Self-moving type surface cleaning robot

Abstract

The utility model provides a self-moving type surface cleaning robot. The self-moving type surface cleaning robot comprises a shell assembly, a cleaning assembly and an elastic component. The cleaning assembly is installed on the shell assembly and can move between an initial position and an extending position relative to the shell assembly. The elastic part acts on the cleaning assembly and the shell assembly; when the cleaning assembly is located at the extending position, the elastic component generates elastic force between the cleaning assembly and the shell assembly so as to prevent the cleaning assembly from moving from the extending position to the initial position relative to the shell assembly.

Description

Technical Field

[0001] The present disclosure relates to a self-propelled surface cleaning robot. Background Art

[0002] This section merely provides background information related to the present disclosure and is not necessarily prior art.

[0003] Household vacuum cleaning appliances are used to clean rooms by sucking up particles such as dust from the room's floor.

[0004] Prior art household vacuum cleaning devices may include a mop to which a cleaning liquid can be applied, so that when the mop rotates, it can wet clean the surface to be cleaned to improve the cleaning effect of the surface to be cleaned.

[0005] Furthermore, to ensure a larger cleaning area for the mop, some household vacuum cleaning devices are designed to expand outward. Consequently, these devices require a drive mechanism to achieve both contraction and expansion of the mop. In particular, existing drive mechanisms often lack elastic contraction capabilities, making it susceptible to damage when the mop contacts obstacles during use. Utility Model Content

[0006] The present disclosure provides a self-propelled surface cleaning robot.

[0007] According to one aspect of the present disclosure, there is provided a self-propelled surface cleaning robot comprising:

[0008] housing assembly;

[0009] a cleaning assembly mounted on the housing assembly and movable relative to the housing assembly between an initial position and an extended position;

[0010] An elastic component acts on the cleaning component and the shell component; wherein, when the cleaning component is in the extended position, the elastic component generates an elastic force between the cleaning component and the shell component to hinder the cleaning component from moving from the extended position to the initial position relative to the shell component.

[0011] According to the self-moving surface cleaning robot of at least one embodiment of the present disclosure, the elastic component includes a first free end and a second free end opposite to the first free end, the first free end acts on the cleaning assembly, and the second free end acts on the housing assembly.

[0012] According to at least one embodiment of the present disclosure, the self-propelled surface cleaning robot further includes a first drive assembly, wherein the first drive assembly includes:

[0013] a first drive motor, the first drive motor being disposed in the housing assembly;

[0014] an actuating member drivingly connected to an output shaft of the first drive motor; and

[0015] a follower, the follower being rotatably disposed on the housing assembly to receive an actuating force from the actuating member and change position relative to the housing assembly;

[0016] Wherein, the cleaning assembly is connected to the driven member, and the elastic component acts on the driven member.

[0017] According to the self-moving surface cleaning robot of at least one embodiment of the present disclosure, the follower is pivotable about the rotation axis relative to the housing assembly to change its position relative to the housing assembly and is acted upon by the elastic component.

[0018] According to the self-moving surface cleaning robot of at least one embodiment of the present disclosure, the elastic component is arranged around the rotation axis, and the elastic component includes a first free end and a second free end opposite to the first free end, the first free end acts on the follower, and the second free end acts on the shell assembly.

[0019] According to at least one embodiment of the self-propelled surface cleaning robot of the present disclosure, the first drive assembly further includes:

[0020] An intermediate member is rotatably disposed on the housing assembly and can pivot relative to the housing assembly under the action of the actuating member, wherein the intermediate member is used to cooperate with the driven member.

[0021] According to the self-moving surface cleaning robot of at least one embodiment of the present disclosure, the middle piece includes a first acting portion, and the middle piece interacts with the actuator at the first acting portion; the middle piece includes a second acting portion, and the middle piece interacts with the follower at the second acting portion.

