CN101152062A - self-propelled cleaning device - Google Patents

Abstract

The invention provides a self-propelled cleaning device, which comprises: a control unit, at least one driving wheel module and a dust collecting box module. The control unit is arranged on a disc body. At least one drive wheel module, it set up in on the disk body and with the control unit makes the electricity and connects, drive wheel module more has: a driving body; the wheel body is connected with the rotating shaft of the driving body; one end of the connecting rod is connected with the driving body, and the other end of the connecting rod is fixed on the disc body; and one end of the elastic body is connected with the driving body, and the other end of the elastic body is fixed on the disc body. The dust collecting box module is arranged on the tray body and can provide gas suction and dust collection.

Description

self-propelled cleaning device

technical field

The invention relates to a cleaning device, in particular to a self-propelled cleaning device which can travel in space and avoid obstacles to vacuum and clean the environment.

Background technique

The automatic vacuum cleaner is a fully automatic cleaning device, which is different from traditional vacuum cleaners and sweeping tools. It can complete the cleaning work in a fixed area by itself, replacing traditional manual vacuum cleaners and other cleaning tools. After setting the cleaning mode, the automatic vacuum cleaner will automatically perform the function of cleaning the floor, and can dodge indoor furniture or obstacles to complete the cleaning work. In addition, the automatic vacuum cleaner can clean the dead corners that are generally difficult to clean.

Although automatic vacuum cleaners can bring convenience to future family life, such self-propelled automatic vacuum cleaners cannot be selected as traditional vacuum cleaners because the power required for them does not come from AC power and due to the limitation of internal space. Air compressor, so under the limited power supply, only a good centrifugal fan can show its excellent performance. In addition, centrifugal fans have the advantage of being less noisy than traditional air compressors.

In the prior art, a contact type self-propelled vacuum cleaner disclosed in Taiwan Patent No. I220383 has the function of automatic cleaning and vacuuming. However, it has several disadvantages. The driving device and the wheel body of the driving wheel module of the vacuum cleaner are designed to be unremovable, so when the motor is damaged or the wheel body tread needs to be replaced, the entire module must be replaced, resulting in a high cost. waste. In addition, the vacuum cleaner has no special design for removing dead corners, so the cleaning function of dead corners is poor. In addition, the vacuum cleaner uses a wiping unit to wipe the floor. Although this can clean the floor dust, the user should always pay attention to replacing it. If it is not replaced on time, it will cause the opposite effect of cleaning.

In addition, in the existing technology, in order to remove the dust in the corners, side sweeping brushes are installed, but the side sweeping brush module is also one of the noise sources of the vacuum cleaner.

In view of the above, there is an urgent need for a self-propelled cleaning device to improve the problems in the prior art.

Contents of the invention

The main purpose of the present invention is to provide a self-propelled cleaning device, the driving wheel set of which has a suspension design, so that the chassis and the wheel body of the self-propelled cleaning device have a specific height, so as to achieve the purpose of crossing obstacles.

The secondary purpose of the present invention is to provide a self-propelled cleaning device, the driving motor and the wheel body of the driving wheel set can be disassembled, so as to simplify the maintenance procedure.

Another object of the present invention is to provide a self-propelled cleaning device, which has an obstacle and a mechanism designed to prevent stepping on air, so that the self-propelled cleaning device can operate safely and effectively.

Another object of the present invention is to provide a self-propelled cleaning device, which utilizes the design of the fan housing with equal-width gas flow passages and asymmetric flow passage space up and down to achieve low noise and high flow of the centrifugal fan the goal of.

Another object of the present invention is to provide a self-propelled cleaning device, which utilizes the special design of the dust collection box and combines it with a centrifugal fan to form a dust box module to achieve the purpose of dust collection and smooth airflow.

Another object of the present invention is to provide a self-propelled cleaning device, which utilizes a side wind generating device to assist in removing dust from corners of the wall to reduce noise.

In order to achieve the above object, the present invention provides a self-propelled cleaning device, which includes: a control unit, at least one driving wheel module and a dust box module. The control unit is arranged on a disc body. The at least one driving wheel module is arranged on the disc body and is electrically connected to the control unit. The driving wheel module further has: a driving body; a wheel body, which is connected to the driving body connected with the rotating shaft; a connecting rod, which is connected with the driving body at one end, and fixed on the disc body at the other end; and an elastic body, which is connected with the driving body at one end, and The other end is fixed on the disc body. The dust collection box module is arranged on the disc body, and the dust collection box module can provide suction air and collect dust.

