Cleaning robot and quick-release components thereof

Abstract

The present application discloses a cleaning robot and a quick-release assembly thereof. The quick-release assembly includes: a first quick-connector including a main body and an alignment insertion part, a clamping part, and a stopper extending from the main body, a first matching groove is formed between the alignment insertion part and the clamping part, and a second matching groove is formed between the alignment insertion part and the stopper; a second quick-connector including a mounting plate and a clamping part and a stopper arranged on the mounting plate, the alignment insertion part is inserted between the clamping part and the stopper, the first matching groove is clamped on the clamping part, and the second matching groove is clamped on the stopper. By arranging the first quick-connector and the second quick-connector, the cleaning device connected to the first quick-connector and the walking device connected to the second quick-connector can be quickly disassembled and assembled conveniently and time-savingly.

Description

Technical Field

[0001] The present application relates to the technical field of photovoltaic panel cleaning, and in particular to a cleaning robot and a quick-release assembly thereof. Background Art

[0002] Photovoltaic panels are the basic elements for generating electricity in solar power stations. The conversion efficiency of photovoltaic panels directly determines the power generation efficiency of solar power stations. During the use of photovoltaic panels, the photovoltaic panels may be affected by dust, bird droppings, etc., which may cause the power generation of photovoltaic power stations to be greatly reduced. Therefore, keeping photovoltaic panels clean has become one of the key factors in maintaining the maximum power generation efficiency of photovoltaic power stations.

[0003] The connection relationship between the cleaning device and the traveling device in the existing photovoltaic panel cleaning equipment is very complicated. It will take a lot of time to disassemble the cleaning device on site, and it is impossible to easily separate and replace the cleaning device and the traveling device. Summary of the invention

[0004] The present application provides a cleaning robot and a quick-release assembly thereof, so as to solve the problem that the disassembly of a cleaning device and a walking device in the cleaning robot is complicated and time-consuming.

[0005] In order to solve the above technical problems, a technical solution adopted by the present application is to provide a quick release assembly. The quick release assembly includes: a first quick connector includes a main body and an alignment insertion part, a clamping part, and a stopper extending from the main body, a first matching groove is formed between the alignment insertion part and the clamping part, and a second matching groove is formed between the alignment insertion part and the stopper; a second quick connector includes a mounting plate and a clamping part and a stopper provided on the mounting plate, the alignment insertion part is inserted between the clamping part and the stopper, the first matching groove is clamped on the clamping part, and the second matching groove is clamped on the stopper.

[0006] In order to solve the above technical problems, another technical solution adopted by the present application is to provide a cleaning robot. The cleaning robot comprises: a cleaning device comprises a first shell, a cleaning mechanism and a first quick-connector as described above, the cleaning mechanism is arranged in the first shell, and the first quick-connector is connected to the first shell; a walking device comprises a second shell, a walking mechanism and a second quick-connector as described above, the walking mechanism is arranged on the second shell, and the second quick-connector is connected to the second shell; wherein the first quick-connector is connected to the second quick-connector, so that the cleaning device and the walking device can be quickly disassembled and assembled.

[0007] The beneficial effect of the present application is that, different from the prior art, the present application discloses a cleaning robot and a quick-release assembly thereof. By providing a positioning insertion portion, a first matching groove and a second matching groove on the first quick-connector, and providing a clamping member and a stopper on the second connecting member, and making the positioning insertion portion inserted between the clamping member and the stopper, the first matching groove is correspondingly clamped on the clamping member, and the second matching groove is correspondingly clamped on the stopper, thereby quickly connecting the first quick-connector and the second quick-connector, and at the same time, the first quick-connector and the second quick-connector can be quickly disassembled, so that the cleaning device connected to the first quick-connector and the walking device connected to the second quick-connector can be quickly disassembled and assembled with each other in a convenient and time-saving manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0009] Figure 1 is a structural schematic diagram of an embodiment of a cleaning robot provided by the present application;

[0010] Figure 2 yes Figure 1 A schematic diagram of the structure of a first quick-connector and a second quick-connector in a cleaning robot;

[0011] Figure 3 yes Figure 2 A schematic diagram of the state when the first quick connector and the second quick connector are assembled;

