CN216907886U

CN216907886U - Anticollision subassembly and cleaning machines people

Info

Publication number: CN216907886U
Application number: CN202220267214.5U
Authority: CN
Inventors: 李永强; 范大辉; 孙锋; 李欣航; 范会健
Original assignee: Jerry Environmental Technology Co ltd
Current assignee: Yantai Jerui Mechanical Equipment Co ltd
Priority date: 2022-02-09
Filing date: 2022-02-09
Publication date: 2022-07-08
Anticipated expiration: 2032-02-09

Abstract

The application discloses an anti-collision assembly and a cleaning robot, wherein the anti-collision assembly is arranged on protected equipment and comprises an anti-collision body and a connecting mechanism, the anti-collision body is a semi-annular hard structural member and is configured to shield one part of the protected equipment so as to protect the protected equipment; the connecting mechanism comprises a first connecting piece, a second connecting piece and a ball-bumping buckle, the first connecting piece is fixed on the anti-collision body, the second connecting piece is configured to be fixed on the protected equipment, and the first connecting piece and the second connecting piece are detachably and fixedly connected through the ball-bumping buckle. The problem that the difficulty in disassembling and assembling the existing anti-collision body is large can be solved by the anti-collision assembly.

Description

Anticollision subassembly and cleaning machines people

Technical Field

The application relates to the technical field of anti-collision instruments, in particular to an anti-collision assembly and a cleaning robot.

Background

With the continuous increase of labor cost and the continuous improvement of scientific technology, more and more work can be performed by utilizing a mechanical operation mode to replace the traditional pure manual operation mode. Taking the cleaning field as an example, the cleaning robot has the characteristics of high standard degree of cleaning operation, good cleaning effect and the like, and gradually replaces the traditional manual cleaning mode.

Although a camera, an infrared sensor, or the like is generally provided in the cleaning robot, it is inevitable that the cleaning robot collides with a wall, an article, or the like during its operation. In order to prevent that cleaning machines people is impaired, promote its life, set up crashproof body in cleaning machines people's the side of advancing usually to, crashproof body can also shelter from structures such as cleaning machines people's access hole, kills two birds with one stone. The connecting pieces such as bolts are usually utilized to install on cleaning machines to present crashproof structure, and the dismouting degree of difficulty of anticollision body is great relatively.

SUMMERY OF THE UTILITY MODEL

The application discloses anticollision subassembly and cleaning machines people to solve the great problem of the present anticollision body dismouting degree of difficulty.

In order to solve the above problems, the following technical solutions are adopted in the present application:

in a first aspect, an embodiment of the application discloses an anti-collision assembly, which is mounted on a protected device, and includes an anti-collision body and a connection mechanism, wherein the anti-collision body is a semi-annular hard structural member, and is configured to shield a part of the protected device so as to protect the protected device;

the connecting mechanism comprises a first connecting piece, a second connecting piece and a ball-bumping buckle, the first connecting piece is fixed on the anti-collision body, the second connecting piece is configured to be fixed on the protected equipment, and the first connecting piece and the second connecting piece are detachably and fixedly connected through the ball-bumping buckle.

In a second aspect, the embodiment of the application discloses a cleaning robot, which comprises a robot body and the anti-collision assembly, wherein a second connecting piece in the anti-collision assembly is fixed on the robot body.

The technical scheme adopted by the application can achieve the following beneficial effects:

the embodiment of the application discloses a collision avoidance assembly, which can be installed on protected equipment. The anti-collision assembly comprises an anti-collision body and a connecting mechanism, and the anti-collision body is installed on the protected equipment through the connecting mechanism. The anticollision body is the semi-ring shape stereoplasm structure to shelter from by protective apparatus's partly through the anticollision body, provide the guard action for being protected by protective apparatus. One of the first connecting piece and the second connecting piece of the connecting mechanism is fixed on the anti-collision body, and the other one is fixed on the protected equipment, so that the anti-collision body can be installed on the protected equipment only by connecting the first connecting piece and the second connecting piece. In this application embodiment, first connecting piece and second connecting piece are connected through bumping the pearl buckle, bump the pearl buckle and have good ability of dismantling fixed connection, and the dismouting is convenient to can reduce anticollision body and by the dismouting degree of difficulty between the protective apparatus.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic structural view of a bumper assembly according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural view of a bumper assembly in another orientation according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of a bumper assembly according to an embodiment of the present disclosure in a further orientation;

fig. 4 is a schematic cross-sectional view a-a of a bumper assembly according to an embodiment of the present disclosure.