Preferably, the dust collection box module further has: a dust collection box body, which has a dust suction port, and the position of the dust suction port is located below the disk body; and a centrifugal fan, which uses An air inlet is connected with the dust collecting box body to receive the air flow sucked by the dust suction port. The centrifugal fan includes: a housing with an accommodating space, the housing further has an air inlet and an air outlet; an impeller is arranged in the accommodating space, A gas channel with equal flow channel width is formed between the edge of the impeller and the side wall of the housing, and the axial center section line of the impeller divides the accommodating space into a first space and a second space , the first space is asymmetrical to the second space; and a driving device is connected with the impeller to drive the impeller to rotate. Wherein the casing located in the second space further has a spiral flow channel communicating with the air outlet. The cross-sectional area of the spiral flow channel increases gradually from the inlet of the spiral flow channel to the gas outlet. The dust collecting box includes: a cover with a groove, an air inlet connected to the groove is provided on one side of the cover, and the cover is further There is a through hole communicating with the groove; a dust suction cover, which is connected to the air intake hole, and one end of the dust suction cover has the dust suction port; and a box body, which is Arranged in the groove, the box body has a dust collection space communicated with the through hole and the air inlet.

Preferably, the edge of the tray further has an inclination.

Preferably, the front end of the disc body further has a collision sensing device electrically connected to the control unit. The collision sensing device is a pressure sensor. In another preferred embodiment, the collision sensing device further includes: a sliding seat; an elastic body sleeved on the sliding seat; On the bottom of the body, one end of the sliding column further has a first contact piece; and a second contact piece corresponding to the first contact piece.

Preferably, the lower end of the tray further has at least one obstacle sensing device electrically connected to the control unit. Wherein the obstacle sensing device further includes: a sliding seat; an elastic body, which is sheathed on the sliding seat; a sliding post, which leans against the elastic body at one end, and One end of the column further has a first contact piece; and a second contact piece corresponding to the first contact piece.

Preferably, a side wind generating device is further provided on one side of the disc body. Wherein, the crosswind generating device is a centrifugal fan or an axial fan.

Description of drawings

Fig. 1 is the preferred embodiment schematic diagram of self-propelled cleaning device of the present invention;

2A to 2C are schematic diagrams of a preferred embodiment of the drive wheel module of the present invention;

Fig. 2D is a schematic diagram of the inclination angle of the disk body of the present invention;

Fig. 3 is a schematic diagram of a preferred embodiment of the dust box module of the present invention;

Fig. 4 is an exploded schematic view of the centrifugal fan of the present invention;

5A is a schematic top view of the centrifugal fan of the present invention;

Fig. 5B is a schematic axial sectional view of the centrifugal fan of the present invention;

Fig. 6A is a three-dimensional schematic view of the dust collecting box of the present invention;

Fig. 6B is a three-dimensional exploded schematic view of the dust collection box of the present invention;

Fig. 6C is a three-dimensional schematic view of the dust collection hood of the present invention;

Fig. 6D is a schematic diagram of driving the rolling brush of the present invention;

Fig. 7 is a schematic diagram of the configuration of the dust box module of the present invention on the disk body;

Fig. 8 is a schematic diagram of another preferred embodiment in which the dust box module of the present invention is arranged on the tray;

FIG. 9A is a schematic diagram of a preferred embodiment of the collision sensing device of the present invention;

FIG. 9B is a schematic top view of the action of the collision sensing device of the present invention;

FIG. 10A is a schematic side view of a preferred embodiment of the obstacle sensing device of the present invention;

FIG. 10B is a schematic side view of the operation of the obstacle sensing device of the present invention.

Explanation of reference signs: 1-self-propelled cleaning device; 10-disc body; 101-fixed seat; 102-fixed seat;

103-inclination; 11-control unit; 12-drive wheel module; 120-drive body; 121-connecting rod; 122-elastic body; 123-wheel body; 124-drive shaft; Box module; 130-centrifugal fan; 1300-upper housing; 1301-air inlet; 1302-impeller; 1303-coupling; 1304-adapter plate; 1305-lower housing; 1306-air outlet; Device; 1308-gas channel; 1309-spiral channel; 1309a, 1309b-flow channel section; 131-dust box; 1310-cover; 1311-box; 1312-dust cover; 1313-through hole; 1314-intake hole; 1315-dust collection space; 1316-air outlet; 1317-air inlet; 1318-groove; 14-collision sensing device; 140-fixed end; 141-elastic body; 143-sliding column; 144-first contact piece; 145-second contact piece; 146-pillar; 147-contact body; 15-rolling brush; 150-sweeping brush; 151-motor reducer; 152-first Gear; 153-second gear; 154-gauge belt; 16-obstacle sensing device; 160-fixed end; 161-elastic body; 162-sliding seat; 166-pillar; 167-contact body; 17-side wind generating device; 3-wall; 4-lateral obstacle; 5-floor; 90-blowing direction.