[0012] Figure 4 yes Figure 2 A schematic diagram of a state after the first quick connector and the second quick connector are connected;

[0013] Figure 5 yes Figure 1 Schematic diagram of the enlarged structure of the A area in the middle;

[0014] Figure 6 yes Figure 2 An enlarged structural schematic diagram of an embodiment of the middle B area;

[0015] Figure 7 yes Figure 2 A schematic structural diagram of an embodiment of a middle clamping member and / or a stopper;

[0016] Figure 8 yes Figure 2 A schematic diagram of the structure of the first quick connector;

[0017] Fig. 9 yes Figure 1 A schematic diagram of the structure of the walking device of the cleaning robot without the first cover, the second cover and the third cover;

[0018] Fig.10 yes Figure 1 A schematic diagram of the structure of the walking device in the cleaning robot;

[0019] Fig.11 yes Fig. 9 A schematic diagram of the structure of an embodiment of a control compartment, a power compartment and a drive compartment in a walking device;

[0020] Fig.12 yes Fig. 9 A schematic diagram of the cross-sectional structure of the control compartment in the walking device;

[0021] Fig.13 yes Figure 1 A schematic diagram of the structure of a cleaning device in a cleaning robot;

[0022] Fig.14 It is a structural schematic diagram of an embodiment of a cleaning system provided in the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] If there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0025] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0026] See also Figure 1 , Figure 1 It is a structural schematic diagram of an embodiment of a cleaning robot provided in the present application.

[0027] The cleaning robot 100 includes a cleaning device 10 and a walking device 20, wherein the cleaning device 10 is connected to the walking device 20. The cleaning device 10 is used to clean the solar photovoltaic panel, and the walking device 20 is used to transport the cleaning device 10, and then clean the photovoltaic panel area passed by on the path during the walking process.

[0028] Specifically, the cleaning device 10 includes a first shell 11 , a cleaning mechanism 12 and a first quick connector 13 . The cleaning mechanism 12 is disposed in the first shell 11 . The cleaning mechanism 12 is used to clean the photovoltaic panel. The first quick connector 13 is connected to the first shell 11 .

[0029] The walking device 20 includes a second shell 21 , a walking mechanism 22 and a second quick connector 23 . The walking mechanism 22 is disposed on the second shell 21 . The walking mechanism 22 is used for walking on the photovoltaic panel. The second quick connector 23 is connected to the second shell 21 .

[0030] The first quick-connect member 13 is connected to the second quick-connect member 23 so that the cleaning device 10 and the traveling device 20 can be quickly assembled and disassembled.

[0031] Specifically, see Figure 2 The first quick connector 13 includes a main body 130 and an aligning insertion portion 131, a clamping portion 132, and a stopper 133 extending from the main body 130. A first matching groove 134 is formed between the aligning insertion portion 131 and the clamping portion 132, and a second matching groove 135 is formed between the aligning insertion portion 131 and the stopper 133.

[0032] The second quick connector 23 includes a mounting plate 230 and a clamping member 231 and a stopper 232 arranged on the mounting plate 230. The alignment insertion portion 131 is inserted between the clamping member 231 and the stopper 232. The alignment insertion portion 131 has a guiding function, so that the first matching groove 134 is correspondingly clamped on the clamping member 231, and the second matching groove 135 is correspondingly clamped on the stopper 232.

[0033] Alternatively, if Figure 6As shown, the first matching groove 134 is a semicircular groove, and the clamping member 231 is a cylinder. The size of the opening of the semicircular groove is smaller than the diameter of the cylinder, and the diameter of the semicircular groove is greater than or equal to the diameter of the cylinder, and then the clamping member 231 enters the first matching groove 134 through the opening of the first matching groove 134, and the clamping member 231 is limited by the first matching groove 134. The second matching groove 135 is a V-shaped groove and is correspondingly clamped on the stopper 232 to limit the first quick-connection member 13 from rotating relative to the second quick-connection member 23, so that the cleaning device 10 and the walking device 20 can be quickly connected. When separating the cleaning device 10 and the walking device 20, the clamping member 231 and the first matching groove 134 are separated by force, so that the cleaning device 10 and the walking device 20 can be quickly disassembled, and it is very convenient and efficient to replace and maintain the cleaning device 10.