Description of reference numerals:

110-an anti-collision body, 120-a flexible buffer layer,

200-connecting mechanism, 210-first connecting piece, 211-kidney-shaped hole, 220-second connecting piece, 230-ball-catch fastener,

300-positioning mechanism, 310-elastic collision bead, 320-limiting piece.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Technical solutions disclosed in the embodiments of the present application are described in detail below with reference to the accompanying drawings.

As shown in fig. 1 to 4, an embodiment of the present application discloses a collision avoidance module, which may be installed on a protected device, and the protected device may be a sweeping robot, a mopping robot, or a sweeping and mopping integrated robot. Of course, the protected device may be other devices such as a food delivery robot having automatic movement. Utilize anticollision subassembly can provide the guard action for being protected equipment to prevent to be directly collided with wall or object etc. by protecting equipment, promote by protecting equipment's life. The bumper assembly includes a bumper body 110 and a connection mechanism 200.

Wherein, anticollision body 110 is for providing the device of crashproof ability among the anticollision subassembly, and based on this, in order to guarantee that anticollision body 110 possesses stronger crashproof ability, anticollision body 110 is the stereoplasm structure to make the striking effort basically can bear by anticollision body 110, and can not transmit to by protective apparatus on, reach the effect that prevents by protective apparatus by the striking. The concrete structure and the size of the anti-collision body 110 can be designed correspondingly according to the concrete shape and the size of the protected equipment, and the anti-collision body 110 and the protected equipment are guaranteed to adapt to each other.

Moreover, the anti-collision body 110 is a semi-annular structure, so that the anti-collision body 110 can be mounted on the equipment to be protected from one side of the equipment to be protected, and after the anti-collision body 110 is connected with the equipment to be protected through the connecting mechanism 200, the anti-collision body 110 can shield a part of the equipment to be protected. More specifically, the collision avoidance body 110 may be mounted to the forward side of the equipment to be protected, thereby enabling the collision avoidance body 110 to provide a protective effect to the forward side of the equipment to be protected.

As described above, the collision body 110 is connected to the protected apparatus through the connection mechanism 200, and in detail, as shown in fig. 4, the connection mechanism 200 includes the first connection member 210, the second connection member 220, and the ball catch 230. In the process of connecting the anti-collision assembly with the protected equipment, the first connecting piece 210 is fixed on the anti-collision body 110, the second connecting piece 220 is fixed on the protected equipment, and the first connecting piece 210 and the second connecting piece 220 are detachably and fixedly connected through the collision bead fastener 230, so that the anti-collision body 110 and the protected equipment can form a detachable and fixed connection relationship.

Specifically, the first connecting member 210 and the second connecting member 220 can both be made of hard materials such as metal, so as to ensure that the first connecting member 210 and the second connecting member 220 have good structural strength, and when the anti-collision body 110 and the protected equipment comprise metal structures, the first connecting member 210 can be fixed on the anti-collision body 110 and the second connecting member 220 can be fixed on the protected equipment in a welding manner. In addition, parameters such as specific structures, dimensions, installation positions, and the like of the first connecting member 210 and the second connecting member 220 may be correspondingly designed according to specific structures and dimensions of the impact body 110 and the protected device, and are not limited herein.