[0022] According to at least one embodiment of the self-moving surface cleaning robot of the present disclosure, the first acting portion includes a plurality of gear teeth, and the second acting portion includes a sliding portion and a protrusion extending along the sliding portion.

[0023] According to at least one embodiment of the self-moving surface cleaning robot of the present disclosure, the actuator includes a gear. The actuator is rotatable under the action of the first drive motor, and the gear is meshable with the plurality of gear teeth.

[0024] According to the self-moving surface cleaning robot of at least one embodiment of the present disclosure, the follower includes a protrusion configured to be in sliding contact with the projection.

[0025] According to the self-moving surface cleaning robot of at least one embodiment of the present disclosure, the protrusion includes a first action surface and a second action surface, in the initial position, the first action surface abuts the protrusion, and in the extended position, the second action surface abuts the protrusion.

[0026] According to the self-propelled surface cleaning robot of at least one embodiment of the present disclosure, the protrusion maintains sliding contact with the projection at a position between the initial position and the extended position.

[0027] According to at least one embodiment of the self-propelled surface cleaning robot of the present disclosure, the cleaning assembly includes a cleaning member that is pivotally disposed on the follower.

[0028] According to at least one embodiment of the present disclosure, a self-propelled surface cleaning robot includes a second drive assembly, which is disposed on the driven member and connected to the cleaning component, and is used to drive the cleaning component to rotate relative to the driven member. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0030] Figure 1 Schematic diagram of the structure of a surface cleaning device according to one embodiment of the present disclosure.

[0031] Figure 2 2 is a schematic structural diagram of a surface cleaning device according to an embodiment of the present disclosure from another angle.

[0032] Figure 3 1 is a schematic structural diagram of a surface cleaning device in another state according to an embodiment of the present disclosure.

[0033] Figure 4 1 is a schematic structural diagram of a surface cleaning device in another state and from another angle according to an embodiment of the present disclosure.

[0034] Figure 5 1 is a partial structural diagram of a surface cleaning device according to one embodiment of the present disclosure.

[0035] Figure 6 1 is a partial structural diagram of a surface cleaning device according to one embodiment of the present disclosure.

[0036] Figure 7 1 is a schematic structural diagram of a cleaning assembly and a first driving assembly of a surface cleaning device according to one embodiment of the present disclosure.

[0037] Figure 8 1 is a schematic structural diagram of a surface cleaning device according to one embodiment of the present disclosure, wherein the cleaning component is in an extended position.

[0038] Figure 9 1 is a schematic structural diagram of a surface cleaning device according to an embodiment of the present disclosure, in which a cleaning component is in an initial position.

[0039] Figure 10 Schematic diagram of the structure of an elastic component of a surface cleaning device according to one embodiment of the present disclosure.

[0040] Figure 11 It is a schematic structural diagram of the middleware according to one embodiment of the present disclosure.

[0041] The specific reference numerals in the figure are:

[0042] 100 housing assembly

[0043] 101 Internal Bracket

[0044] 200 side brush assembly

[0045] 300 Cleaning Components

[0046] 400 steering wheel

[0047] 500 travel wheels

[0048] 600 Cleaning Kit

[0049] 610 housing assembly

[0050] 620 Second drive assembly

[0051] 630 Cleaning Parts

[0052] 700 First drive assembly

[0053] 710 First drive motor

[0054] 720 actuator

[0055] 730 follower

[0056] 740 Middleware

[0057] 741 First Action Unit

[0058] 742 Second Action Unit

[0059] 742A Sliding part

[0060] 742B bulge

[0061] 742B1 First active surface

[0062] 742B2 Second working surface

[0063] 800 elastic components. DETAILED DESCRIPTION

[0064] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the relevant content and are not intended to limit the present disclosure. It should also be noted that, for ease of description, only the portions relevant to the present disclosure are shown in the accompanying drawings.

