CN111134579A

CN111134579A - Self-moving robot and cleaning cloth mounting device

Info

Publication number: CN111134579A
Application number: CN202010055647.XA
Authority: CN
Inventors: 吴永东; 黄竹生; 万真
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2020-01-17
Filing date: 2020-01-17
Publication date: 2020-05-12

Abstract

The application provides a from mobile robot and rag installation device, from mobile robot has the organism, be provided with the water tank in the organism, water tank bottom of the case department is equipped with rag installation device, the rag is installed in rag installation device's the outside, rag installation device includes substrate layer and elasticity cushion, be provided with between substrate layer and the rag the elasticity cushion. The magnitude of interference between the cleaning cloth and the ground can be dynamically adjusted, or the tightness degree of the cleaning cloth attached to the ground can be dynamically adjusted, so that the phenomenon that the self-moving robot slips in the walking process is prevented, the self-moving robot can normally walk, and the cleaning efficiency of the self-moving robot is ensured.

Description

Self-moving robot and cleaning cloth mounting device

Technical Field

The application relates to the field of cleaning equipment, in particular to a self-moving robot and a cleaning cloth mounting device.

Background

The floor sweeping robot is also called as an automatic cleaner, an intelligent dust collection device, a robot dust collector and the like, can automatically absorb impurities on the floor into a dust box of the floor sweeping robot in a room to complete floor sweeping work such as sweeping, dust collection, floor wiping and the like, and has wide application occasions, such as various occasions of families, markets, hospitals, office buildings, squares and the like.

The existing sweeping robot has a floor mopping function, namely cleaning cloth is arranged at the bottom of the sweeping robot, and after dust is absorbed by a suction port at the front part of the sweeping robot, the cleaning cloth at the rear part of the sweeping robot mops the floor, so that the floor is further cleaned.

In the prior art, the cleaning cloth of the cleaning robot is generally directly connected with the cleaning cloth mounting bracket or the water tank, and in the process of cleaning the floor, the relative position of the cleaning cloth and the cleaning robot in the vertical direction is determined, that is, the interference magnitude between the cleaning cloth and the floor is determined, or the tightness degree of the attachment between the cleaning cloth and the floor is determined. In the actual working process of the sweeping robot, the situation that the magnitude of interference between the cleaning cloth and the ground is small can occur, namely the cleaning cloth is attached to the ground loosely, and therefore the cleaning effect of the ground is poor. And under the great circumstances of magnitude of interference on rag and ground, just that the rag tightly supports and leans on subaerial, this can cause the walking wheel of the robot of sweeping the floor and the pressure on ground to reduce, and the walking frictional force of the walking wheel of the robot of sweeping the floor reduces, can appear the phenomenon that the robot of sweeping the floor skidded at the in-process of walking, and lead to the cleaning efficiency of the robot of sweeping the floor low.

Disclosure of Invention

In view of the above, embodiments of the present disclosure provide a self-moving robot and a wiper installation apparatus to solve technical defects in the prior art.

The embodiment of the application provides a from mobile robot has the organism, be provided with the water tank in the organism, water tank bottom department is equipped with rag installation device, the rag is installed in rag installation device's the outside, rag installation device includes substrate layer and elasticity bed course, be provided with between substrate layer and the rag the elasticity bed course.

Optionally, a cleaning cloth mounting bracket is arranged between the water tank and the cleaning cloth mounting device, and the cleaning cloth mounting device is attached to the bottom of the cleaning cloth mounting bracket.

Optionally, the substrate layer and/or resilient backing layer is attached to the wipe.

Optionally, the rag installation device is provided with a concave part, the concave part is used for installing a connection unit, and the connection unit is connected with the rag.

Optionally, the recessed portion is a through hole formed in the elastic cushion layer, a connecting unit is arranged in the through hole, the inner side of the connecting unit is attached to the base material layer, and the base material layer is connected with the cleaning cloth through the connecting unit.

