A cleaning robot anti-detachment system and a cleaning robot

Abstract

This application relates to the field of photovoltaic technology, and provides a cleaning robot anti-falling system and a cleaning robot. The anti-falling system includes a connecting beam provided on both sides of the top of the robot body, and the connecting beam is arranged along the length direction of the robot body; a suction and lifting structure connected to the end of the mechanical arm of the hoisting machinery. The suction and lifting structure is provided with a rotatable first supporting plate. The suction and lifting structure is adapted to suction and lift the robot body, and the first supporting plate is used to support the connecting beam. When the suction and lifting structure suctions and lifts the robot body, both ends of the first supporting plate rotate to the lower part of the connecting beam, so that both ends of the first supporting plate support and connect the beam, to prevent the falling off of the robot body due to the failure of the suction and lifting structure. The cleaning robot has the same characteristics as the robot body in the above anti-falling system. The structure of this application is safe and reliable, can provide anti-falling insurance when suctioning and lifting the cleaning robot, reduce the falling risk of the cleaning robot during the hoisting process, and further reduce the damage risk of the cleaning robot and the photovoltaic module.

Description

Technical Field

[0001] This application relates to the field of photovoltaic technology, and particularly to an anti-falling system for a cleaning robot and a cleaning robot. Background Art

[0002] Solar energy is an inexhaustible and renewable resource. In the face of the increasingly serious energy crisis, photovoltaic power generation has attracted more and more attention. However, it has become increasingly difficult to improve the conversion efficiency of photovoltaic power generation. Photovoltaic panel components are generally installed outdoors and are exposed to wind, rain, and dust. Small dust particles and the like are easily attached to their surfaces. First, the dirt on the surface will affect the light transmittance, thereby affecting the radiation amount received on the surface of the photovoltaic panel components and reducing their power generation efficiency. Second, the contaminants adhered to the surface of the components will form shadows, causing hot spot effects locally on the photovoltaic panel components, thereby damaging the photovoltaic panel components, not only affecting the power generation rate, but also possibly shortening the service life of the photovoltaic panel components.

[0003] Currently, photovoltaic cleaning robots are generally used to clean photovoltaic panel components. The transfer of the photovoltaic cleaning robot between photovoltaic arrays can be achieved through a bridge structure or through a vehicle-mounted robotic arm. The photovoltaic cleaning robot is sucked by a suction cup at the end of the vehicle-mounted robotic arm, and then runs to the next row of components. The robotic arm then puts down the photovoltaic cleaning robot and releases the suction. During the operation of the vehicle-mounted robotic arm carrying the photovoltaic cleaning robot, the suction cup sometimes fails suddenly, resulting in the fall of the photovoltaic cleaning robot, thereby damaging the photovoltaic cleaning robot and the photovoltaic components. Summary of the Invention

[0004] To solve the above problems, this application provides an anti-falling system for a cleaning robot and a cleaning robot, with a safe and reliable structure, which can provide anti-falling insurance when lifting and suspending the cleaning robot, reduce the risk of the cleaning robot falling during the lifting process, and further reduce the risk of damage to the cleaning robot and the photovoltaic components. The technical solutions adopted in this application are as follows:

[0005] An anti-falling system for a cleaning robot is applied to a lifting and suspending machine for lifting and suspending a robot body. It is characterized by including:

[0006] A connecting beam is provided on both sides of the top of the robot body. The connecting beam is arranged along the length direction of the robot body and is connected to both ends of the robot body;

[0007] A lifting and suspending structure is connected to the end of the robotic arm of the lifting and suspending machine. The lifting and suspending structure is provided with a rotatable first supporting plate. The lifting and suspending structure is suitable for lifting and suspending the robot body, and the first supporting plate is used to support the connecting beam;

[0008] When the lifting structure lifts the robot body, both ends of the first supporting plate rotate to the lower side of the connecting beam, so that both ends of the first supporting plate support the connecting beam, preventing the robot body from falling off due to the failure of the lifting structure.

[0009] This application can provide an anti-falling insurance when lifting and cleaning the robot, reducing the risk of the cleaning robot falling during the lifting process, and further reducing the risk of damage to the cleaning robot and the photovoltaic module.