Detailed ways

In order to have a further cognition and understanding of the features, purposes and functions of the present invention, the relevant detailed structure and design concept of the system of the present invention will be described below, so that the characteristics of the present invention can be understood and stated in detail as follows:

Please refer to FIG. 1 , which is a schematic diagram of a preferred embodiment of the self-propelled cleaning device of the present invention. The self-propelled cleaning device 1 includes a control unit 11 , a pair of driving wheel modules 12 , a dust box module 13 and a pair of collision sensing devices 14 . The driving wheel set 12 is arranged on a disc body 10 and is electrically connected with the control unit 11 to provide power for the self-propelled cleaning device to move. The driving wheel module 12 can receive a signal transmitted by the control unit 11 to generate movement, so that the self-propelled cleaning device 1 can automatically perform cleaning and vacuuming.

Please refer to FIG. 2A and FIG. 2B , which are schematic diagrams of a preferred embodiment of the driving wheel module of the present invention. The driving wheel module 12 includes a driving body 120 , a wheel body 123 , a connecting rod 121 and an elastic body 122 . The wheel body 123 is connected to the rotating shaft 124 of the driving body 120 through an adapter 125 to receive the power of the driving body 120 to rotate. Through the adapter 125 , the wheel body 123 and the driving body 120 can be disassembled, which increases the convenience of maintenance for users. One end of the connecting rod 121 is connected to the driving body 120 , and the other end is connected to a fixing seat 101 of the disc body 10 . One end of the elastic body 122 is connected to the driving body 120 , and the other end is connected to another fixing base 102 of the disc body 10 . In this embodiment, the driving body 120 is a combination of a motor and a reduction gear box.

When the wheel body 123 is in the air, due to the weight configuration of the cleaning device, the driving body 120 will be in contact with the disc body 10, as shown in FIG. 2B . Conversely, as shown in FIG. 2C , when the wheel body 123 is in contact with the floor 5 , the driving body 120 and the disc body 10 will not be in contact with each other and a separation distance will be created. This distance is the height that can cross obstacles. When there is an obstacle on the ground, the disc body 10 will be lifted and the distance between the driving body 120 and the disc body 10 will be reduced. As shown in FIG. 2D , the design of the tray body 10 can design an inclination angle 103 on its edge to facilitate crossing obstacles.

Please refer to FIG. 3 , which is a schematic diagram of a preferred embodiment of the dust box module of the present invention. The dust box module 13 includes a centrifugal fan 130 and a dust box 131 . Please refer to FIG. 4 , which is an exploded view of the centrifugal fan of the present invention. The centrifugal fan 130 includes a casing, an impeller 1302 and a driving device 1307 . The housing is composed of an upper housing 1300 and a lower housing 1305 . Different from the shell formed by the traditional spiral involute, the axial cross-sectional shape of an accommodating space formed by the upper shell 1300 and the lower shell 1305 is circular instead of the cross-sectional shape of the prior art. The upper housing 1300 has an air inlet 1301 above the center, and the lower housing 1305 has an air outlet 1306 on one side thereof. The impeller 1302 is disposed in the accommodating space. The driving device 1307 is connected to the impeller 1302 through a positioning pin 1303 and an adapter plate 1304 to provide rotational power to the impeller 1302 .

