body 213. The matching body 214, the second collision body 212 and the connecting body 213 can be integrally formed, and the matching body 214 is provided with a limiting hole 2141. The limiting member 12 has a connecting end 121 and a limiting end 122, the connecting end 121 is connected to the robot body 1, the limiting end 122 passes through the limiting hole 2141 and is formed with a limiting portion 123, the limiting portion 123 is abutted against the edge of the limiting hole 2141, and the limiting portion 123 is used to limit the matching body 214 from moving from the connecting end 121 to the limiting end 122.

[0045] With such arrangement, there is no need to lock the collision member 21 by screws. The limiting end 122 of the limiting member 12 only needs to pass through the limiting hole 2141, and then the edge of the limiting hole 2141 is clamped by the limiting portion 123, that is, the fitting body 214 is clamped, so that the movement of the fitting body 214 from the connecting end 121 to the limiting end 122 is restricted, thereby stably installing the collision member 21. This is not only convenient for installation, but also convenient for disassembly, which can greatly improve the efficiency of assembling the collision buffer structure 2 on the robot body 1, and can also reduce the component cost, thereby improving the assembly efficiency and cost of the self-moving robot 100.

[0046] In addition, the limiting member 12 is inserted into the matching body 214 , which can well improve the structural compactness between the limiting member 12 and the collision member 21 , that is, improve the structural compactness between the collision member 21 and the robot body 1 .

[0047] Among them, the connection end 121 can be integrally formed with the robot body 1, which can well ensure the stability of the limiting member 12, so that the limiting member 12 can stably limit the collision member 21, thereby ensuring the installation reliability of the collision member 21.

[0048] The limiting member 12 is further provided with a guide portion 124, which cooperates with the hole wall of the limiting hole 2141 to guide the collision member 21 to rotate. With such a configuration, when the collision portion 2121 collides with the front collision body 3, the second collision body 212 is guided to rotate by the sliding cooperation between the guide portion 124 and the hole wall of the limiting hole 2141, thereby effectively avoiding the jamming of the second collision body 212, thereby improving the rotation smoothness of the second collision body 212, that is, improving the rotation smoothness of the collision member 21.

[0049] At the same time, through the cooperation between the guide part 124 and the wall of the limiting hole 2141, the collision member 21 can also be guided to reset, which helps to improve the smoothness of the reset of the collision member 21 and make the collision member 21 completely reset. This helps the collision member 21 to respond in time in the next collision and ensure the sensitivity of the anti-collision sensing.

[0050] In some embodiments, the limiting hole 2141 is arranged in a long strip shape, the limiting hole 2141 is also arranged in an arc shape, and the limiting hole 2141 is also extended along the rotation direction of the matching body 214. In this way, the rotation direction of the second collision body 212 is limited by limiting the shape and extension direction of the limiting hole 2141, so that the second collision body 212 can rotate along the direction limited by the limiting hole 2141.

[0051] In addition, the hole walls at both ends of the limiting hole 2141 can also limit the rotational stroke of the second collision body 212, effectively controlling the rotational stroke of the second collision body 212 within a reasonable range, thereby avoiding the phenomenon that the second collision body 212 collides with other structures during rotation and causes damage to its own structure. On the one hand, the reliability of the rotation of the collision member 21 is ensured, and on the other hand, the service life of the second collision body 212 is extended, thereby improving the reliability of the use of the self-moving robot 100.

[0052] In other embodiments, the limiting hole 2141 may also be provided in other shapes, as long as it can limit the rotation direction of the matching body 214 and prevent the second collision body 212 from colliding with other structural parts, and no specific limitation is made here.

[0053] Continue to refer to Figures 1 to 5 The limiting member 12 includes two limiting bodies 125, and the two limiting bodies 125 are arranged at an interval. One end of the two limiting bodies 125 is connected to the robot body 1. One end of the two limiting bodies 125 and the robot body 1 can be integrally formed, and the other end passes through the limiting hole 2141, that is, the limiting ends 122 of the two limiting bodies 125 pass through the limiting hole 2141, and the guide part 124 is formed on the two limiting bodies 125. The limiting end 122 of any one of the two limiting bodies 125 is formed with a limiting flange to constitute a limiting part 123.