Optionally, the recessed portion is a recessed portion formed in the elastic cushion layer, a connecting unit is arranged in the recessed portion, and the elastic cushion layer is connected with the cleaning cloth through the connecting unit.

Optionally, at least two through holes are formed in the periphery of the elastic cushion layer at intervals, and the outer contour of the connecting unit conforms to the inner contour of the through holes.

Optionally, the substrate layer is integrally arched, the elastic cushion layer conforms to the outer contour of the substrate layer, and strip-shaped through holes are formed at the arc edge and the straight edge of the elastic cushion layer at intervals.

Optionally, the connecting unit adopts a magic tape assembly, the outer side surface of the magic tape assembly is not higher than the outer side surface of the elastic cushion layer, and the magic tape assembly is bonded with the cleaning cloth.

Optionally, the magic tape subassembly has adhesive linkage and elastic layer, the adhesive linkage is used for pasting the rag, the elastic layer is located between substrate layer and the adhesive linkage.

Optionally, an elastic cushion layer is arranged between the substrate layer and the water tank.

Optionally, the outer side surface of the elastic cushion layer is attached to the inner side surface of the cleaning cloth.

Optionally, the inner side surface of the substrate layer is smooth.

Optionally, the elastic cushion layer is made of sponge, foam, rubber, silica gel, or a thermoplastic elastomer.

Optionally, the material of the substrate layer is plastic or silica gel.

Optionally, the rag mounting device is provided with one or more water through holes.

Optionally, the thickness of the substrate layer is smaller than that of the elastic cushion layer.

The embodiment of the application provides a rag installation device, including substrate layer and elasticity bed course, the substrate layer is used for being connected with the installation basis, rag installation device's the outside is provided with the rag, be provided with the elasticity bed course between substrate layer and the rag.

Optionally, a through hole is formed in the elastic cushion layer, a connecting unit is arranged in the through hole, the inner side of the connecting unit is attached to the base material layer, and the base material layer is connected with the cleaning cloth through the connecting unit.

The application provides a from mobile robot and rag installation device, through be provided with the elasticity bed course between substrate and the rag for the magnitude of interference on rag and ground can dynamic adjustment, or the elasticity degree of rag and ground laminating can dynamic adjustment. Under the condition that the interference magnitude of the cleaning cloth and the ground is large, namely the cleaning cloth is tightly attached to the ground, the elastic cushion layer is compressed, so that the interference magnitude of the cleaning cloth and the ground is reduced, the adhesion degree of the cleaning cloth is reduced, the phenomenon that the self-moving robot slips in the walking process is prevented, the self-moving robot can normally walk, and the cleaning efficiency of the self-moving robot is ensured.

In addition, under the condition that the interference magnitude of the cleaning cloth with the ground is small, namely the cleaning cloth is attached to the ground loosely, the elastic cushion layer can recover to deform, so that the interference magnitude of the cleaning cloth with the ground is increased, the cleaning cloth can be attached to the ground properly, and the cleaning effect of the ground is improved.

Drawings

FIG. 1 is an exploded view of a wipe mounting apparatus according to an embodiment of the present disclosure;

FIG. 2 is a bottom view of a wipe mounting apparatus according to one embodiment of the present disclosure;

FIG. 3 is an exploded view of another embodiment of a wipe mounting apparatus of the present application;

fig. 4 is a partial perspective view of the self-moving robot in the present application;

fig. 5 is a side view of a self-moving robot in the present application.

Reference numerals: 1-cleaning cloth, 10-base material layer, 20-elastic cushion layer, 21-through hole, 30-connecting unit, 40-elastic cushion layer, 50-machine body, 51-water tank and 52-cleaning cloth mounting bracket.

Detailed Description

The following description of specific embodiments of the present application refers to the accompanying drawings.

Example one

The embodiment provides a from mobile robot, it is shown with reference to fig. 1, 2, 4 and 5, has organism 50, be provided with water tank 51 in the organism 50, water tank 51 bottom of the case department is equipped with rag installation device, the rag is installed in rag installation device's the outside, rag installation device includes substrate layer 10 and elasticity bed course 20, be provided with between substrate layer 10 and the rag 1 elasticity bed course 20.