Also, the ball catch 230 may generally comprise two parts, which may be a socket and a pin, respectively, one of which may be fixed to the first connector 210 and the other may be fixed to the second connector 220. Correspondingly, the socket and the pin can also be made of metal materials, in this case, one of the socket and the pin can be fixed on the first connecting piece 210 and the other of the socket and the pin can be fixed on the second connecting piece 220 by welding, so that the first connecting piece 210 and the second connecting piece 220 can be detachably and fixedly connected through the mutually matched socket and pin.

In addition, the latch snap 230 includes a latch, and the latch can be engaged with an elastic member, so that when the latch is engaged with the socket, the latch can move from one side of the latch to the other side of the latch by pressing the elastic member with the latch, so as to form a plug-in engagement with the socket. Correspondingly, in the process of separating the plug and the socket, the plug can be pulled out of the socket in a mode that the elastic piece is extruded by the collision bead, and the plug and the socket are guaranteed to have the capability of being detachably and fixedly connected.

The embodiment of the application discloses a collision avoidance assembly, which can be installed on protected equipment. The anti-collision assembly comprises an anti-collision body 110 and a connecting mechanism 200, wherein the anti-collision body 110 is mounted on protected equipment through the connecting mechanism 200. The anti-collision body 110 is a semi-annular hard structural member, so that a part of protected equipment is shielded by the anti-collision body 110, and a protection effect is provided for the protected equipment. One of the first connecting piece 210 and the second connecting piece 220 of the connecting mechanism 200 is fixed on the anti-collision body 110, and the other one is fixed on the protected equipment, so that the anti-collision body 110 can be installed on the protected equipment only by connecting the first connecting piece 210 and the second connecting piece 220. In this application embodiment, first connecting piece 210 and second connecting piece 220 are connected through bumping pearl buckle 230, and bumping pearl buckle 230 has good ability that can dismantle fixed connection, and the dismouting is convenient to can reduce anticollision body 110 and by the dismouting degree of difficulty between the protective apparatus.

In the process of connecting the anti-collision body 110 and the protected device, the connecting mechanism 200 may also be assisted by a matching mechanism such as a sliding track and a sliding chute to provide a connecting function. In another embodiment of the present application, the collision avoidance body 110 is optionally detachably and fixedly connected to the protected equipment via a plurality of connection mechanisms 200. Correspondingly, in the process of installing a plurality of connecting mechanisms 200, it is necessary to ensure that the assembling and disassembling directions of the ball-catching buckles 230 in each connecting mechanism 200 are all parallel to each other, so as to ensure that each connecting mechanism 200 cannot interfere with each other and can work normally.

In the process of arranging the plurality of connecting mechanisms 200, the plurality of connecting mechanisms 200 may be uniformly and at intervals distributed along the extending direction of the impact body 110, or the plurality of connecting mechanisms 200 may be respectively arranged at regions of the impact body 110 that are relatively subjected to a large force according to the actual structure of the impact body 110, which is not limited herein.

Under the condition that the number of connecting mechanisms 200 is a plurality of, can install at least one connecting mechanism 200 respectively at the back of the body both ends that carry on the back of the body of anticollision 110, under this condition, can guarantee that anticollision body 110 can form reliable fixed connection relation with by protective apparatus, and connect anticollision body 110 and by protective apparatus through end fixing's mode, even if no longer set up connecting mechanism 200 at the middle part of anticollision body 110, also can guarantee basically that arbitrary position department on anticollision body 110 and by the relatively stronger of the reliability homogeneous phase of being connected between the protective apparatus. In addition, under the condition that the technical scheme disclosed in the embodiment of the application is adopted, because the connecting mechanism 200 is located at the end portion of the anti-collision body 110, in the process of assembling the anti-collision body 110 and protected equipment, a worker can install the anti-collision body 110 by gripping the end portion of the anti-collision body 110, and therefore the assembling and disassembling precision of the connecting mechanism 200 can be improved, and the assembling and disassembling difficulty of the connecting mechanism 200 is further reduced.

More specifically, as shown in fig. 1, two opposite ends of the anti-collision body 110 may be respectively provided with one connecting mechanism 200, so that the overall cost and the assembly difficulty of the anti-collision assembly are further reduced while a reliable fixed connection relationship between the anti-collision body 110 and the protected device is ensured.