[0034] Alternatively, the features of the second matching groove 135 are the same as those of the first matching groove 134. Alternatively, the second matching groove 135 is a semicircular groove, the size of the semicircular groove opening is smaller than the diameter of the cylinder, the diameter of the semicircular groove is greater than or equal to the diameter of the cylinder, and the first matching groove 134 is a V-shaped groove.

[0035] Alternatively, if Figure 7 As shown, the clamping member 231 and / or the stopper 232 include a coaxially connected threaded column 2311 and an abutment column 2312, the threaded column 2311 is connected to the mounting plate 230, the first mating groove 134 and / or the second mating groove 135 are clamped on the threaded column 2311 and are screwed and fastened to the mounting plate 230 by the abutment column 2312, and then after the first quick-connect member 13 and the second connecting member 23 are quickly aligned and clamped, they are also fixed by the clamping member 231 and / or the stopper 232 to realize the rapid disassembly between the cleaning device 10 and the walking device 20.

[0036] That is, the clamping member 231 and / or the stop member 232 are also equivalent to fasteners connected to the mounting plate 230, and the first matching groove 134 is also locked and fixed by the clamping member 231 after being clamped on the clamping member 131, and / or the second matching groove 135 is also locked and fixed by the stop member 232 after being clamped on the stop member 232, so that the disassembly between the cleaning device 10 and the walking device 20 is very convenient and efficient.

[0037] For example, the first matching groove 134 and the second matching groove 135 are both V-shaped grooves, which are clamped on the threaded column 2311 and screwed and tightened by the abutment column 2312 to achieve quick connection. The abutment column 2312 is rotated to loosen the first quick connection member 13 and the second connection member 23, and separate the first quick connection member 13 and the second quick connection member 23 to achieve quick separation.

[0038] Alternatively, if Figures 2 to 5As shown, the main body 130 is provided with a first connection hole 136, the mounting plate 230 is provided with a second connection hole 233, the first matching groove 134 is clamped on the clamping member 231, and the second matching groove 135 is clamped on the stopper 232, so that the first connection hole 136 and the second connection hole 233 are automatically aligned, and the first connection hole 136 and the second connection hole 233 are connected by the locking member 234, thereby realizing a quick connection between the cleaning device 10 and the walking device 20. Loosen the locking member 234 to loosen the first quick connection member 13 and the second connection member 23, and separate the first quick connection member 13 and the second quick connection member 23 to achieve quick separation.

[0039] Specifically, Figure 8 As shown, the alignment insertion portion 131 includes two first edges 1311 parallel to each other, the stop portion 133 includes a second edge 1330, the second edge 1330 is set at a preset angle with the first edge 1311, one of the first edges 1311 is connected to the second edge 1330 in a circular arc transition to form a second matching groove 135, the clamping portion 132 includes two third edges 1320 parallel to the second edges 1330 and spaced apart from each other, the other first edge 1311 is connected to one of the third edges 1320, the two third edges 1320 are connected to each other in a circular arc transition to form a first matching groove 134, the two third edges 1320 and the arc therebetween are clamped on the peripheral side of the clamping member 231, and the second edge 1330 abuts against the stop member 232.

[0040] Combined with reference Figure 4 , Figure 8 The clamping member 231 and the stopper 232 are both columnar structures and are fixedly connected to the mounting plate 230. When the first quick connector 13 is connected to the second quick connector 23, the first edge 1311 abuts against the clamping member 231 or the stopper 232, so that the alignment insertion portion 131 is inserted between the clamping member 231 and the stopper 232 under the guidance of the clamping member 231 and the stopper 232, and then the first matching groove 134 is automatically assembled with the clamping member 231, and the second matching groove 135 is automatically assembled with the stopper 232. Under the gravity of the cleaning device 10 itself, the first quick connector 13 is then hung on the second quick connector 23, and the connecting hole 136 is automatically aligned with the second connecting hole 233, and then the locking member 234 is used to lock the first quick connector 13 and the second quick connector 23, so as to realize the quick disassembly and assembly between the cleaning device 10 and the walking device 20.

[0041] Of course, the first matching groove 134 and the second matching groove 135 may also have other shapes, and the first quick connector 13 may also have a third matching groove, etc., which is not limited in the present application.