The rag mounting device can be directly arranged at the bottom of the water tank 51, or a rag mounting bracket 52 can be arranged between the water tank 51 and the rag mounting device, and the rag mounting device is attached to the bottom of the rag mounting bracket 52. The attachment strength of the wiper mounting device to the wiper mounting bracket 52 is ensured.

The cleaning cloth 1 is used for cleaning the ground, so that the ground can be cleaned. The material of the cleaning cloth 1 can be fiber material or other materials.

Alternatively, the elastic cushion layer 20 is a cushion layer structure having elasticity, the elastic cushion layer 20 can be deformed and compressed under the action of an external force, and the elastic cushion layer 20 can recover the deformation after the external force is removed.

The elastic cushion layer 20 can be made of sponge or foam, or the elastic cushion layer 20 is made of a mixed material of silica gel and ethylene propylene diene monomer, and the elastic cushion layer 20 can be made of other elastic materials. For example, the resilient cushion 20 may be made of rubber (such as EPDM), silicone, thermoplastic elastomer, or the like.

The substrate layer 10 can be the slabby structure of layer, the material of substrate layer 10 generally is for having certain intensity and the material of being convenient for to bond, for example, substrate layer 10 can be made for plastics or silica gel material, substrate layer 10 also can be made for other materials. For example, the substrate layer is made of PET, PC, PP, POM, or the like.

Substrate layer 10 with water tank 51 bottom or rag installing support 52 bond through the glue laminating, set up the inboard surface of substrate layer 10 is smooth, guarantees the substrate layer 10 with water tank 51 bottom or rag installing support 52's bonding strength.

The water of water tank 51 can be supplied with and wet the dragging in order to carry out ground on rag 1, and this will have the condition that water got into between rag installation device and the water tank 51, and the water between rag installation device and the water tank 51 is long-time to be accumulated and can be caused glue inefficacy, consequently through be equipped with one or more limbers on the rag installation device, specifically, can set up the limbers on substrate layer 10, can make the hydroenergy that accumulates like this can discharge, avoid the water that accumulates between rag installation device and the water tank 51 to influence the bonding of substrate layer 10 and elasticity rag bed course 20, guarantee the joint strength of rag installation device and water tank 51, and then guarantee that rag installation device and water tank 51 can fix surely.

Because the substrate layer 10 is for making things convenient for the water tank 51 is connected and guarantees joint strength with elasticity bed course 2, consequently sets up the thickness of substrate layer 10 is less than the thickness of elasticity bed course 20, not only makes the self-moving robot is more slim, makes moreover elasticity bed course 20 has certain thickness, improves the control range of the magnitude of interference of rag 1 and ground.

The connection mode of the cleaning cloth 1 can be that the cleaning cloth 1 is connected with the base material layer 10; or is connected with the cleaning cloth 1 through the elastic cushion layer 20; or the substrate layer 10 and the elastic cushion layer 20 are both connected with the cleaning cloth 1.

The specific implementation mode that elasticity bed course 20 is connected with rag 1 can be equipped with the depressed part on the rag installation device, the depressed part supplies the installation of linkage unit 30, linkage unit 30 is connected with rag 1.

Specifically, the recessed portion may be a recessed portion formed in the elastic pad 20, a connection unit 30 is disposed in the recessed portion, and the elastic pad 20 is connected to the cleaning cloth 1 through the connection unit 30.

The periphery of the resilient pad 20 is provided with at least two recesses at intervals, and the outer contour of the connecting unit 30 conforms to the inner contour of the recesses.

The inner contour of the concave part is matched with the outer contour of the connecting unit 30, so that when the connecting unit 30 is fixed, the relative position of the connecting unit 30 and the substrate layer 10 can be quickly and accurately determined, namely, the connecting unit 30 can be quickly and accurately positioned, the connecting unit 30 is ensured to be fixed at a designed position, and the cleaning cloth 1 can be reliably connected with the connecting unit 30.