Next, the arrangement position of the impeller in the casing will be described. Please refer to FIG. 5A , which is a schematic top view of the centrifugal fan of the present invention. It can be understood from the figure that since the housing space in the housing has a circular axial cross-section, a gas channel with equal channel width D is formed between the edge of the impeller 1302 and the side wall of the housing. 1308. Please refer to FIG. 5B , which is a schematic axial cross-sectional view of the centrifugal fan of the present invention. A first space A1 is formed above the axial central section line 8 of the impeller 1302 body and the inner wall of the housing, and a second space A2 is formed below the axial central section line 8 of the impeller and the inner wall of the housing. . Different from the prior art, the present invention is characterized in that the second space A2 is asymmetric to the first space A1. As shown in FIG. 3 and FIG. 5B , the lower casing 1305 has a spiral channel 1309 on the second space A2 . The cross-sectional area of the spiral flow channel 1309 gradually increases from the inlet of the spiral flow channel 1309 to the gas outlet. 1309a in FIG. 5B represents a cross section of the spiral flow channel 1309, and 1309b represents another cross section of the spiral flow channel 1309. It can be seen from the figure that the area of 1309a is larger than the area of 1309b.

Please refer to FIG. 6A and FIG. 6B , wherein FIG. 6A is a three-dimensional schematic view of the dust collection box of the present invention; FIG. 6B is a three-dimensional exploded schematic view of the dust collection box of the present invention. The dust collection box 131 further includes a cover 1310 , a dust cover 1312 and a box 1311 . The cover body 1310 has a groove 1318, an air hole 1314 communicating with the groove 1318 is opened on one side of the cover body 1310, and the cover body 1310 further has a hole 1314 communicating with the groove 1318. A through hole 1313, the through hole 1313 communicates with the air inlet 1301 of the centrifugal fan. A detachable filter can be provided between the through hole 1313 and the air inlet 1301 of the centrifugal fan to prevent dust from being sucked into the centrifugal fan.

The box body 1311 is disposed in the groove 1318 , and the box body 1311 has a dust collection space 1315 communicating with the through hole 1313 and the air inlet hole 1314 . The dust collection space 1315 can hold a dust collection bag (not shown in the figure) and can be accommodated in the groove 1318 in a drawer-like manner. If the dust collection bag needs to be replaced, the box can be 1311 out, and then replace the dust bag. Please refer to FIG. 6C , which is a schematic diagram of a preferred embodiment of the dust collection hood of the present invention. The suction hood 1313 has an air inlet 1317 and an air outlet 1316 , and the air outlet 1316 communicates with the air inlet 1314 of the cover body 1310 . The end of the air inlet 1317 of the dust collection cover 1312 can further be provided with a rolling brush 15 . As shown in Figure 6D, the rolling sweeping brush 15 includes a sweeping brush 150 located at the inlet of the air intake channel, and a motor reducer 151 that drives the sweeping brush 150 to rotate, and the motor reducer 151 is composed of a motor and a gear composed of boxes. One end of the motor reducer 151 has a first gear 152 , and one end of the brush 150 has a second gear 153 . The first gear 152 and the second gear 153 are driven by a toothed belt 154 . The motor reducer 151 is the same as the drive body of the drive wheel module, but a motor-gearbox combination with a smaller torque can be used.

Returning to Figures 6A and 6B, in this embodiment, in order to make the gas flow path smooth, the air inlet below the cleaning device tray is connected to the dust collection box through the dust suction cover 1312, and The opening of the air inlet hole 1314 of the dust box cover 1310 is on the side of the dust box cover 1310 instead of the bottom surface, so that the gas flow path can be deliberately distorted without worrying about the efficiency of dust collection. cause airflow noise. Also because the structure of the dust box cover 1310 and the box body 1311 is designed as a drawer extraction mode, it can not only reduce the noise, but also facilitate the cleaning of dust and the replacement of the filter screen.

Please refer to FIG. 7 , which is a schematic diagram of the arrangement of the dust box module on the tray of the present invention. In order to enhance the cleaning ability of the self-propelled cleaning device of the present invention, the air outlet 1306 of the centrifugal fan is guided to the side of the self-propelled cleaning device 1 through a spiral flow channel 1309, so that it can blow downwards and forwards to the dead corner. In the figure, the wall corner between the wall 3 and the self-propelled cleaning device 1 can pass through the configuration of the present invention, so that the airflow discharged from the air outlet 1306 can be blown to the corner at 90° to raise dust, so that the self-propelled cleaning device The walking cleaning device 1 can inhale dust to achieve the function of removing corners.