[0010] In some embodiments, the lifting structure further includes a second supporting plate parallel to the first supporting plate. The second supporting plate and the first supporting plate share a rotating shaft and rotate synchronously.

[0011] When the lifting structure lifts the robot body, both ends of the second supporting plate rotate to the upper side of the connecting beam, so that the connecting beam is partially limited between the first supporting plate and the second supporting plate, preventing the robot body from shaking up and down.

[0012] By arranging the second supporting plate on the upper part of the first supporting plate, when the first supporting plate supports the robot body, the connecting beam is placed between the first supporting plate and the second supporting plate, and the second supporting plate restricts the shaking of the robot body.

[0013] In some embodiments, at least one bayonet is formed on one side of the second supporting plate close to the rotation direction. The rotation direction is the direction in which the connecting beam is partially limited between the first supporting plate and the second supporting plate.

[0014] A positioning rod is arranged on the top surface of the connecting beam, and the positioning rod is adapted to be stuck in the bayonet.

[0015] When the lifting structure lifts the robot body, the second supporting plate rotates, so that the positioning rod enters the bayonet, preventing the robot body from sliding relative to the second supporting plate.

[0016] By arranging the bayonet and the positioning rod, when the first supporting plate rotates to the lower part of the connecting beam and supports the connecting beam, the positioning rod enters the bayonet and is clamped with it, restricting the movement of the connecting beam between the first supporting plate and the second supporting plate.

[0017] In some embodiments, an anti-detachment cap is arranged at the top end of the positioning rod. When the positioning rod is stuck in the bayonet, the anti-detachment cap is exposed outside the bayonet and located on the top surface of the second supporting plate. When the connecting beam has a tendency to move away from the bottom surface of the second supporting plate, the anti-detachment cap can abut against the top surface of the second supporting plate. The anti-detachment cap is used to prevent the robot body from falling off due to the failure of the first supporting plate.

[0018] By providing an anti - detachment cap at the top of the clamping rod, when the first supporting plate fails, the anti - detachment cap can abut against the second supporting plate to prevent the robot body from falling, providing a second layer of protection against the fall of the robot body.

[0019] In some embodiments, the first supporting plate is driven to rotate by a push rod.

[0020] By the telescoping of the push rod, the rotation of the first supporting plate can be achieved. The implementation method is simple and can improve the stability of the rotation operation of the first supporting plate.

[0021] In some embodiments, the two ends of the push rod are respectively connected with a first joint and a second joint.

[0022] The ball - head bearing of the first joint is rotatably connected to the lifting structure, and the ball - head bearing of the second joint is rotatably connected to the rotating shaft and has a preset distance from the rotating shaft.

[0023] By respectively connecting the first joint and the second joint at the two ends of the push rod, the risk of jamming when the first supporting plate rotates can be reduced.

[0024] In some embodiments, the lifting structure further includes a suction cup. An adsorption plate adapted to the suction cup is installed between the two connecting beams. The adsorption plate is adsorbed by the suction cup, so that the lifting structure lifts the cleaning robot.

[0025] In some embodiments, the suction cup is an electromagnetic suction cup, and the adsorption plate is made of a magnetic material.

[0026] By using an electromagnetic suction cup, the requirements for the working environment, the flatness of the surface of the adsorption plate, and the cleanliness of the surface of the adsorption plate can be reduced.

[0027] On the other hand, the present application provides a cleaning robot, including:

[0028] A robot body, on both sides of the top of the robot body, there is a connecting beam. The connecting beam is arranged along the length direction of the robot body and is connected to the two end parts of the robot body.

[0029] The robot body can be lifted by the lifting structure. The lifting structure includes a first supporting plate for supporting the two connecting beams.

[0030] When the robot body is lifted by the lifting structure, the two ends of the first supporting plate rotate to the lower side of the two connecting beams, so that the two ends of the first supporting plate support the two connecting beams to prevent the robot body from falling off due to the failure of the lifting function of the lifting structure.

[0031] In some embodiments, a clamping rod is provided on the top surface of the connecting beam. The lifting structure further includes a second supporting plate having a bayonet, and the clamping rod is adapted to be clamped in the bayonet of the second supporting plate.