[0042] Specifically, Fig. 9As shown, the second quick connectors 23 are connected to the opposite sides of the second shell 21, and the first quick connectors 21 are correspondingly connected to the first shell 11 at intervals. The first quick connector 13 and the second quick connector 23 are connected in alignment, and the second quick connectors 23 are located between the two first quick connectors 13 that are spaced apart, thereby ensuring the lateral stability of the cleaning device 10 and the walking device 20.

[0043] Optionally, a cleaning device 10 is connected to one end of the walking device 20 in the walking direction.

[0044] Optionally, cleaning devices 10 are connected to both ends of the walking device 20 along the walking direction, so as to clean the photovoltaic panels more efficiently.

[0045] Alternatively, if Figure 1 As shown, the width of the cleaning device 10 in a direction perpendicular to the walking direction is greater than the width of the walking device 20 in the same direction, so that the cleaning robot 100 has a larger cleaning range, and thus when cleaning the photovoltaic panel area of ​​the same area, the cleaning robot 100 provided in the present application can complete the cleaning in less time.

[0046] The traveling device 20 and the cleaning device 10 will be described separately below.

[0047] Specifically, see Fig. 9 , Fig.10 The walking device 20 includes a second housing 21 and a walking mechanism 22. The walking mechanism 22 includes walking wheels 220 and a driving mechanism 221. The walking wheels 220 are arranged on both sides of the second housing 21 for carrying the second housing 21; the driving mechanism 221 is arranged in the second housing 21 and connected to the walking wheels 220 for driving the walking wheels 220 to rotate so as to move the walking device 20.

[0048] A first partition 210 and a second partition 211 are provided in the second shell 21 to divide the space in the second shell 21 into a control compartment 212, a power compartment 214 and a drive compartment 216. A control device 24 is provided in the control compartment 212 and is covered with a first cover body 213. The power compartment 214 is used to install a battery 25 and is covered with a second cover body 215. A drive mechanism 221 is provided in the drive compartment 216 and is covered with a third cover body 217, and the drive mechanism 221 is connected to the walking wheel 220. The battery 25 is used to supply power to the cleaning mechanism 12, the control device 24 and the drive mechanism 221. The control device 24 is communicatively connected with the cleaning mechanism 12 and the drive mechanism 221, and is used to control the cleaning mechanism 12 to clean the photovoltaic panel and control the drive mechanism 221 to drive the walking wheel 220 to walk along a preset path.

[0049] The internal space of the second shell 21 is divided into independent control compartment 212, power compartment 214 and drive compartment 216, and is provided with corresponding cover plates connected to the control compartment 212, power compartment 214 and drive compartment 216, so that the subsequent inspection, maintenance, replacement, etc. of various components in the walking device 20 can be completed without extensive disassembly of the walking device 20, which is convenient for maintenance of the cleaning robot 100.

[0050] Optionally, the first partition 210 and the second partition 211 are arranged parallel to each other on the second housing 21 along the walking direction of the cleaning robot 100, and form a control compartment 212, a power compartment 214 and a drive compartment 216 in sequence with the second housing 21, that is, the control compartment 212, the power compartment 214 and the drive compartment 216 are adjacent in sequence. Among them, the drive compartment 216 is located on the side away from the cleaning device 10. Alternatively, the positions of the control compartment 212 and the power compartment 214 are interchanged.

[0051] Alternatively, if Fig.11 As shown, the second partition 211 is connected to the second shell 21 to form a drive chamber 216; the first partition 210 is connected to the second partition 211 and the second shell 21 to form a control chamber 212 and a power chamber 214. That is, the control chamber 212, the power chamber 214 and the drive chamber 216 are arranged in an inverted triangle shape, wherein the drive chamber 216 is located on the same side of the control chamber 212 and the power chamber 214, and the positions of the control chamber 212 and the power chamber 214 can be interchanged.

[0052] Specifically, the control compartment 212 and the power compartment 214 are waterproof and sealed compartments to prevent the control device 24 and the battery 25 from being damaged by water.