Further, the anti-collision body 110 may be a symmetrical structural member, in which case, the respective ball-catching buckles 230 of the connection mechanisms 200 at the two opposite ends of the anti-collision body 110 may be symmetrically arranged relative to the symmetrical plane of the anti-collision body 110. Under the condition of adopting the technical scheme, the effect and the direction of the fixing action provided by the corresponding position of the anti-collision body 110 by each connecting mechanism 200 can be relatively corresponding, so that the reliability and the stability of the fixed connection relationship between the anti-collision body 110 and the protected equipment on the whole are further improved.

Under the condition that the connecting mechanisms 200 are installed at the two opposite ends of the anti-collision body 110, optionally, as shown in fig. 1, the anti-collision assembly disclosed in the embodiment of the present application may further include a positioning mechanism 300, where the positioning mechanism 300 is disposed between the two connecting mechanisms 200, so as to further enhance the stability and reliability of the fixed connection relationship between the anti-collision body 110 and the protected device through the positioning mechanism 300. Specifically, the positioning mechanism 300 may also include a structure such as the above-mentioned ball-catch, so that the positioning mechanism 300 also has better convenience in assembly and disassembly.

In another embodiment of the present application, as shown in fig. 3 and 4, the positioning mechanism 300 includes an elastic collision bead 310 and a limiting member 320, and the expansion direction of the elastic collision bead 310 is perpendicular to the plane of the assembling and disassembling direction of the plurality of collision bead fasteners 230. In the expanded state, the respective extending and retracting directions of the plurality of elastic collision beads 310 are all located on a straight line, and the straight lines are parallel to each other, so that a plane can be formed. In the process of disposing the elastic collision bead 310, the expansion and contraction direction of the elastic collision bead 310 is perpendicular to the plane. Under the condition of adopting the technical scheme, the limiting action direction provided by the elastic collision bead 310 can be mutually assisted with the collision bead buckle 230, so that the reliability and the stability of the relative fixed relation between the collision avoidance body 110 and the protected equipment are further improved.

The limiting member 320 is provided with a limiting groove, which may be a sinking groove, or a limiting groove with a special shape such as a through hole. After a part of the elastic collision bead 310 extends into the limiting groove, the elastic collision bead 310 and the limiting groove can form a limiting fit relation in a vertical direction of an axial direction of the limiting groove (i.e. a telescopic direction of the elastic collision bead 310).

Meanwhile, one of the elastic collision bead 310 and the limiting piece 320 is fixed on the collision body 110, and the other one is fixed on the protected device, so that the collision body 110 and the protected device can be connected by the elastic collision bead 310 and the limiting piece 320 which are matched with each other.

Specifically, the elastic ball 310 may include a ball-shaped ball and an elastic member, the ball-shaped ball may be formed of a hard material such as metal, and the elastic member may be a telescopic spring. The spherical ball is connected in the one end of elastic component, and the other end and anticollision body 110 relatively fixed of elastic component, and the flexible direction that sets up the elastic component is perpendicular with the plane at the dismouting direction place of a plurality of ball buckles 230. In addition, in the process of assembling the elastic collision bead 310, the elastic member has an initial pre-tightening force, so that when the spherical collision bead corresponds to the limiting groove of the limiting member 320, the spherical collision bead can extend into the limiting groove under the action of the elastic member and is in limiting fit with the limiting groove. In addition, still can set up the mounting panel on the anticollision body 110, mounting panel and anticollision body 110 reciprocal anchorage, and the mounting panel stretches out to anticollision body 110 one side by protective apparatus towards, for elasticity bumps 310 provides the installation foundation effect, elasticity bumps 310 and specifically can fix on the mounting panel through modes such as threaded connection or bonding.