Please refer to FIG. 8 , which is a schematic diagram of another preferred embodiment of the arrangement of the dust box module on the tray of the present invention. In addition to the embodiment shown in FIG. 7 , the present invention further provides a configuration method, that is, a side wind generating device 17 is added on the tray body 10 to provide side air flow. In the figure, the corner between the wall 3 and the self-propelled cleaning device 1 can be blown to the corner by the air flow generated by the side wind generating device 90 through the embodiment of the present invention, so as to raise dust , so that the self-propelled cleaning device 1 can inhale dust to achieve the function of cleaning corners. The crosswind generating device may be selected as a centrifugal fan, or an axial flow fan, but not limited thereto. That is to say, as long as it can generate side wind to achieve the purpose of raising dust in dead corners, the airflow generating device will be sufficient.

Referring back to Fig. 1, the anti-collision design of the present invention is arranged on the edge of the self-propelled cleaning device, and the collision sensing device can be a pressure sensor. In another preferred embodiment, the mechanism of the collision sensing device is shown in Fig. 9A. The collision sensing device 14 includes a sliding seat 142 , a sliding column 143 , a first contact piece 144 , a second contact piece 145 and a contact body 147 . The sliding seat 142 is fixed on a fixed end 140 . The fixed end 140 is disposed on the tray body 10 . The sliding column 143 is disposed in the sliding seat 142 and can slide in the sliding seat 142 . One end of the sliding column 143 is connected to the first contact piece 144 . An elastic body 141 is disposed between the first contact piece 144 and the fixed end 140 . The second contact piece 145 is arranged on the disk body 10 and corresponds to the first contact piece 144 , and the first contact piece 144 and the second contact piece 145 are connected to the control unit 11 Make electrical connections. A cylinder 146 passes through the disc body 10 on one side of the first contact piece 144 , and the contact body 147 is disposed at one end of the cylinder 146 . The foregoing design enables the self-propelled cleaning device to sense obstacles that hinder cleaning during travel.

Next, the operation of the collision sensing device 14 will be described. In an environment without obstacles, due to the elastic force of the elastic body 141 , the first contact piece 144 is in contact with the second contact piece 145 . As shown in FIG. 9B , which is a schematic top view of the operation of the collision sensing device of the present invention. When a lateral obstacle 4 appears on one side of the self-propelled cleaning device, the collision sensing device 14 will be in contact with the obstacle 4, and then the contact body 147 will push the The first contact piece 144 is separated from the second contact piece 145 . And the elastic body 141 is compressed. When the second contact piece 145 is separated from the first contact piece 144, the control unit 11 can sense the electrical change and recognize the existence of the obstacle 4, and then control the steering of the driving wheel module. . The number and positions of the collision sensing devices can be determined according to requirements.

In addition, in the present invention, a plurality of obstacle sensing devices 16 may also be provided under the tray body to determine whether the ground is flat or there is a gap. Please refer to FIG. 10A , which is a schematic side view of a preferred embodiment of the obstacle sensing device of the present invention. The obstacle sensing device 16 includes a sliding seat 162 , a sliding column 163 , a first contact piece 164 , a second contact piece 165 and a contact body 167 . The sliding seat 162 is fixed on a fixed end 160 . The fixed end 160 is disposed on the tray body 10 . The sliding column 163 is disposed in the sliding seat 162 and can slide in the sliding seat 162 . One end of the sliding column 163 is connected to the first contact piece 164 . An elastic body 161 is disposed between the first contact piece 164 and the fixed end 160 . The second contact piece 165 is arranged on the disk body 10 and corresponds to the first contact piece 164 , and the first contact piece 164 and the second contact piece 165 are connected to the control unit 11 Make electrical connections. A cylinder 166 passes through the disc body 10 on one side of the first contact piece 164 , and the contact body 167 is disposed at one end of the cylinder 166 , facing the ground and in contact with the ground. The contact body 167 can roll along with the movement of the self-propelled cleaning device.

Next, the operation of the obstacle sensing device will be described. As shown in FIG. 10A , under normal operation, the obstacle sensing device 16 will be in contact with the ground, thereby compressing the elastic body 161 , so that the first contact piece 164 is separated from the second contact piece 165 . As shown in FIG. 10B , the figure is a schematic side view of the operation of the obstacle sensing device of the present invention. When there is a gap or drop, since there is no external force, the elastic force of the elastic body 161 will push the first contact piece 164 so that the first contact piece 164 is in contact with the second contact piece 165 , so that the control unit 11 can sense the electrical change to recognize the existence of the drop, and then control the steering of the driving wheel module. The number and positions of the obstacle sensing devices can be determined according to requirements.