[0053] like Fig.12 As shown, a seal 218 is connected to the first cover body 213 and the second cover body 215, and both the control compartment 212 and the power compartment 214 are provided with a waterproof fold 219. The first cover body 213 and the second cover body 215 are covered on the corresponding waterproof fold 219, and the seal 218 is located between the waterproof fold 219 and the first cover body 213 or the second cover body 215, thereby achieving waterproof sealing of the control compartment 212 and the power compartment 214.

[0054] The sealing member 218 is, for example, a sealing gasket, which is fixedly connected to the first cover body 213 and the second cover body 215 to facilitate the installation connection between the cover body and the bin body.

[0055] The outside of the control compartment 212 and the power compartment 214 are also provided with waterproof connectors, through which the control device 24 and the battery 25 are connected to other components.

[0056] For more details, see Fig. 9The walking wheel 220 includes a plurality of rollers 223 and tracks 224 arranged on the plurality of rollers 223. The tracks 224 are in contact with the photovoltaic panel to reduce the pressure applied to the photovoltaic panel by the cleaning robot 100 and avoid damaging the photovoltaic panel.

[0057] A brush 225 is also connected to the second shell 21. The brush 225 is arranged corresponding to the track 224 and contacts the track 224 to continuously clean the track 224 when the track 224 rotates, thereby preventing the cleaning robot 100 from leaving stains when walking on the photovoltaic panel, and further improving the cleaning ability of the cleaning robot 100 on the photovoltaic panel.

[0058] Furthermore, the cleaning robot 100 also includes a cruise positioning device 26, which is disposed on the second housing 21. The cruise positioning device 26 includes a positioning antenna 260, which is connected to the control device 24. The positioning antenna 26 is used to determine the real-time position of the cleaning robot 100 and receive a preset path. The control device 24 adjusts the cleaning robot 100 to walk along the preset path according to the coincidence relationship between the preset path received by the positioning antenna 260 and the real-time position of the cleaning robot 100.

[0059] Specifically, the cruise positioning device 26 includes a positioning antenna 260 and a base station. The base station is used to communicate with the global navigation satellite system. The base station receives the signal sent by the positioning antenna 260 and communicates with the global navigation satellite system to determine the position of the cleaning robot 100 in real time, and is used to plan the running path of the cleaning robot 100 on the photovoltaic panel and transmit the preset path to the control device 24 through the positioning antenna 260.

[0060] The control device 24 receives the preset path and adjusts the motion posture of the cleaning robot 100 accordingly according to the coincidence relationship between the preset path and the real-time position. For example, if the real-time position of the cleaning robot 100 is not on the preset path, that is, the real-time position does not coincide with the preset path, the control device 24 controls the driving mechanism 221 to adjust the motion posture of the cleaning robot 100 so that the cleaning robot 100 returns to the preset path and continues to walk along the preset path to automatically clean the photovoltaic panels in the entire area.

[0061] Specifically, the positioning antenna 260 is a RTK (Real-time kinematic) antenna.

[0062] Furthermore, the cleaning robot 100 also includes a first communication module 27 and a second communication module 28, and the first communication module 27 and the second communication module 28 are used to communicate with a workstation and / or a terminal device.

[0063] For example, the first communication module 27 is a WiFi module (Wireless Fidelity, wireless fidelity local area network), and the cleaning robot 100 communicates with a terminal device (such as a tablet computer, etc.) through a WiFi network, so that the terminal device can obtain the running status, preset path, current rate, etc. of the cleaning robot 100, and can interact with the cleaning robot 100 through the WiFi network to control the cleaning robot 100. The second communication module 28 is a 4G module, and the cleaning robot 100 can communicate with the terminal device through a 4G network, and then the terminal device can start the cleaning robot 100 through the 4G network, etc.

[0064] Alternatively, the first communication module 27 is a ZigBee module, and the second communication module 28 is a 3G module, which is not limited in the present application.

[0065] Optionally, the workstation can communicate with multiple cleaning robots 100 at the same time. For example, the workstation communicates with multiple cleaning robots 100 through a 4G network, and then the user can monitor the operating status of multiple cleaning robots 100, start and stop the cleaning robots 100, and adjust the running trajectory of the cleaning robots 100 at the workstation, which greatly improves the efficiency of controlling multiple cleaning robots 100 by workers.