[0054] With such a configuration, the restriction method for the collision member 21 is simple and effective, and the structure is simple. No additional screws are required for installation and fixing, which greatly saves assembly materials and eliminates the process of tightening screws. This greatly shortens the time for assembling the collision member 21 and greatly improves the assembly efficiency of the collision member 21, thereby improving the assembly efficiency of the self-moving robot 100.

[0055] In addition, the two limiting bodies 125 are arranged at intervals to provide space when the two limiting bodies 125 move relative to each other. In this way, when the matching body 214 is installed on the limiting member 12, the two limiting bodies 125 are squeezed by the hole wall of the limiting hole 2141, so that the two limiting bodies 125 can move relative to each other, so that the limiting ends 122 of the two limiting members 12 can pass through the limiting hole 2141, and the limiting portion 123 can clamp the edge of the limiting hole 2141, that is, clamp the matching body 214, thereby completing the assembly of the collision member 21.

[0056] Among them, the limiting end 122 of any one of the two limiting bodies 125 is formed with a limiting flange, which limits the matching body 214 by a single-sided clamping method, and one of the two limiting bodies 125 is provided with a limiting flange, which is also conducive to the disassembly of the collision part 21, and the disassembly method is simple and efficient.

[0057] Specifically, the guide portion 124 may be formed on the outer peripheral walls of the two limiting bodies 125 , and the outer peripheral walls of the two limiting bodies 125 may be in sliding contact with the hole wall of the limiting hole 2141 .

[0058] Continue to refer to Figures 1 to 5 The elastic member 22 is arranged between the connecting body 213 and the robot body 1. The elastic member 22 includes a sleeve body 221 and two abutting bodies 222. The sleeve body 221 is sleeved on the mounting member 11. The two abutting bodies 222 are both connected to the sleeve body 221. One of the two abutting bodies 222 abuts against the side wall surface inside the robot body 1, and the other abuts against the first collision body 211 or the second collision body 212.

[0059] For example, when one of the two abutting bodies 222 abuts against the side wall surface inside the robot body 1 , the other abuts against the first collision body 211 ; when one of the two abutting bodies 222 abuts against the side wall surface inside the robot body 1 , the other abuts against the second collision body 212 .

[0060] In the embodiment of the present application, when one of the two abutting bodies 222 abuts against the side wall surface inside the robot body 1 , the other abuts against the second collision body 212 .

[0061] In other embodiments, the elastic member 22 may also be disposed above the collision member 21, that is, the collision member 21 is located between the elastic member 22 and the robot body 1, as long as the elastic member 22 can provide a restoring force for the collision member 21 to reset, which is not specifically limited here.

[0062] The elastic member 22 may be a torsion spring or other structural members with elastic properties, which will not be described in detail herein.

[0063] Continue to refer to Figures 1 to 5 The self-moving robot 100 further includes a sensing switch 4 , which is disposed in the robot body 1 , and a trigger portion 2111 is formed at one end of the second collision body 212 away from the connecting body 213 , and the trigger portion 2111 cooperates with the sensing switch 4 for triggering.

[0064] When the collision part 2121 collides with the front collision body 3, the trigger part 2111 moves away from the induction switch 4, that is, out of the induction range of the induction switch 4, so as to trigger the induction switch 4 in linkage, so that the induction switch 4 generates a collision signal. The induction switch 4 is also electrically connected to the control board of the robot body 1 so as to be able to send the generated collision signal to the control board. The control board receives the collision signal and makes corresponding control instructions according to the collision signal, such as a stop instruction, a left turn instruction, a right turn instruction or a back-up instruction, so that the robot body 1 can avoid obstacles, thereby improving the anti-collision performance of the self-moving robot 100.