[0032] The second supporting plate rotates synchronously with the first supporting plate. The bayonet is provided on a side of the second supporting plate close to the rotation direction, and the rotation direction is the direction in which the second supporting plate needs to rotate so that both ends are respectively placed on the top surfaces of the two connecting beams.

[0033] When the lifting structure lifts the robot body, the first supporting plate and the second supporting plate rotate synchronously, so that the connecting beam is placed between the first supporting plate and the second supporting plate and the clamping rod enters the bayonet and is clamped with it.

[0034] A cleaning robot anti-drop system and a cleaning robot provided by the present application at least have the following

[0035] Beneficial effects:

[0036] 1. A cleaning robot anti-drop system and a cleaning robot provided by the present application can provide anti-drop protection when lifting the cleaning robot, reduce the risk of the cleaning robot falling during the lifting process, and further reduce the risk of damage to the cleaning robot and the photovoltaic module.

[0037] 2. A cleaning robot anti-drop system and a cleaning robot provided by the present application, by arranging a second supporting plate above the first supporting plate, when the first supporting plate supports the robot body, the connecting beam is placed between the first supporting plate and the second supporting plate, and the second supporting plate restricts the shaking of the robot body.

[0038] 3. A cleaning robot anti-drop system and a cleaning robot provided by the present application, by arranging a bayonet and a clamping rod, when the first supporting plate rotates to the lower part of the connecting beam and supports the connecting beam, the clamping rod enters the bayonet and is clamped with it, restricting the movement of the connecting beam between the first supporting plate and the second supporting plate.

[0039] 4. A cleaning robot anti-drop system and a cleaning robot provided by the present application, by arranging an anti-drop cap at the top end of the clamping rod, when the first supporting plate fails, the anti-drop cap can be abutted against the second supporting plate to prevent the robot body from falling, providing a second layer of insurance for preventing the robot body from falling.

[0040] 5. A cleaning robot anti-drop system and a cleaning robot provided by the present application, through the telescopic movement of the push rod, the rotation of the first supporting plate can be realized, and the implementation method is simple, which can improve the stability of the rotation operation of the first supporting plate.

[0041] 6. The anti - detachment system for a cleaning robot and the cleaning robot provided by this application can reduce the risk of jamming when the first supporting plate rotates by connecting a first joint and a second joint with multi - directional rotation functions to both ends of the push rod respectively.

[0042] 7. The anti - detachment system for a cleaning robot and the cleaning robot provided by this application can reduce the requirements for the working environment, the flatness of the adsorption plate surface, and the cleanliness of the adsorption plate surface by using an electromagnetic chuck. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The following will further illustrate the above - mentioned characteristics, technical features, advantages and their implementation manners of an anti - detachment system for a cleaning robot and the cleaning robot in a clear and understandable manner in combination with the drawings of the preferred embodiments:

[0044] Figure 1 is a schematic diagram of the state before suction and lifting in the embodiment of this application;

[0045] Figure 2 is a schematic diagram of the state before supporting after adsorption in the embodiment of this application;

[0046] Figure 3 is a schematic diagram of the state after supporting in the embodiment of this application;

[0047] Figure 4 is Figure 3 a schematic diagram from another angle;

[0048] Figure 5 is a schematic diagram of the robot body in the embodiment of this application;

[0049] Figure 6 is a schematic diagram of the suction and lifting structure in the embodiment of this application;

[0050] Figure 7 is a schematic diagram of the driving form of the push rod in the embodiment of this application.

[0051] Explanation of the reference numerals in the drawings:

[0052] Robot body 1, connecting beam 11, clamping rod 111, adsorption plate 12, suction and lifting structure 2, first supporting plate 21, second supporting plate 22, bayonet 221, push rod 23, first joint 24, second joint 25, suction cup 26, rotating shaft 3. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the specific embodiments of this application will be described below with reference to the drawings. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts, and other embodiments can also be obtained.

[0054] For the sake of simplicity of the drawings, only the parts related to the present application are schematically shown in each drawing, and they do not represent the actual structure of the product. In addition, for the sake of simplicity and easy understanding of the drawings, in some drawings, only one of the components with the same structure or function is schematically shown, or only one of them is labeled. In this text, "one" not only means "only this one", but also can mean "more than one" situation.