[0066] Combined with reference Figure 1 , Fig.13 The cleaning device 10 includes a first housing 11 and a cleaning mechanism 12 disposed in the first housing 11. The cleaning mechanism 12 includes a cleaning member 120 and a motor. The cleaning member 120 is rotatably connected to the first housing 11. The motor is fixedly connected to the first housing 11. The motor drives the cleaning member 120 to rotate through a belt or a chain to clean the photovoltaic panel in contact with the cleaning member 120.

[0067] For example, the cleaning member 120 includes a rotating drum and a brush disposed on the rotating drum.

[0068] Furthermore, radar detection devices 13 are provided at both ends of the first shell 11 in a direction perpendicular to the walking direction of the walking device 20. When the radar detection device 13 detects that the distance to the obstacle is less than or equal to the first preset distance, the control device 24 controls the walking mechanism 22 to adjust the walking trajectory to prevent the cleaning robot 100 from colliding with the obstacle.

[0069] The radar detection device 13 continuously detects the distance between the cleaning robot 100 and the surrounding obstacles, and feeds back the detected distance to the control device 24. The control device 24 adjusts the real-time walking trajectory of the cleaning robot 100 according to the comparison result between the detected distance and the first preset distance. When the detected distance is greater than the first preset distance, the control device 24 maintains the current running posture of the cleaning robot 100.

[0070] Furthermore, a distance detection device 14 is also provided on the first shell 11, and the distance detection device 14 is used to detect the distance between the cleaning device 10 and the supporting surface supporting the cleaning robot 100. When the distance detected by the distance detection device 14 is greater than the second preset distance, the control device 24 controls the walking mechanism 22 to adjust the walking trajectory to prevent the cleaning robot 100 from falling from the photovoltaic panel.

[0071] The distance between the cleaning device 10 and the support surface is approximately constant. If the distance detected by the distance detection device 14 is greater than the second preset distance, the control device 24 can determine that the cleaning device 10 is suspended on the edge of the photovoltaic panel, and the cleaning robot 100 will fall from the photovoltaic panel if it continues to move forward, which will seriously damage the cleaning robot 100. Therefore, when it is determined that the detected distance is greater than the second preset distance, the control device 24 adjusts the walking trajectory of the cleaning robot 100 to avoid itself from falling and being damaged.

[0072] Specifically, the distance detection device 14 includes a first distance sensor 140 and a second distance sensor 142 , wherein the type of the first distance sensor 140 is different from the type of the second distance sensor 142 to ensure the reliability of the detection result.

[0073] See also Fig.14 , Fig.14 It is a structural schematic diagram of an embodiment of a cleaning system provided in the present application.

[0074] The cleaning system 200 includes a terminal device 300 and the cleaning robot 100 as described above. The terminal device 200 is in communication connection with the cleaning robot 100 and is used to adjust the operating state of the cleaning robot 100 .

[0075] At the same time, the present application also protects a quick-release assembly, which includes the first quick-connector 13 and the second quick-connector 14 in the above-mentioned embodiment. The first quick-connector 13 and the second quick-connector 14 can be quickly disassembled and assembled.

[0076] Different from the prior art, the present application discloses a cleaning robot and a quick-release assembly thereof. By providing a positioning insertion portion, a first matching groove and a second matching groove on a first quick-connector, and providing a clamping member and a stopper on a second connecting member, and making the positioning insertion portion inserted between the clamping member and the stopper, the first matching groove is correspondingly clamped on the clamping member, and the second matching groove is correspondingly clamped on the stopper, thereby quickly connecting the first quick-connector and the second quick-connector, and at the same time, the first quick-connector and the second quick-connector can be quickly disassembled, so that the cleaning device connected to the first quick-connector and the walking device connected to the second quick-connector can be quickly disassembled and assembled with each other in a convenient and time-saving manner.