In addition, when the positioning mechanism 300 is disposed, the positioning mechanism 300 and the connecting mechanism 200 need to be corresponding to each other, so that the elastic contact bead 310 can be precisely matched with the limit groove in a limit manner even when each first connecting member 210 and the corresponding second connecting member 220 are fixedly connected through the corresponding contact bead fastener 230. That is, under the condition that the socket and the pin of the ball latch 230 are matched with each other, the ball latch 230 and the limiting groove can be limited with each other, and the connection mechanism 200 and the positioning mechanism 300 can have good consistency.

As described above, one of the first connecting member 210 and the second connecting member 220 may be fixed to the impact body 110, the other may be fixed to the equipment to be protected, and the first connecting member 210 and the second connecting member 220 may be fixed by welding or the like. In another embodiment of the present application, optionally, as shown in fig. 4, at least one of the first connector 210 and the second connector 220 is provided with a kidney-shaped hole 211, the extending direction of the kidney-shaped hole 211 is parallel to the assembling and disassembling direction of the ball catch 230, and the kidney-shaped hole 211 is used for installing a threaded connector. That is, in the embodiment of the present application, at least one of the first connector 210 and the second connector 220 is mounted on the impact body 110 and the protected apparatus through a screw connector, and the ball catch 230 may be mounted on the first connector 210 and the second connector 220 through a screw connector.

More specifically, the first connecting member 210 and the second connecting member 220 are respectively provided with a waist-shaped hole 211, the threaded connecting member passes through the corresponding waist-shaped hole 211, so that the first connecting member 210 and the second connecting member 220 can be respectively installed on the anti-collision body 110 and the protected equipment, and correspondingly, the bolt and the socket of the ball-catch buckle 230 can also be respectively installed on the first connecting member 210 and the second connecting member 220 by using the threaded connecting member. As described above, the extending direction of the waist-shaped holes 211 on the first connecting piece 210 and the second connecting piece 220 is parallel to the dismounting direction. Under this condition for between first connecting piece 210 and collision avoidance body 110, between second connecting piece 220 and the protected equipment, and between bumping ball buckle 230 and first connecting piece 210 and second connecting piece 220, all possess the ability of adjusting in the relative position in dismouting direction, thereby can be by this adjustment coupling mechanism 200 in the cooperation condition of bolt and socket, prevent to have the condition that matches between bolt and the socket because of factors such as machining precision.

As described above, the socket of the ball latch 230 may be provided therein with an elastic member and a ball latch, and the latch may extend from one side of the ball latch to the other side of the ball latch by pressing the elastic member when being engaged with the socket. In another embodiment of the present application, the latch includes a first housing and a diamond shaped plug attached to one side of the first housing. That is, the general shape of plug is the rhombus, and a prong of rhombus plug is connected on first pedestal, and when rhombus plug and socket grafting cooperation, another prong that the rhombus plug deviates from first pedestal stretched into to the socket at first, along with rhombus plug's continuous insertion, the widest department of rhombus plug can be spacing to the inboard of socket, makes the socket form spacing cooperation relation with the rhombus plug.

Correspondingly, the socket includes a second seat body, a first ball seat, a second ball seat, a first ball, a second ball and an elastic member, the first seat body is fixed on one of the first connecting member 210 and the second connecting member 220, and the second seat body is fixed on the other of the first connecting member 210 and the second connecting member 220, so that the first connecting member 210 and the second connecting member 220 can correspondingly form a connection relationship under the condition that the socket and the plug are connected with each other.

And the first collision bead and the second collision bead can be cylindrical structural members, and the first collision bead is sleeved on the wheel shaft of the first collision bead seat, and the second collision bead is sleeved on the wheel shaft of the second collision bead seat, so that the first collision bead can be rotatably arranged on the first collision bead seat, and the second collision bead can be rotatably arranged on the second collision bead seat. Simultaneously, first ball base and the equal swing joint of second ball base are in the second pedestal for first ball base and second ball base all possess relative second pedestal relative motion's ability, and then when bolt and socket cooperation, make the rhombus plug can extrude first ball base and second ball base through first ball and second ball, make first ball base and second ball base move mutually oppositely, increase the interval between first ball base and the second ball base, guarantee that the great part of size can pass the region between first ball base and the second ball base in the rhombus plug, and stretch into the opposite side of first ball base and second ball base.