[0065] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure can be combined with each other. The technical solution of the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0066] Unless otherwise stated, the exemplary embodiments / examples shown are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of the various embodiments / examples may be further combined, separated, interchanged, and / or rearranged without departing from the technical concepts of the present disclosure.

[0067] The use of cross hatching and / or shading in the accompanying drawings is generally used to make the boundaries between adjacent components clear. As such, unless otherwise indicated, the presence or absence of cross hatching or shading does not convey or indicate any preference or requirement for the specific materials, material properties, dimensions, proportions, commonalities between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. In addition, in the accompanying drawings, the sizes and relative sizes of the components may be exaggerated for clarity and / or descriptive purposes. When the exemplary embodiments can be implemented differently, the specific process sequence can be performed in a different order than described. For example, two successively described processes can be performed substantially simultaneously or in an order opposite to the order described. In addition, the same figure numbers represent the same components.

[0068] When a component is referred to as being “on,” “over,” “connected to,” or “coupled to” another component, the component may be directly on, directly connected to, or directly coupled to the other component, or intervening components may be present. However, when a component is referred to as being “directly on,” “directly connected to,” or “directly coupled to” another component, there are no intervening components present. For this purpose, the term “connected” may refer to a physical connection, an electrical connection, etc., with or without intervening components.

[0069] For descriptive purposes, the present disclosure may use spatially relative terms such as "below," "beneath," "under," "down," "above," "upper," "above," "higher," and "side (e.g., as in "sidewall")," to describe the relationship of one component to another (other) component as shown in the accompanying drawings. The spatially relative terms are intended to encompass different orientations of the device in use, operation, and / or manufacture in addition to the orientation depicted in the accompanying drawings. For example, if the device in the drawings is turned over, a component described as "below" or "beneath" another component or feature would then be positioned "above" the other component or feature. Thus, the exemplary term "below" can encompass both the "above" and "below" orientations. Furthermore, the device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations), and as such, the spatially relative descriptors used herein should be interpreted accordingly.

[0070] The terms used herein are for the purpose of describing specific embodiments and are not intended to be restrictive. As used herein, unless the context clearly indicates otherwise, the singular forms "one (kind, person)" and "said (the)" are also intended to include plural forms. In addition, when the terms "comprise" and / or "include" and their variations are used in this specification, the features, integral bodies, steps, operations, parts, assemblies and / or their groups stated are explained, but the presence or addition of one or more other features, integral bodies, steps, operations, parts, assemblies and / or their groups is not excluded. It should also be noted that, as used herein, the terms "substantially", "approximately" and other similar terms are used as approximate terms and not as degree terms, so that they are used to explain the inherent deviations of the measured values, calculated values and / or the values provided that will be recognized by those of ordinary skill in the art.

[0071] Figure 1 Schematic diagram of the structure of a surface cleaning device according to one embodiment of the present disclosure. Figure 2 2 is a schematic structural diagram of a surface cleaning device according to an embodiment of the present disclosure from another angle.

[0072] like Figure 1 and Figure 2As shown, the surface cleaning device of the present disclosure can be a self-propelled surface cleaning device; as an example, the self-propelled surface cleaning device can be a sweeping robot, a mopping robot, an autonomous surface cleaning robot, or a sweeping and mopping robot. The self-propelled surface cleaning device can perform an autonomous cleaning operation, that is, the surface cleaning device can autonomously move over the surface to be cleaned to clean the surface by sucking particles located on different parts of the surface to be cleaned.

[0073] by Figure 1 and Figure 2 The autonomous mobile surface cleaning robot shown in the figure is taken as an example, and the forward direction of the surface cleaning device is marked as the front. Figure 2 The viewing direction of the surface cleaning equipment is the upper side. The direction away from the surface cleaning equipment is the rear. Figure 2 In the viewing direction of the surface cleaning device, the rear side refers to the lower side. Accordingly, the direction perpendicular to the front-rear direction can be defined as the left-right direction.