The whole substrate layer 10 is in an arch shape, the elastic cushion layer 20 conforms to the outer contour of the substrate layer 10, and strip-shaped through holes 21 are formed in the arc-shaped edge and the straight edge of the elastic cushion layer 20 at intervals.

The self-moving robot provided by the embodiment can be applied to various occasions, for example, the self-moving robot can be applied to mopping, but not limited to mopping, and can also be applied to other specific scenes such as window wiping and the like.

The working process of the self-moving robot applied to mopping is as follows.

When the interference between the cleaning cloth 1 and the ground is large, that is, the cleaning cloth 1 is tightly attached to the ground, the elastic cushion layer 20 is compressed, so that the interference between the cleaning cloth 1 and the ground is reduced, the adhesion degree of the cleaning cloth 1 is reduced, and the self-moving robot can normally walk to mop the floor.

Under the condition that the interference magnitude between the cleaning cloth 1 and the ground is small, the elastic cushion layer 20 can restore to deform, so that the interference magnitude between the cleaning cloth 1 and the ground is increased, the cleaning cloth 1 can be properly attached to the floor, and the floor mopping operation can be carried out on the floor.

In this embodiment, by arranging the elastic cushion layer 20 between the base material layer 10 and the cleaning cloth 1, the cleaning cloth 1 can move relative to the self-moving robot in the vertical direction, that is, the interference magnitude between the cleaning cloth 1 and the ground can be dynamically adjusted, or the tightness degree of the attachment between the cleaning cloth 1 and the ground can be dynamically adjusted.

Under the condition that the magnitude of interference between the cleaning cloth 1 and the ground is large, namely the cleaning cloth 1 is tightly attached to the ground, the elastic cushion layer 20 is compressed, so that the magnitude of interference between the cleaning cloth 1 and the ground is reduced, the degree of tightness of the cleaning cloth 1 is reduced, the walking friction of walking wheels of the self-moving robot is avoided being greatly reduced, the phenomenon that the self-moving robot slips in the walking process is prevented, the self-moving robot can normally walk, the self-moving robot is enabled to be always in the working state of mopping the ground, and the cleaning efficiency of the self-moving robot is ensured.

In addition, under the condition that the interference magnitude between the cleaning cloth 1 and the ground is small, namely the cleaning cloth 1 is loosely attached to the ground, the elastic cushion layer 20 can recover the deformation, so that the interference magnitude between the cleaning cloth 1 and the ground is increased, the cleaning cloth 1 can be properly attached to the ground, and the cleaning effect of the ground is further improved.

Example two

The rag installation device is provided with a concave part, the concave part is used for installing the connecting unit 30, and the connecting unit 30 is connected with the rag 1.

Specifically, the recessed portion is a through hole 21 formed in the elastic cushion 20, a connection unit 30 is arranged in the through hole 21, the inner side of the connection unit 30 is attached to the base material layer 10, and the base material layer 10 is connected with the cleaning cloth 1 through the connection unit 30.

The side of the connecting unit 30 bonded to the base material layer 10 is the inner side, and the side of the connecting unit 30 connected to the wiper 1 is the outer side.

Specifically, at least two through holes 21 are spaced apart from each other at the outer circumference of the resilient pad 20, and the outer contour of the connection unit 30 conforms to the inner contour of the through holes 21.

The connecting unit 30 is a connecting structure, and the substrate layer 10 and the cleaning cloth 1 can be connected through the connecting unit 30, for example, the connecting unit 30 may be a snap fastener, and is connected with the cleaning cloth 1 through the snap fastener on the substrate layer 10.

Preferably, the connection unit 30 is a hook and loop fastener assembly, and the outer side surface of the hook and loop fastener assembly is not higher than the outer side surface of the elastic cushion layer 20, and the hook and loop fastener assembly is adhered to the cleaning cloth 1.

Magic subsides subassembly has adhesive linkage and elastic layer, the adhesive linkage is used for pasting rag 1, the elastic layer is located between substrate layer 10 and the adhesive linkage.