[0055] It should be further understood that the term "and / or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the related listed items, and includes these combinations.

[0056] In this text, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0057] In addition, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0058] Referring to the accompanying drawings of the specification Figures 1 to 4 , in one embodiment, the present application provides a cleaning robot anti-detachment system applied to a hoisting and transporting mechanical suction and lifting robot body 1, including:

[0059] On both sides of the top of the robot body 1, a connecting beam 11 is provided. The connecting beam 11 is arranged along the length direction of the robot body 1 and is connected to the two end parts of the robot body 1;

[0060] A suction and lifting structure 2, which is connected to the end of the mechanical arm of the hoisting and transporting machine. The suction and lifting structure 2 is provided with a rotatable first supporting plate 21. The suction and lifting structure 2 is adapted to suction and lift the robot body 1, and the first supporting plate 21 is used for supporting the connecting beam 11;

[0061] When the suction and lifting structure 2 suctions and lifts the robot body 1, the two ends of the first supporting plate 21 rotate to the lower side of the connecting beam 11, so that the two ends of the first supporting plate 21 support and connect the connecting beam 11 to prevent the robot body 1 from detaching due to the failure of the suction and lifting structure 2 to suction and lift.

[0062] The present application can provide anti-detachment insurance when suction and lifting a cleaning robot, reduce the risk of the cleaning robot falling during hoisting and transporting, and further reduce the risk of damage to the cleaning robot and the photovoltaic module.

[0063] In this embodiment, preferably, the two connecting beams 11 provide a frame support for the installation of the components at both ends of the robot body 1 (transmission chain or gears, walking wheels, anti-fall wheels, etc.) and the roller brush. There is a certain safety distance between the bottom of the two connecting beams 11 and the roller brush of the robot body 1, so that when the first supporting member rotates to the bottom of the connecting beam 11, it will not be affected by the height of the roller brush. In other embodiments, the connecting beam 11 can be set separately, that is, it is only provided for supporting the first supporting plate 21.

[0064] In this embodiment, the suction and lifting function of the suction and lifting structure 2 is realized by the suction cup 26 and the suction plate 12 arranged between the two connecting beams 11. The setting position of the suction plate 12 corresponds to the position of the suction cup 26. The suction cup 26 can suck and lift the robot body 1 by adsorbing the suction plate 12. When the adsorption plate 12 is set, the board surface of the adsorption plate 12 can be appropriately larger than the suction cup 26, which can provide a larger landing area for the suction cup 26, reducing the control accuracy requirements and operation difficulty. In order to ensure the stability of the robot body 1 and the economy of the solution during suction and lifting, it is recommended to set two groups of suction cups 26 and adsorption plates 12 and respectively set them at the upper ends of the robot body 1. This arrangement can make the robot body 1 evenly stressed during suction and lifting, and improve the lifting stability. In other embodiments, the suction cups 26 can also be selected in other quantities. This application does not impose any restrictions on the number of suction cups 26 and adsorption plates 12. In this embodiment, preferably, the suction cup 26 is an electromagnetic suction cup 26, and the adsorption plate 12 is made of magnetic material. By adopting the electromagnetic suction cup 26, the requirements for the working environment, the surface flatness of the adsorption plate 12 and the cleanliness of the surface of the adsorption plate 12 can be reduced. In other embodiments, the suction cup 26 can also be a vacuum suction cup 26.

[0065] Reference Manual Attachments Figure 2 , Figure 4 , Figure 6 In one embodiment, the suction and lifting structure 2 further includes a second supporting plate 22 parallel to the first supporting plate 21, and the second supporting plate 22 and the first supporting plate 21 share a common rotating shaft 3 and rotate synchronously.

[0066] When the lifting structure 2 lifts the robot body 1 , both ends of the second supporting plate 22 rotate to above the connecting beam 11 , so that the connecting beam 11 is partially limited between the first supporting plate 21 and the second supporting plate 22 to prevent the robot body 1 from shaking up and down.