[0074] The surface cleaning device may include a housing assembly 100, which may form the body of the surface cleaning device. A steering wheel 400 and a running wheel 500 are provided at the bottom of the housing assembly 100. The steering wheel 400 is used to control the direction of travel of the surface cleaning device, and the running wheel 500 is used to drive the surface cleaning device forward. The steering wheel 400 is provided at the front of the housing assembly 100, and the cleaning assembly 600 is rotatably connected to the bottom of the housing assembly 100 and is located at the rear of the housing assembly 100.

[0075] like Figure 2 As shown, the present disclosure can be provided with two running wheels 500, which are respectively located approximately in the middle of the front-to-back direction of the housing assembly 100 and on both sides of the left-to-right direction of the housing assembly 100; furthermore, the steering wheel 400 is provided as one, which can be a universal wheel, and accordingly, the universal wheel is provided in the middle of the left-to-right direction of the surface cleaning device and close to the front end of the surface cleaning device. Of course, the present disclosure can also be provided with two or more steering wheels 400.

[0076] In actual use, the travel wheel 500 can be driven and rotated, and by controlling the travel wheel 500 to rotate at a constant speed, the surface cleaning device can move forward. Correspondingly, by controlling the travel wheel 500 to rotate at an uneven speed, the surface cleaning device can be controlled to turn.

[0077] In the present disclosure, a side brush assembly 200 is further provided on the housing assembly 100, wherein the side brush assembly 200 can be provided as one or two; Figure 2In the illustrated embodiment, the side brush assembly 200 is provided as a single unit and is disposed on the right side of the front end of the housing assembly 100. Thus, the rotation of the side brush assembly 200 can disturb dirt on the surface to be cleaned and clean the surface to be cleaned. In this disclosure, the side brush assembly 200 may also be referred to as a side brush assembly.

[0078] In addition, the housing assembly 100 is also provided with a cleaning assembly 300. The cleaning assembly 300 is disposed in the middle of the housing assembly 100 in the front-to-back direction, with its length extending along the width of the housing assembly 100. More specifically, the cleaning assembly 300 may be a roller brush that is rotatably connected to the housing assembly 100, with its axis of rotation parallel to the surface to be cleaned, such as the ground. In other embodiments of the present disclosure, the cleaning assembly 300 may be a structure well known to those skilled in the art. Figure 2 The specific structure when the cleaning component is a roller brush is shown. The rotation axis of the roller brush is parallel to the surface to be cleaned. When the roller brush rotates, it can clean the surface to be cleaned. No further details are given here.

[0079] Therefore, the rotating roller brush of the cleaning component 300 can disturb the dirt on the surface to be cleaned. The dirt can be sucked into the dust box and other devices through negative pressure adsorption, and the solid particles can be separated in the dust box and other devices, thereby completing the cleaning operation of the surface to be cleaned.

[0080] In a preferred embodiment, a cleaning assembly 600 is further provided on the housing assembly 100 ; in the present disclosure, the cleaning assembly 600 is rotatably connected to the housing assembly 100 and is configured to clean the surface to be cleaned.

[0081] Figure 3 1 is a schematic structural diagram of a surface cleaning device in another state according to an embodiment of the present disclosure. Figure 4 1 is a schematic structural diagram of a surface cleaning device in another state and from another angle according to an embodiment of the present disclosure. Figure 5 1 is a partial structural diagram of a surface cleaning device according to one embodiment of the present disclosure. Figure 6 1 is a partial structural diagram of a surface cleaning device according to one embodiment of the present disclosure. Figure 7 1 is a schematic structural diagram of a cleaning assembly and a first driving assembly of a surface cleaning device according to one embodiment of the present disclosure. Figure 8 1 is a schematic structural diagram of a surface cleaning device according to one embodiment of the present disclosure, wherein the cleaning component is in an extended position. Figure 9 1 is a schematic structural diagram of a surface cleaning device according to an embodiment of the present disclosure, in which a cleaning component is in an initial position. Figure 10Schematic diagram of the structure of an elastic component of a surface cleaning device according to one embodiment of the present disclosure.