[0065] When the collision part 2121 no longer collides with the front collision body 3, under the action of the elastic member 22, the collision body gradually returns to its original position, and the trigger part 2111 also gradually returns to its original position, that is, the trigger part 2111 approaches the induction switch 4 to cooperate with the induction switch 4 in triggering induction.

[0066] Reference Figure 1 There are two collision buffer structures 2 , one of which is disposed on one side of the front collision side 16 , and the other is disposed on the other side of the front collision side 16 .

[0067] Such a configuration can not only improve the all-round anti-collision performance of the self-moving robot 100, but also enhance the user experience.

[0068] The above description is only an optional embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A self-propelled robot, characterized in that: The self-propelled robot comprises a robot body and a collision buffer structure; wherein, The robot body has a front collision side, a mounting member and a limiting member are arranged in the robot body, and the collision buffer structure is arranged in the robot body and adjacent to the front collision side; The collision buffer structure includes a collision member and an elastic member, the collision member is provided with a mounting hole, the collision member is sleeved on the mounting member through the mounting hole, the collision member is provided with a collision portion, the collision portion extends out of the robot body, the elastic member is connected to the mounting member, one end of the elastic member abuts against the robot body, and the other end abuts against the collision member, the elastic member is used to provide a restoring force for the collision member to reset, and the limiting member is movably connected to the collision member and limits the collision member from being separated from the mounting member.

2. The self-moving robot according to claim 1, characterized in that: The collision member comprises a first collision body, a second collision body and a connecting body, the first collision body and the second collision body are both connected to the connecting body, and the connecting body is located between the first collision body and the second collision body; The mounting hole is formed in the connecting body, the first collision body partially extends out of the robot body, and the collision portion is formed at an end of the first collision body away from the second collision body.

3. The self-moving robot according to claim 2, characterized in that: The collision member further comprises a matching body, the matching body is connected to the second collision body and the connecting body, and the matching body is provided with a limiting hole; The limiting member has a connecting end and a limiting end, the connecting end is connected to the robot body, the limiting end passes through the limiting hole and forms a limiting portion, the limiting portion abuts and cooperates with the edge of the limiting hole, and the limiting portion is used to limit the movement of the matching body from the connecting end to the limiting end.

4. The self-moving robot according to claim 3, characterized in that: The limiting member is further provided with a guiding portion, and the guiding portion cooperates with the hole wall of the limiting hole to guide the collision member to rotate.

5. The self-moving robot according to claim 4, characterized in that: The limiting member includes two limiting bodies, which are arranged at an interval, one end of each of the limiting bodies is connected to the robot body, and the other end passes through the limiting hole, the guide part is formed on the two limiting bodies, and a limiting flange is formed at the limiting end of any one of the two limiting bodies to constitute the limiting part.

6. The self-moving robot according to claim 3, characterized in that: The limiting hole is arranged in a long strip shape, and the limiting hole is also extended along the rotation direction of the matching body.

7. The self-moving robot according to claim 2, characterized in that: The elastic member is arranged between the connecting body and the robot body, and the elastic member includes a sleeve body and two abutment bodies. The sleeve body is sleeved on the mounting member, and the two abutment bodies are both connected to the sleeve body. One of the two abutment bodies abuts against the side wall surface inside the robot body, and the other abuts against the first collision body or the second collision body.

8. The self-moving robot according to claim 2, characterized in that: The self-moving robot further comprises an induction switch, which is arranged in the robot body. A trigger portion is formed at one end of the second collision body away from the connecting body, and the trigger portion cooperates with the induction switch in triggering.

9. The self-moving robot according to claim 1, characterized in that: The front collision side is provided with an escape opening, and the escape opening is used for the collision part to pass through.

10. The self-moving robot according to claim 1, characterized in that: There are two collision buffer structures, one of which is arranged on one side of the front collision side, and the other is arranged on the other side of the front collision side.

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