[0067] In this embodiment, by setting the second supporting plate 22 on the upper part of the first supporting plate 21, when the first supporting plate 21 supports the robot body 1, the connecting beam 11 is placed between the first supporting plate 21 and the second supporting plate 22, and the second supporting plate 22 limits the shaking of the robot body 1.

[0068] In this embodiment, preferably, the second supporting plate 22 has the same shape as the first supporting plate 21, and the second supporting plate 22 and the first supporting plate 21 are interchangeable. Mass production can reduce production costs. In other embodiments, the first supporting plate 21 and the second supporting plate 22 are not plate structures but frame structures. When the frame of the first supporting plate 21 supports and connects the connecting beam 11, the frame of the second supporting plate 22 is located on the top surface of the connecting beam 11.

[0069] Refer to the attached drawings of the specification Figure 2 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 , in one embodiment, at least one bayonet 221 is provided on one side of the second supporting plate 22 close to the rotation direction, and the rotation direction is the direction in which a part of the connecting beam 11 is limited between the first supporting plate 21 and the second supporting plate 22.

[0070] A clamping rod 111 is provided on the top surface of the connecting beam 11, and the clamping rod 111 is adapted to be stuck in the bayonet 221.

[0071] When the lifting structure 2 lifts the robot body 1, the second supporting plate 22 rotates to make the clamping rod 111 enter the bayonet 221 to prevent the robot body 1 from sliding relative to the second supporting plate 22.

[0072] In this embodiment, by providing the bayonet 221 and the clamping rod 111, when the first supporting plate 21 rotates to the lower part of the connecting beam 11 and supports the connecting beam 11, the clamping rod 111 enters the bayonet 221 and is clamped with it, restricting the crosstalk of the connecting beam 11 between the first supporting plate 21 and the second supporting plate 22.

[0073] In this embodiment, preferably, a plurality of bayonets 221 are provided on one side of the second supporting plate 22, and a clamping rod 111 is provided on the corresponding top surface of the connecting beam 11. The clamping rod 111 can be clamped in the bayonet 221. The setting of the plurality of bayonets 221 can reduce the requirements for control accuracy and operation difficulty. Further preferably, a plurality of bayonets 221 are provided on both sides of the second supporting plate 22, and a clamping rod 111 is provided at each corresponding position of the two connecting beams 11. This method can further improve the stability when lifting the robot body 1. In other embodiments, the bayonet 221 can be provided on the first supporting plate 21, and the clamping rod 111 can be correspondingly provided on the bottom surface of the connecting beam 11.

[0074] In this embodiment, when the bayonet 221 is provided on the second supporting plate 22 and the positioning rod 111 is provided on the top surface of the connecting beam 11, preferably, an anti-disengagement cap is provided at the top end of the positioning rod 111. When the positioning rod 111 is stuck in the bayonet 221, the anti-disengagement cap is exposed outside the bayonet 221 and located on the top surface of the second supporting plate 22. When the connecting beam 11 has a tendency to move away from the bottom surface of the second supporting plate 22, the anti-disengagement cap can abut against the top surface of the second supporting plate 22. The anti-disengagement cap is used to prevent the robot body 1 from falling off due to the failure of the first supporting plate 21. By providing an anti-disengagement cap at the top end of the positioning rod 111, when the first supporting plate 21 fails, the robot body 1 can be prevented from falling by the abutment of the anti-disengagement cap against the second supporting plate 22, providing a second layer of insurance for preventing the robot body 1 from falling.

[0075] Refer to the accompanying drawings of the specification Figure 2 、 Figure 6 、 Figure 7 In one embodiment, the first supporting plate 21 is driven to rotate by a push rod 23. By the telescoping of the push rod 23, the rotation of the first supporting plate 21 can be realized. The realization method is simple and can improve the stability of the rotational operation of the first supporting plate 21. The push rod 23 can be an electric push rod 23, a hydraulic push rod 23, a linear cylinder, etc. In this application, an electric push rod 23 is preferably used. The electric push rod 23 is light in weight, small in size and accurate in control.