[0082] like Figures 3 to 10 As shown, the cleaning assembly 600 of the present disclosure is mounted on the housing assembly 100 and can move between an initial position (retracted position) and an extended position (outward expanded position) relative to the housing assembly 100; wherein the initial position is Figure 2 The position shown in FIG. 1 may also be referred to as the adducted position. The extended position is Figure 3 and Figure 4 The position shown may also be referred to as the expanded position.

[0083] Specifically, the housing assembly 100 of the present disclosure may include an inner bracket 101, and the cleaning assembly 600 may be pivotally arranged on the inner bracket 101. For example, the cleaning assembly 600 is rotatably connected to the inner bracket 101 via a rotating shaft. In a preferred embodiment, the rotating shaft is arranged approximately vertically. The rotating shaft of the present disclosure may be fixed to the inner bracket 101, and the cleaning assembly 600 may be able to rotate relative to the rotating shaft; or, the rotating shaft may be fixed to the cleaning assembly 600 and may be able to rotate relative to the inner bracket 101; or, the rotating shaft may be able to rotate relative to the inner bracket 101 and the cleaning assembly 600 may also be able to rotate relative to the rotating shaft. The present disclosure does not limit the manner in which the rotating shaft is arranged.

[0084] The cleaning assembly 600 also includes a rotation axis, which is also arranged approximately vertically and has a preset distance between the rotation axis and the rotation axis of the rotating shaft. Thus, when the cleaning assembly 600 rotates around the rotation axis, the cleaning assembly 600 can move between the initial position and the extended position.

[0085] In the present disclosure, the cleaning assembly 600 can be driven by the first driving assembly 700, thereby being able to rotate relative to the housing assembly 100. Specifically, the first driving assembly 700 includes: a first driving motor 710, an actuator 720, a driven member 730, and an intermediate member 740.

[0086] The first drive motor 710 is disposed in the housing assembly 100, for example, in the inner bracket 101, and the rotational motion is outputted by the first drive motor 710. Specifically, the first drive motor 710 can be an electric motor. In a preferred embodiment, the rotation axis of the first drive motor 710 can be a vertical straight line.

[0087] The actuator 720 is transmission-connected to the output shaft of the first drive motor 710. In a preferred embodiment, the actuator 720 can be a gear, whereby the first drive motor 710 can drive the actuator 720 to rotate. Accordingly, the rotation axis of the actuator 720 is the same as the rotation axis of the first drive motor 710.

[0088] The intermediate member 740 is rotatably disposed on the housing assembly 100 , and the intermediate member 740 can pivot relative to the housing assembly 100 under the action of the actuating member 720 ; and the rotation axis of the intermediate member 740 is also substantially vertically disposed.

[0089] In a specific embodiment, the intermediate member 740 includes a first acting portion 741 and a second acting portion 742. The first acting portion 741 includes a plurality of gear teeth, and the second acting portion 742 includes a sliding portion 742A and a protrusion 742B extending along the sliding portion 742A. In other words, the intermediate member 740 of the present disclosure is formed into an incomplete gear structure having an opening of a predetermined width between its two circumferential ends, wherein the sliding portion 742A and the protrusion 742B form one circumferential end of a half gear structure.

[0090] The intermediate member 740 interacts with the actuating member 720 at the first acting portion 741 ; that is, the actuating member 720 can drive the intermediate member 740 to rotate through the engagement of the gear and the plurality of gear teeth.

[0091] The intermediate member 740 interacts with the follower member 730 at the second acting portion 742 . That is, the follower member 730 can be driven to rotate by the cooperation between the second acting portion 742 and the follower member 730 .