The above descriptions are only preferred embodiments of the present invention, and should not be used to limit the scope of the present invention. That is, all equivalent changes and modifications made according to the claims of the present invention will still not lose the gist of the present invention, so all should be regarded as further implementation status of the present invention.

In summary, the self-propelled cleaning device provided by the present invention has the advantages of high dust collection efficiency, low noise and convenient cleaning.

Claims (17)

1. A self-propelled cleaning device, characterized in that it comprises: a control unit, which is arranged on a disc body; At least one driving wheel module is arranged on the disc body and is electrically connected to the control unit, and the driving wheel module further includes: a driver; a wheel body, which is connected with the rotating shaft of the driving body; a connecting rod, which is connected with the drive body at one end and fixed at the disc body at the other end; and an elastic body, which is connected with the driving body at one end and fixed at the disc body at the other end; and A dust collection box module is arranged on the disc body, and the dust collection box module provides suction air and collects dust. 2. The self-propelled cleaning device according to claim 1, characterized in that: the dust box module further has: A dust collection box body, which has a dust suction port, and the position of the dust suction port is located below the disk body; and A centrifugal fan is connected with the dust collecting box body and receives the air flow sucked by the dust suction port. 3. The self-propelled cleaning device according to claim 2, characterized in that: the centrifugal fan comprises: A casing, which has an accommodating space, and the casing further has an air inlet and an air outlet; An impeller, which is arranged in the accommodating space, forms a gas flow path with equal flow path width between the edge of the impeller and the side wall of the housing, and the axial center section line of the impeller divides the The accommodating space is divided into a first space and a second space, and the first space and the second space are asymmetrical; and A driving device is connected with the impeller to drive the impeller to rotate. 4. The self-propelled cleaning device as claimed in claim 3, characterized in that: the housing located in the second space further has a spiral flow path communicating with the air outlet, wherein the spiral flow path The cross-sectional area gradually increases from the inlet of the spiral flow channel to the gas outlet. 5 . The self-propelled cleaning device according to claim 3 , wherein the impeller is one of a single row of wing-shaped blades and a double row of wing-shaped blades. 6. The self-propelled cleaning device according to claim 3, characterized in that: the airflow discharged from the air outlet is blown to one side of the disk body. 7. The self-propelled cleaning device according to claim 2, characterized in that: the dust collecting box includes: A cover body, which has a groove, an air inlet connected to the groove is provided on one side of the cover body, and a through hole connected to the groove is provided on the cover body; a dust suction hood, which is connected to the air inlet, and one end of the dust suction hood further has the dust suction port; and A box body is arranged in the groove, and the box body has a dust collecting space communicated with the through hole and the air inlet hole. 8 . The self-propelled cleaning device as claimed in claim 2 , wherein there is a filter screen between the centrifugal fan and the dust box. 9. The self-propelled cleaning device as claimed in claim 1, wherein the edge of the disk further has an inclination angle. 10. The self-propelled cleaning device as claimed in claim 1, characterized in that: the front end of the disc further has a collision sensing device electrically connected to the control unit. 11. The self-propelled cleaning device according to claim 10, wherein the collision sensing device further comprises: a slider; an elastic body, which is sheathed on the sliding seat; A sliding column, which leans against the elastic body at one end, and has a first contact piece at one end of the sliding column; and A second contact piece corresponds to the first contact piece. 12. The self-propelled cleaning device as claimed in claim 1, characterized in that: the lower end of the tray further has at least one obstacle sensing device electrically connected to the control unit. 13. The self-propelled cleaning device according to claim 12, wherein the obstacle sensing device further comprises: a slider; an elastic body, which is sheathed on the sliding seat; A sliding column, which leans against the elastic body at one end, and has a first contact piece at one end of the sliding column; and A second contact piece corresponds to the first contact piece. 14. The self-propelled cleaning device according to claim 1, characterized in that: there is an adapter between the wheel body and the driving body so that the wheel body can be detached. 15. The self-propelled cleaning device according to claim 1, characterized in that: it further comprises a rolling brush, which is further connected with a brush driving part, and the brush driving part further comprises: A first gear, which is connected with one end of the rolling brush; A motor reducer, one end of which is further connected with a second gear; and A tooth gauge belt is sheathed on the first gear and the second gear. 16. The self-propelled cleaning device according to claim 1, wherein a side wind generating device is further provided on one side of the disk body. 17. The self-propelled cleaning device as claimed in claim 16, wherein the side wind generating device is one of a centrifugal fan and an axial fan.

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