Therefore, when the user changes the cleaning cloth 1, the cleaning cloth 1 bonded on the base material layer 10 is torn off, and a new cleaning cloth 1 is directly bonded again, so that the user can change the cleaning cloth 1 conveniently and quickly.

The lateral surface of the elastic cushion layer 20 is attached to the inner lateral surface of the cleaning cloth 1, so that the cleaning cloth 1 can be directly compressed when being pressed, the elastic cushion layer 20 is ensured to keep stable pressure of the cleaning cloth 1 on the ground, and the cleaning effect of the ground is further ensured.

The side that elasticity cushion 20 and substrate layer 10 link to each other is the inboard of elasticity cushion 20, and the one side that elasticity cushion 20 and rag are close to is the outside of elasticity cushion 20, the one side that is connected with substrate layer 10 and/or elasticity cushion 20 on the rag 1 is the inboard of rag 1.

Further, as shown in fig. 3, an elastic cushion 40 is disposed between the substrate layer 10 and the water tank 51.

The elastic cushion layer 40 can be made of sponge or foam, or the elastic cushion layer 40 is made of a mixed material of silica gel and ethylene propylene diene monomer, and the elastic cushion layer 40 can be made of other materials with elasticity.

Like this elasticity bed course 20 and elasticity bed course 40 mutually support, make rag 1 can have sufficient flexible volume in vertical direction, be in like this under the great circumstances of magnitude of interference of rag 1 and ground, elasticity bed course 40 cooperation elasticity bed course 20 all can compress in vertical direction to a certain extent, thereby reduce effectively the magnitude of interference of rag 1 and ground, alleviate the degree of hugging closely of rag 1, avoid the walking frictional force of the walking wheel of self-moving robot to reduce by a wide margin, prevent the phenomenon that skidding appears in the in-process of walking from the moving robot, ensure that the self-moving robot can normally walk, make the self-moving robot be in the operating condition who drags the ground all the time, guarantee the cleaning efficiency from the moving robot.

In addition, when the magnitude of interference between the cleaning cloth 1 and the ground is small, that is, the cleaning cloth 1 is loosely attached to the ground, the elastic cushion layer 40 and the elastic cushion layer 20 are deformed in the vertical direction, so that the magnitude of interference between the cleaning cloth 1 and the ground is increased, the cleaning cloth 1 can be properly attached to the ground, and the cleaning effect of the ground is improved.

Through in this embodiment on having seted up through-hole 21 basis on the cushion layer 20, firstly, the inboard of linkage element 30 can bond with substrate layer 10, namely substrate layer 10 in the through-hole 21 region of cushion layer 20 with linkage element 30's inboard bonds, because the material of substrate layer 10 for being convenient for the bonding, directly bonds through linkage element 30 and substrate layer 10, ensures linkage element 30 with the bonding strength of substrate layer 10, guarantees linkage element 30 can be fixed surely.

Secondly, the through holes 21 are formed in the cushion layer 20, so that the weight of the cushion layer 20 can be reduced, the weight of the whole cushion layer 20 is reduced, the manufacturing materials of the cushion layer 20 can be reduced, and the manufacturing cost of the cushion layer 20 is reduced.

Thirdly, the self-moving robot is provided with a water tank which supplies water to the cleaning cloth 1 through a pipeline, the cleaning cloth 1 can wet and drag the ground, so that the cleanliness of the ground is improved, a situation that a small amount of water is accumulated between the base material layer 10 and the elastic cushion 20 occurs, the through holes 21 in the elastic cushion 20 are formed, the accumulated water can be discharged, the situation that the water accumulated between the base material layer 10 and the elastic cushion 20 influences the bonding between the base material layer 10 and the elastic cushion 20 is avoided, the connection strength between the base material layer 10 and the elastic cushion 20 is ensured, and the base material layer 10 and the elastic cushion 20 can be fixed stably.