[0092] In other words, the follower 730 is rotatably disposed on the housing assembly 100 to change its position relative to the housing assembly 100. Specifically, the follower 730 can pivot about a rotation axis relative to the housing assembly 100. That is, the rotation axis of the follower 730 relative to the housing assembly 100 coincides with the rotation axis of the cleaning assembly 600 relative to the housing assembly 100.

[0093] In addition, the intermediate member 740 of the present disclosure is located between the actuator 720 and the follower 730. The intermediate member 740 is configured to cooperate with the follower 730. Thus, the follower 730 can receive the actuating force of the actuator 720 and change its position relative to the housing assembly 100. In this case, the follower 730 is indirectly affected by the actuator 720, that is, directly affected by the intermediate member 740.

[0094] The follower 730 includes a protrusion configured to slidably abut against the projection 742B. More specifically, the projection 742B includes a first operating surface 742B1 and a second operating surface 742B2. In the initial position, the first operating surface 742B1 abuts against the protrusion, while in the extended position, the second operating surface 742B2 abuts against the protrusion. Thus, the projection 742B drives the follower 730 to rotate, causing the cleaning assembly 600 to rotate from the extended position to the initial position.

[0095] In a preferred embodiment, the protrusion is maintained in sliding abutment with the projection 742B at a position between the initial position and the extended position.

[0096] In the present disclosure, the cleaning assembly 600 may include a housing assembly 610 , a second driving assembly 620 , a cleaning component 630 , and other components.

[0097] The shell component 610 is rotatably disposed on the shell component 100. Specifically, the shell component 610 is rotatably disposed on the inner bracket 101. Accordingly, the shell component 610 is rotatably disposed relative to the rotation axis of the shell component 100, that is, the cleaning component 600 is rotatably disposed relative to the shell component 100.

[0098] In a preferred embodiment, the cleaning assembly 600 is connected to the driven member 730, so that when the driven member 730 is driven and rotated, the cleaning assembly 600 can rotate together with the driven member 730. More preferably, the driven member 730 can be integrally formed with the housing assembly 610 of the cleaning assembly 600.

[0099] The cleaning member 630 is pivotally mounted on the follower 730 ; in other words, the cleaning member 630 is pivotally mounted on the housing assembly 610 , whereby the cleaning member 630 cleans the surface through frictional contact with the surface.

[0100] Preferably, the second drive assembly 620 is arranged on the follower 730 (or the second drive assembly 620 is arranged on the housing assembly 610) and is connected to the cleaning component 630, for driving the cleaning component 630 to rotate relative to the follower 730. At this time, the rotation axis of the cleaning component 630 is the above-mentioned rotation axis.

[0101] In the present disclosure, the elastic component 800 acts on the cleaning component 600 and the shell component 100; wherein, when the cleaning component 600 is in the extended position, the elastic component 800 generates an elastic force between the cleaning component 600 and the shell component 100 to limit the movement of the cleaning component 600 from the extended position to the initial position relative to the shell component 100.

[0102] Specifically, the elastic component 800 includes a first free end and a second free end opposite to the first free end, the first free end acts on the cleaning component 600, and the second free end acts on the housing component 100. In a preferred embodiment, the elastic component 800 is formed as a torsion spring. The cleaning component 600 and the housing component 100 are slidably connected via a rotating shaft. At this time, the torsion spring is sleeved on the rotating shaft, and accordingly, its first free end acts on the follower 730, and the second free end acts on the housing component 100. As a result, the follower 730 (or the cleaning component 600) of the present disclosure can be affected by the elastic component 800, and the elastic component 800 can cause the cleaning component 600 to have a tendency to move toward the extended position.

[0103] When the self-propelled surface cleaning robot of the present disclosure is in use, its cleaning assembly 600 can be extended outward, thereby expanding the cleaning range of the surface to be cleaned and improving the cleaning efficiency of the surface to be cleaned. In addition, the provision of the elastic member 800 enables the cleaning assembly 600 to move back to its original position after contacting an obstacle in the extended position, thereby making the cleaning assembly 600 less susceptible to damage, improving reliability, and extending the service life of the self-propelled surface cleaning robot.