[0076] In this embodiment, preferably, both ends of the push rod 23 are respectively connected to a first joint 24 and a second joint 25 to realize the conversion of the telescoping of the push rod 23 into the rotation of the first supporting plate 21. The ball head bearing of the first joint 24 is rotatably installed on the lifting structure 2, and the ball head bearing of the second joint 25 is rotatably connected to the rotating shaft 3 and has a preset distance from the rotating shaft 3. The longer the preset distance, the lower the requirement for the thrust or pull force on the push rod 23 and the easier it is to drive the first supporting plate 21 to rotate. However, a longer preset distance will occupy more space for the execution of actions. By respectively connecting the first joint 24 and the second joint 25 at both ends of the push rod 23, the risk of jamming of the first supporting plate 21 during rotation can be reduced. Both the first joint and the second joint are preferably fish-eye joints and can also be universal joints. In other embodiments, one end of the push rod 23 is directly rotatably connected to the first supporting plate 21 or the second supporting plate 22, and the rotation axis at the rotatable connection is parallel to the axial direction of the rotating shaft 3. The rotatable connection has a preset distance from the rotating shaft 3. The other end of the push rod 23 is rotatably connected to other appropriate positions of the lifting structure 2, and the rotation axis of the other end of the push rod 23 is also parallel to the axial direction of the rotating shaft 3. In other words, the push rod 23 and the first supporting plate 21 or the push rod 23 and the second supporting plate 22 form a two-link structure, and the rotation of the rotating shaft 3 is realized by the telescoping of one of the links.

[0077] Refer to the accompanying drawings of the specification Figure 1 、 Figure 4 、 Figure 5, in one embodiment, the present application provides a cleaning robot, comprising: a robot body 1, on both sides of the top of the robot body 1, a connecting beam 11 is provided, the connecting beam 11 is arranged along the length direction of the robot body 1 and is connected to both ends of the robot body 1,

[0078] The robot body 1 can be suspended by a suspension structure 2, and the suspension structure 2 includes a first supporting plate 21 for supporting the two connecting beams 11,

[0079] When the robot body 1 is suspended by the suspension structure 2, both ends of the first supporting plate 21 rotate to the lower side of the two connecting beams 11, so that both ends of the first supporting plate 21 support the two connecting beams 11 to prevent the robot body 1 from falling off due to the failure of the suspension function of the suspension structure 2.

[0080] In this embodiment, the robot body 1 has the same features as the robot body 1 in the aforementioned anti-falling system of the cleaning robot, and specific references can be made to the foregoing, which will not be elaborated here.

[0081] Refer to the accompanying drawings of the specification Figure 1 , Figure 4 , Figure 5 , on the basis of the above embodiment, a clamping rod 111 is provided on the top surface of the connecting beam 11, and the suspension structure 2 further includes a second supporting plate 22 having a bayonet 221, and the clamping rod 111 is adapted to be clamped in the bayonet 221 of the second supporting plate 22,

[0082] The second supporting plate 22 rotates synchronously with the first supporting plate 21, and the bayonet 221 is provided on one side of the second supporting plate 22 close to the rotation direction, and the rotation direction is the direction in which the second supporting plate 22 needs to rotate so that both ends are respectively placed on the top surfaces of the two connecting beams 11,

[0083] When the suspension structure 2 suspends the robot body 1, the first supporting plate 21 and the second supporting plate 22 rotate synchronously, so that the connecting beam 11 is placed between the first supporting plate 21 and the second supporting plate 22 and the clamping rod 111 enters the bayonet 221 and is clamped with it.

[0084] In this embodiment, the connecting beam 11 has the same features as the connecting beam 11 in the aforementioned anti-falling system of the cleaning robot, and specific references can be made to the foregoing, which will not be elaborated here.