Finally, by arranging the inner contour of the through hole 21 to conform to the outer contour of the connecting unit 30, when the connecting unit 30 is fixed, the relative position of the connecting unit 30 and the substrate layer 10 can be determined quickly and accurately, that is, the connecting unit 30 can be positioned quickly and accurately, the connecting unit 30 is ensured to be fixed at a designed position, and then the cleaning cloth 1 can be reliably connected with the connecting unit 30.

EXAMPLE III

This embodiment provides a rag installation device, it is shown with reference to fig. 1, 2, 4 and 5, including substrate layer 10 and elasticity bed course, substrate layer 10 is used for being connected with the installation basis, rag installation device's the outside is provided with rag 1, be provided with elasticity bed course 20 between substrate layer 10 and the rag 1.

The installation foundation is the foundation structure connected with the substrate layer 10, for example, the installation foundation may be a cleaning cloth mounting bracket or a water tank of a floor cleaning robot, or the installation foundation may be a cleaning cloth mounting bracket of a window cleaning robot.

Note that, the side of the base material layer 10 connected to the mounting base is the inside, and the side of the base material layer 10 connected to the cushion cover 20 is the outside.

Further, a water tank 51 is arranged in the machine body 50, a cleaning cloth mounting bracket 52 is connected to the bottom of the water tank 51, and the cleaning cloth mounting bracket 52 is bonded to the inner side surface of the base material layer 10.

Further, a through hole 21 is formed in the elastic cushion layer 20, a connecting unit 30 is arranged in the through hole 21, the inner side of the connecting unit 30 is attached to the base material layer 10, and the base material layer 10 is connected with the cleaning cloth 1 through the connecting unit 30.

In this embodiment, the elastic cushion layer 20 is arranged between the substrate layer 10 and the cleaning cloth, so that the cleaning cloth can move relative to the floor sweeping robot in the vertical direction, that is, the interference between the cleaning cloth and the ground can be dynamically adjusted, or the tightness degree of the attachment between the cleaning cloth and the ground can be dynamically adjusted.

The rag installation device that this embodiment provided can be applied to multiple occasion, for example, can be applied to the robot of sweeping the floor, also can be used to other concrete scenes such as window cleaning robot.

The working process of the sweeping robot provided with the rag mounting device is as follows.

In the process of mopping the floor, under the condition that the interference magnitude between the cleaning cloth 1 and the ground is large, namely the cleaning cloth 1 is tightly attached to the ground, the elastic cushion layer 20 is compressed, so that the interference magnitude between the cleaning cloth 1 and the ground is reduced, the adhesion degree of the cleaning cloth 1 is reduced, and the floor-sweeping robot can normally walk to mop the floor.

The interference magnitude of rag and ground is under the great condition, and also the rag is tighter with ground laminating, elasticity cushion 20 compresses, thereby reduces the interference magnitude of rag and ground alleviates the tight degree of subsides of rag avoids the walking frictional force of the walking wheel of the robot of sweeping the floor to reduce by a wide margin, prevents that the phenomenon of skidding appears in the in-process of walking in the robot of sweeping the floor, ensures that the robot of sweeping the floor can normally walk, makes the robot of sweeping the floor be in the operating condition who drags the ground all the time, guarantees the cleaning efficiency of the robot of sweeping the floor.

In addition, under the condition that the interference magnitude between the cleaning cloth and the ground is small, namely the cleaning cloth is attached to the ground loosely, the elastic cushion layer 20 can recover to deform, so that the interference magnitude between the cleaning cloth and the ground is increased, the cleaning cloth can be attached to the ground properly, and the cleaning effect of the ground is improved.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.

In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate the degree and order of importance, the premise that each other exists, and the like.

In this context, "equal", "same", etc. are not strictly mathematical and/or geometric limitations, but also include tolerances as would be understood by a person skilled in the art and allowed for manufacturing or use, etc.

Unless otherwise indicated, numerical ranges herein include not only the entire range within its two endpoints, but also several sub-ranges subsumed therein.

The preferred embodiments and examples of the present application have been described in detail with reference to the accompanying drawings, but the present application is not limited to the embodiments and examples described above, and various changes can be made within the knowledge of those skilled in the art without departing from the concept of the present application.