Meanwhile, the elastic piece is elastically arranged between the first ball collision seat and the second ball collision seat, so that in the process of mutual insertion of the rhombic plug and the socket, as the first ball collision seat and the second ball collision seat can move back to back, in the process, the elastic piece can be extruded by the first ball collision seat and the second ball collision seat, the elastic piece is in an extruded state, the position with the widest size in the rhombic plug extends into the other side of the first ball collision seat and the second ball collision seat, and then the first ball collision seat and the second ball collision seat can move oppositely under the action of the elastic piece, so that the distance between the first ball collision seat and the second ball collision seat is restored to a relatively smaller state, the rhombic plug is clamped, and the separation of the rhombic plug and the socket is limited.

Furthermore, waist-shaped holes are formed in the two opposite sides of the second seat body, the extending direction of each waist-shaped hole is parallel to the assembling and disassembling directions of the plug pin and the socket, and the waist-shaped holes are used for installing threaded connecting pieces. That is, the second fastening body can be fastened to the first fastening member 210 or the second fastening member 220 by means of a screw fastening member passing through the waist-shaped hole. Under the condition that the second seat body is provided with the waist-shaped hole extending along the dismounting direction, if the matching degree between the sockets is poor due to factors such as the processing precision of the plug and the sockets, the mounting position of the second seat body can be adjusted by adjusting the position of the threaded connecting piece in the waist-shaped hole, so that the plug and the sockets are better matched.

Optionally, as shown in fig. 1, a flexible buffer layer 120 is further included in the crash module disclosed in the embodiment of the present application, and the flexible buffer layer 120 is fixed on a side of the crash body 110 facing away from the protected device. Intuitively speaking, the inside orientation of crashproof body 110 and cover by protective apparatus, flexible buffer layer 120 is fixed in the outside of crashproof body 110 to make flexible buffer layer 120 can be prior to crashproof body 110 and wall or object etc. and contact each other, in order to provide cushioning effect with the help of flexible buffer layer 120, prevent that crashproof body 110 of stereoplasm structure directly from colliding with wall or object etc. further promotes by protective apparatus's life and job stabilization nature.

Specifically, the flexible buffer layer 120 can be made of flexible materials such as rubber, and the thickness, the area and other parameters of the flexible buffer layer 120 can be set correspondingly according to the specific structure of the anti-collision body 110, so that the flexible buffer layer 120 can provide reliable and comprehensive buffering effect for the anti-collision body 110. And, flexible buffer layer 120 can be pasted on the lateral surface of anticollision body 110 through the mode of bonding, reduces flexible buffer layer 120's the installation degree of difficulty on the one hand, and on the other hand can also utilize the adhesive to further promote flexible buffer layer 120's buffer capacity. In addition, a cavity may be disposed in the flexible buffer layer 120, so as to further improve the buffering and shock resistance of the flexible buffer layer 120.

Based on the anticollision subassembly that any embodiment disclosed above, this application embodiment still discloses a cleaning machines people, and it includes robot body and any above-mentioned anticollision subassembly. In the cleaning robot disclosed in the embodiment of the present application, the protected device is the robot body, and further, in the process of assembling the robot body and the anti-collision component, the second connecting member 220 in the anti-collision component is fixed on the robot body, so that the anti-collision body 110 can be detachably fixed on the robot body through the connecting mechanism 200. In addition, when the anti-collision assembly includes the positioning mechanism 300, the limiting member 320 of the positioning mechanism 300 may also be fixed to the robot body, so that the robot body and the anti-collision body 110 may also form a limiting matching relationship through the positioning mechanism 300. Specifically, the second connecting member 220 and the limiting member 320 may be fixed to the robot body by a screw connection member or the like.