[0077] The above descriptions are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A cleaning robot, characterized in that: include: A cleaning device, comprising a first shell, a cleaning mechanism and a first quick-connector, wherein the cleaning mechanism is disposed in the first shell, and the first quick-connector is connected to the first shell; A walking device, comprising a second shell, a walking mechanism and a second quick-connector, wherein the walking mechanism is arranged on the second shell, and the second quick-connector is connected to the second shell; Wherein, the first quick-connector is connected to the second quick-connector so that the cleaning device and the walking device can be quickly assembled and disassembled; The first quick connector includes a main body, an aligning inserting part, a clamping part, and a stopper part extending from the main body, a first matching groove is formed between the aligning inserting part and the clamping part, and a second matching groove is formed between the aligning inserting part and the stopper part; The second quick connector includes a mounting plate, a clamping member and a stopper provided on the mounting plate, the alignment insertion portion is inserted between the clamping member and the stopper, the first matching groove is clamped on the clamping member, the second matching groove is clamped on the stopper, and the main body and the mounting plate abut against each other; The clamping member and / or the stop member include a coaxially connected threaded column and an abutment column, the threaded column is connected to the mounting plate, the first mating groove and / or the second mating groove are clamped on the threaded column and are screwed and fastened to the mounting plate by the abutment column.

2. The cleaning robot according to claim 1, characterized in that: A first connecting hole is provided on the main body, and a second connecting hole is provided on the mounting plate. The cleaning robot also includes a locking piece. The first matching groove is clamped on the clamping piece, and the second matching groove is clamped on the stopper, so that the first connecting hole is aligned with the second connecting hole, and the first connecting hole and the second connecting hole are connected through the locking piece.

3. The cleaning robot according to claim 1, characterized in that: The alignment insertion portion includes two first edges parallel to each other, the stop portion includes a second edge, the second edge is set at a preset angle to the first edge, one of the first edges is connected to the second edge by an arc transition to form the second matching groove, the clamping portion includes two third edges parallel to the second edges and spaced apart from each other, the other first edge is connected to one of the third edges, the two third edges are connected to each other by an arc transition to form the first matching groove, the two third edges and the arc therebetween are clamped on the peripheral side of the clamping member, and the second edge abuts against the stopper.

4. The cleaning robot according to claim 1, characterized in that: The second quick connectors are connected to opposite sides of the second housing, the first housing is correspondingly connected to the first quick connectors at intervals, the first quick connectors are aligned with the second quick connectors, and the second quick connectors are located between the first quick connectors at intervals.

5. The cleaning robot according to claim 1, characterized in that: The cleaning robot also includes a cruise positioning device, which is arranged on the second shell. The walking mechanism includes walking wheels and a driving mechanism. The walking wheels are arranged on both sides of the second shell. The second shell is provided with a first partition and a second partition to form a control compartment, a power compartment and a driving compartment. The control compartment is provided with a control device and is covered with a first cover body. The power compartment is used to install a battery and is covered with a second cover body. The driving compartment is provided with the driving mechanism and is covered with a third cover body, and the driving mechanism is connected to the walking wheels. The battery is used to supply power to the cleaning mechanism, the control device and the driving mechanism. The control device is connected to the cleaning mechanism, the driving mechanism and the cruise positioning device, and is used to control the cleaning mechanism to clean the photovoltaic panel and control the driving mechanism to drive the walking wheels to walk along the preset path accepted by the cruise positioning device.

6. The cleaning robot according to claim 5, characterized in that: The cruise positioning device includes a positioning antenna, which is connected to the control device. The positioning antenna is used to determine the real-time position of the cleaning robot and receive the preset path. The control device adjusts the cleaning robot to walk along the preset path based on the overlap between the preset path received by the positioning antenna and the real-time position of the cleaning robot.

7. The cleaning robot according to claim 6, characterized in that: The positioning antenna is an RTK antenna.

8. The cleaning robot according to claim 5, characterized in that: The first shell is provided with radar detection devices at both ends in a direction perpendicular to the walking direction of the walking device. When the radar detection device detects that the distance to an obstacle is less than or equal to a first preset distance, the control device controls the walking mechanism to adjust the walking trajectory to prevent the cleaning robot from colliding with the obstacle.

9. The cleaning robot according to claim 5, characterized in that: A distance detection device is also provided on the first shell, which is used to detect the distance between the cleaning device and the supporting surface supporting the cleaning robot. When the distance detected by the distance detection device is greater than a second preset distance, the control device controls the walking mechanism to adjust the walking trajectory to prevent the cleaning robot from falling from the photovoltaic panel.

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