Claims

1. The utility model provides a from mobile robot, has organism (50), its characterized in that, be provided with water tank (51) in organism (50), water tank (51) bottom of the case department is equipped with rag installation device, rag (1) are installed in rag installation device's the outside, rag installation device includes substrate layer (10) and elasticity bed course (20), be provided with between substrate layer (10) and rag (1) elasticity bed course (20).

2. The self-moving robot as claimed in claim 1, wherein a cloth mounting bracket (52) is provided between the water tank (51) and the cloth mounting device, and the cloth mounting device is attached to the bottom of the cloth mounting bracket (52).

3. A self-moving robot according to claim 1, characterized in that the substrate layer (10) and/or the resilient padding layer (20) are connected to the wipe (1).

4. The self-moving robot according to claim 1, wherein the cloth mounting device is provided with a recess for mounting a connection unit (30), the connection unit (30) being connected to the cloth (1).

5. The self-moving robot as claimed in claim 4, wherein the recessed portion is a through hole (21) formed in the elastic cushion (20), a connecting unit (30) is arranged in the through hole (21), the inner side of the connecting unit (30) is attached to a base material layer (10), and the base material layer (10) is connected with the cleaning cloth (1) through the connecting unit (30).

6. The self-moving robot as claimed in claim 4, wherein the recess is a recess formed in the resilient pad (20), a connecting unit (30) is disposed in the recess, and the resilient pad (20) is connected to the wiper (1) through the connecting unit (30).

7. The self-moving robot as claimed in claim 5, wherein the resilient pad (20) has at least two through holes (21) spaced apart from each other at an outer circumference thereof, and an outer contour of the connection unit (30) is matched with an inner contour of the through holes (21).

8. The self-moving robot as claimed in claim 5, wherein the substrate layer (10) is arched as a whole, the elastic cushion layer (20) conforms to the outer contour of the substrate layer (10), and strip-shaped through holes (21) are formed at intervals at the arc-shaped edge and the straight edge of the elastic cushion layer (20).

9. The self-moving robot of cloth according to claim 5, wherein the connection unit (30) is a hook and loop fastener assembly having an outer side not higher than an outer side of the elastic cushion layer (20), and the hook and loop fastener assembly is adhered to the cloth (1).

10. A self-moving robot according to claim 9, characterized in that the magic tape assembly has an adhesive layer for sticking the rag (1) and an elastic layer between the substrate layer (10) and the adhesive layer.

11. A self-moving robot according to claim 1, characterized in that an elastic cushion (40) is provided between the substrate layer (10) and the water tank (51).

12. A self-moving robot as claimed in any one of claims 1 to 11, characterised in that the outer side of the resilient pad (20) is attached to the inner side of the wipe (1).

13. A self-moving robot according to any of claims 1 to 11, characterized in that the inner side surface of the substrate layer (10) is smooth.

14. The self-moving robot as claimed in claim 12, wherein the elastic cushion (20) is made of sponge, foam, rubber, silicone, or thermoplastic elastomer.

15. The self-moving robot as claimed in claim 1, wherein the material of the substrate layer (10) is plastic or silica gel.

16. The self-propelled robot of claim 1, wherein the wipe mounting device is provided with one or more water holes.

17. A self-moving robot according to claim 1, characterized in that the thickness of the substrate layer (10) is smaller than the thickness of the resilient cushion (20).

18. The utility model provides a rag installation device, its characterized in that, includes substrate layer (10) and elasticity bed course (20), substrate layer (10) are used for being connected with the installation basis, rag installation device's the outside is provided with rag (1), be provided with elasticity bed course (20) between substrate layer (10) and rag (1).

19. The rag installation device of claim 18, wherein the elastic cushion layer (20) is provided with a through hole (21), a connecting unit (30) is arranged in the through hole (21), the inner side of the connecting unit (30) is attached to the base material layer (10), and the base material layer (10) is connected with the rag (1) through the connecting unit (30).