In the embodiments of the present application, the difference between the embodiments is described in detail, and different optimization features between the embodiments can be combined to form a better embodiment as long as the differences are not contradictory, and further description is omitted here in view of brevity of the text.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A collision avoidance assembly mounted to equipment to be protected, the collision avoidance assembly comprising a collision avoidance body (110) and a connection mechanism (200), the collision avoidance body (110) being a semi-annular rigid structure, and the collision avoidance body (110) being configured to shield a portion of the equipment to be protected to protect the equipment to be protected;

the connecting mechanism (200) comprises a first connecting piece (210), a second connecting piece (220) and a ball-bumping buckle (230), the first connecting piece (210) is fixed on the anti-collision body (110), the second connecting piece (220) is configured to be fixed on the protected equipment, and the first connecting piece (210) and the second connecting piece (220) are detachably and fixedly connected through the ball-bumping buckle (230).

2. The anti-collision assembly according to claim 1, wherein the anti-collision body (110) is detachably and fixedly connected with the protected equipment through a plurality of connecting mechanisms (200), and the assembling and disassembling directions of the collision bead buckles (230) in the connecting mechanisms (200) are all parallel to each other.

3. The bumper assembly according to claim 1, wherein the connection mechanisms (200) are mounted to opposite ends of the bumper body (110).

4. A crash module as claimed in claim 3, wherein the respective bead catches (230) of the connection means (200) at opposite ends of the crash body (110) are arranged symmetrically with respect to a plane of symmetry of the crash body (110).

5. The bumper assembly according to claim 3, further comprising a positioning mechanism (300), the positioning mechanism (300) being disposed between two of the connection mechanisms (200),

the positioning mechanism (300) comprises elastic collision beads (310) and a limiting piece (320), the telescopic direction of each elastic collision bead (310) is perpendicular to the plane where the disassembling and assembling directions of the plurality of collision bead buckles (230) are located, the limiting piece (320) is provided with a limiting groove, one of the elastic collision beads (310) and the limiting piece (320) is fixed to the anti-collision body (110), the other one of the elastic collision beads (310) and the limiting piece (320) is fixed to the protected equipment, and under the condition that each first connecting piece (210) and the corresponding second connecting piece (220) are fixedly connected through the corresponding collision bead buckles (230), the elastic collision beads (310) are in limiting fit with the limiting grooves.

6. The bumper assembly according to claim 1, wherein at least one of the first connector (210) and the second connector (220) is provided with a kidney-shaped hole (211), the extension direction of the kidney-shaped hole (211) is parallel to the dismounting direction of the ball catch (230), and the kidney-shaped hole (211) is used for mounting a threaded connector.

7. The anti-collision assembly according to claim 1, wherein the collision bead fastening buckle (230) comprises a bolt and a socket, the bolt comprises a first seat and a rhombic plug, the rhombic plug is connected to one side of the first seat, the socket comprises a second seat, a first collision bead seat, a second collision bead seat, a first collision bead, a second collision bead and an elastic member, the first seat is fixed to one of the first connecting member (210) and the second connecting member (220), the second seat is fixed to the other one of the first connecting member (210) and the second connecting member (220), the first collision bead is rotatably installed on the first collision bead seat, the second collision bead is rotatably installed on the second collision bead seat, the first collision bead seat and the second collision bead seat are both movably connected to the second seat, and the elastic member is elastically arranged between the first collision bead seat and the second collision bead seat, the rhombic plug extrudes the elastic piece and is inserted between the first collision bead and the second collision bead so as to connect the plug and the socket.

8. The anti-collision assembly according to claim 7, wherein the two opposite sides of the second seat are provided with a waist-shaped hole (211), the extending direction of the waist-shaped hole (211) is parallel to the assembling and disassembling direction of the plug and the socket, and the waist-shaped hole (211) is used for installing a threaded connector.

9. The bumper assembly of claim 1, further comprising a flexible cushioning layer (120), the flexible cushioning layer (120) being secured to a side of the bumper body (110) facing away from the equipment to be protected.

10. A cleaning robot, characterized in that it comprises a robot body and a collision avoidance module according to any of claims 1-9, the second link (220) of which is fixed to the robot body.