[0104] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments / methods or examples. In addition, those skilled in the art may combine and combine different embodiments / methods or examples described in this specification and the features of different embodiments / methods or examples, unless they are contradictory.

[0105] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0106] Those skilled in the art will appreciate that the above embodiments are merely intended to clearly illustrate the present disclosure and are not intended to limit the scope of the present disclosure. Other changes or modifications may be made based on the above disclosure, and such changes or modifications are still within the scope of the present disclosure.

Claims

1. A self-propelled surface cleaning robot, characterized in that: include: housing assembly; a cleaning assembly mounted on the housing assembly and movable relative to the housing assembly between an initial position and an extended position; An elastic component acts on the cleaning component and the shell component; wherein, when the cleaning component is in the extended position, the elastic component generates an elastic force between the cleaning component and the shell component to hinder the cleaning component from moving from the extended position to the initial position relative to the shell component.

2. The self-propelled surface cleaning robot according to claim 1, characterized in that The elastic component includes a first free end and a second free end opposite to the first free end, the first free end acts on the cleaning component, and the second free end acts on the housing component.

3. The self-propelled surface cleaning robot according to claim 1, wherein: Also included is a first drive assembly, wherein the first drive assembly includes: a first drive motor, the first drive motor being disposed in the housing assembly; an actuating member drivingly connected to an output shaft of the first drive motor; and a follower, the follower being rotatably disposed on the housing assembly to receive an actuating force from the actuating member and change position relative to the housing assembly; Wherein, the cleaning assembly is connected to the driven member, and the elastic component acts on the driven member.

4. The self-propelled surface cleaning robot according to claim 3, wherein: The follower is pivotable relative to the housing assembly about a rotation axis to change its position relative to the housing assembly and is acted upon by the elastic component.

5. The self-propelled surface cleaning robot according to claim 4, wherein: The elastic component is disposed around the rotation axis and includes a first free end and a second free end opposite to the first free end. The first free end acts on the follower, and the second free end acts on the housing assembly.

6. The self-propelled surface cleaning robot according to claim 3, wherein: The first drive assembly further includes: An intermediate member is rotatably disposed on the housing assembly and can pivot relative to the housing assembly under the action of the actuating member, wherein the intermediate member is used to cooperate with the driven member.

7. The self-propelled surface cleaning robot according to claim 6, wherein: The intermediate member includes a first acting portion, and the intermediate member interacts with the actuator at the first acting portion; the intermediate member includes a second acting portion, and the intermediate member interacts with the follower at the second acting portion.

8. The self-propelled surface cleaning robot according to claim 7, wherein: The first acting portion includes a plurality of gear teeth, and the second acting portion includes a sliding portion and a protrusion extending along the sliding portion.

9. The self-propelled surface cleaning robot according to claim 8, wherein: The actuating member includes a gear. The actuating member is rotatable under the action of the first driving motor. The gear is meshable with the plurality of gear teeth.

10. The self-propelled surface cleaning robot according to claim 8, wherein: The follower includes a protrusion configured to be in sliding contact with the projection.

11. The self-propelled surface cleaning robot according to claim 10, wherein: The protrusion includes a first action surface and a second action surface. In the initial position, the first action surface abuts against the protrusion. In the extended position, the second action surface abuts against the protrusion.

12. The self-propelled surface cleaning robot according to claim 10, wherein: At a position between the initial position and the extended position, the protrusion is held in sliding abutment with the projection.

13. The self-propelled surface cleaning robot according to claim 3, wherein: The cleaning assembly includes a cleaning member pivotally disposed on the follower.

14. The self-propelled surface cleaning robot according to claim 13, wherein: It comprises a second driving assembly, which is arranged on the driven member and connected to the cleaning component, and is used for driving the cleaning component to rotate relative to the driven member.

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