[0085] It should be noted that the above embodiments can be freely combined according to needs. The above is only the preferred embodiment of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A cleaning robot anti-detachment system is applied to the hoisting robot body of a hoisting machinery. It is characterized in that Including: On both sides of the top of the robot body, there is a connecting beam, which is arranged along the length direction of the robot body and is connected to both ends of the robot body; A lifting and suction structure, which is connected to the end of the manipulator of the hoisting machinery. The lifting and suction structure is provided with a rotatable first supporting plate and a rotatable second supporting plate. The lifting and suction structure is suitable for lifting and sucking the robot body, and the first supporting plate is used for supporting the connecting beam; When the lifting and suction structure lifts and sucks the robot body, both ends of the first supporting plate rotate to the lower part of the connecting beam, so that both ends of the first supporting plate support the connecting beam to prevent the robot body from falling off due to the failure of the lifting and suction structure; both ends of the second supporting plate rotate to the upper part of the connecting beam, so that part of the connecting beam is limited between the first supporting plate and the second supporting plate; A clamping rod is arranged on the top surface of the connecting beam, and at least one clamping opening is formed on one side of the second supporting plate close to the rotation direction. The rotation direction is the direction in which part of the connecting beam is limited between the first supporting plate and the second supporting plate; a anti-detachment cap is arranged at the top end of the clamping rod. When the lifting and suction structure lifts and sucks the robot body, the clamping rod is clamped into the clamping opening and the anti-detachment cap is exposed outside the clamping opening. When the connecting beam has a tendency to move away from the bottom surface of the second supporting plate, the anti-detachment cap abuts against the top surface of the second supporting plate to prevent the robot body from falling off due to the failure of the first supporting plate.

2. The anti-detachment system of a cleaning robot according to claim 1, characterized in that, The first supporting plate and the second supporting plate are arranged in parallel, and the second supporting plate and the first supporting plate share a rotating shaft and rotate synchronously.

3. The anti-falling system of a cleaning robot according to claim 1, wherein One side of the second supporting plate is provided with a plurality of the clamping openings, and correspondingly, one clamping rod is arranged on the top surface of the connecting beam; Or, both sides of the second supporting plate are provided with a plurality of the clamping openings, and each of the two connecting beams is provided with one clamping rod.

4. The anti-detachment system of a cleaning robot according to claim 2, characterized in that, The first supporting plate is driven to rotate by a push rod.

5. The anti-detachment system of a cleaning robot according to claim 4, wherein Both ends of the push rod are respectively connected with a first joint and a second joint, The ball head bearing of the first joint is rotatably connected to the lifting and suction structure, and the ball head bearing of the second joint is rotatably connected to the rotating shaft and has a preset distance from the rotating shaft.

6. The anti-detachment system for a cleaning robot according to claim 1, characterized in that, The lifting and suction structure further includes a suction cup. An adsorption plate adapted to the suction cup is installed between the two connecting beams. The adsorption plate is adsorbed by the suction cup, so that the lifting and suction structure lifts and sucks the cleaning robot.

7. The anti-detachment system for a cleaning robot according to claim 6, wherein, The suction cup is an electromagnetic suction cup, and the adsorption plate is made of a magnetic material.

8. A cleaning robot, characterized in that, Including: A robot body. On both sides of the top of the robot body, there is a connecting beam, which is arranged along the length direction of the robot body and is connected to both ends of the robot body. A clamping rod is arranged on the top surface of the connecting beam, and a anti-detachment cap is arranged at the top end of the clamping rod; The robot body can be suction-suspended on the suction-suspension structure. The suction-suspension structure includes a first supporting plate for supporting two of the connecting beams and a second supporting plate having a bayonet. The second supporting plate and the first supporting plate rotate synchronously. The bayonet is provided on a side of the second supporting plate close to the rotation direction, and the rotation direction is the direction in which the second supporting plate needs to rotate so that both ends are respectively placed on the top surfaces of the two connecting beams. The positioning rod is adapted to be stuck in the bayonet of the second supporting plate; When the robot body is suction-suspended on the suction-suspension structure, both ends of the first supporting plate rotate to the lower sides of the two connecting beams, so that both ends of the first supporting plate support the two connecting beams to prevent the robot body from falling off due to the failure of the suction function of the suction-suspension structure; Both ends of the second supporting plate rotate to the upper sides of the connecting beams, so that the connecting beams are partially limited between the first supporting plate and the second supporting plate. Moreover, the positioning rod is stuck in the bayonet, and the anti-drop cap is exposed outside the bayonet and located on the top surface of the second supporting plate. When the connecting beam has a tendency to move away from the bottom surface of the second supporting plate, the anti-drop cap can abut against the top surface of the second supporting plate to prevent the robot body from falling.

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