Grasping device and photovoltaic cleaning system

Abstract

The present invention discloses a grasping device, which includes a fixing frame, a grasping mechanism and an elastic member. The grasping mechanism is rotatably connected to the fixing frame. Two ends of the elastic member are respectively connected to the fixing frame and the grasping mechanism. The grasping mechanism includes a hook member, a hook-removing member and a connecting frame connecting the hook member and the hook-removing member. The hook member and the hook-removing member are arranged at intervals along the height direction of the grasping mechanism. The hook-removing member is closer to the fixing frame than the hook member. The hook member has a hook groove, and the hook-removing member has a hook-removing groove. The opening direction of the hook groove faces the hook-removing member, and the opening direction of the hook-removing groove faces the hook member. The hook member includes a first guiding surface and a second guiding surface. The grasping device provided by the present invention can realize the picking and placing of a photovoltaic cleaning robot, without using driving structures such as motors or cylinders, reducing the overall weight, having simple debugging and lowering the cost. The present invention also discloses a photovoltaic cleaning system.

Description

Technical Field

[0001] The present invention relates to a grasping device and a photovoltaic cleaning system, belonging to the field of photovoltaic technology. Background Art

[0002] There are problems of height difference, unevenness, front-back dislocation, and undulating terrain between different arrays in large-scale photovoltaic sites. Usually, a chassis vehicle is used to tow a cleaning machine to move. When the cleaning machine runs to the end of the array, the chassis vehicle grabs and transports the cleaning machine to another array to solve the problem of crossing arrays.

[0003] In related technologies, a mechanical claw is used to grasp the cleaning machine. The mechanical claw is connected to a robotic arm, and the robotic arm is connected to the chassis vehicle. The chassis vehicle grabs the cleaning machine and walks. The mechanical claw is connected to a motor, and the motor is used to control the mechanical claw to grasp and place the cleaning machine. During use, due to various factors such as the position of the cleaning machine and the undulating ground terrain, the grasping position changes, resulting in great difficulties in the control coordination debugging of the motor and the entire grasping mechanism; in addition, the motor also increases the weight of the entire grasping mechanism, causing the motor to consume power and increasing costs. Summary of the Invention

[0004] The purpose of the present invention is to provide a grasping device and a photovoltaic cleaning system to achieve power-free picking and placing.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A grasping device for grasping a support rod of a photovoltaic cleaning robot, the grasping device includes a fixed frame, a grasping mechanism, and an elastic member. The grasping mechanism is rotatably connected to the fixed frame, and two ends of the elastic member are respectively connected to the fixed frame and the grasping mechanism.

[0007] The grasping mechanism includes a hook member, a hook-release member, and a connecting frame connecting the hook member and the hook-release member. The hook member and the hook-release member are arranged at intervals along the height direction of the grasping mechanism. The hook-release member is closer to the fixed frame than the hook member. The hook member has a hook groove, and the hook-release member has a hook-release groove. The opening direction of the hook groove faces the hook-release member, and the opening direction of the hook-release groove faces the hook member.

[0008] The hook member includes a first guiding surface and a second guiding surface. The first guiding surface is used to interact with the support rod, enabling the grasping mechanism to rotate around the fixing frame and stretch the elastic member. Through the first rebound of the elastic member, the support rod can fall into the hook groove, and through the second rebound of the elastic member, the support rod can slide from the hook groove into the unhooking groove. The second guiding surface is used to interact with the support rod, enabling the grasping mechanism to rotate around the fixing frame and compress the elastic member, so that the support rod can be disengaged from the unhooking groove.

[0009] As a further improved technical solution of the present invention, a channel is formed between the hook member and the unhooking member. The channel at least includes the hook groove and the unhooking groove. The channel has an inlet and an outlet. The first guiding surface is located at one end of the hook member away from the unhooking member. The first guiding surface includes a first inclined surface and a second inclined surface. The second inclined surface extends from the connection with the first inclined surface towards the direction close to the inlet. The first inclined surface has a first included angle with a plane perpendicular to the height direction of the grasping mechanism, and the second inclined surface has a second included angle with a plane perpendicular to the height direction of the grasping mechanism. The first included angle is smaller than the second included angle.

[0010] As a further improved technical solution of the present invention, the second guiding surface faces the unhooking member. The second guiding surface includes a third inclined surface. The hook member includes a first groove surface that encloses the hook groove. The third inclined surface extends from the connection with the first groove surface towards the direction close to the outlet. The third inclined surface has a third included angle with a plane perpendicular to the height direction of the grasping mechanism. The third included angle is not less than the first included angle.

[0011] As a further improved technical solution of the present invention, the hook member includes a first guiding portion and a second guiding portion. The first guiding portion is connected to the second guiding portion. The first guiding portion includes the second inclined surface and at least part of the first groove surface. The second inclined surface is connected to the first groove surface. The second guiding portion includes a first inclined surface and a third inclined surface. The first inclined surface and the third inclined surface are respectively located on different sides of the second guiding portion. The first guiding portion extends out of the unhooking member along the width direction of the grasping mechanism.

[0012] As a further improved technical solution of the present invention, the unhooking member includes a first flat surface and a second groove surface. The first flat surface faces the hook groove of the hook member. The second groove surface encloses the unhooking groove. At least part of the second groove surface is opposite to the first groove surface. The first flat surface extends from the connection with the second groove surface towards the direction close to the inlet.

[0013] As a further improved technical solution of the present invention, the decoupling member is rotatably connected to the fixing bracket, the elastic member is connected to the decoupling member, and the elastic member is close to the inlet.

[0014] As a further improved technical solution of the present invention, the grasping mechanism includes a blocking assembly for closing the inlet of the channel. The blocking assembly includes a blocking member, a torsion spring, and a rotating shaft. The decoupling member includes a mounting groove for mounting the rotating shaft. The torsion spring is sleeved on the rotating shaft, the blocking member is sleeved on the torsion spring, and two ends of the torsion spring respectively abut against the blocking member and the wall of the mounting groove.

[0015] The first groove surface includes a fourth inclined surface, and the fourth inclined surface and the second inclined surface are respectively located on different sides of the first guiding portion. One end of the blocking member away from the rotating shaft abuts against the fourth inclined surface.

[0016] As a further improved technical solution of the present invention, the grasping mechanism includes a guiding plate connected to the hook member. The guiding plate includes a guiding inclined surface located at one end of the first inclined surface away from the second inclined surface and in the extending direction of the first inclined surface.

[0017] As a further improved technical solution of the present invention, the connecting frame includes a connecting plate, a first cylinder, and a second cylinder. The first cylinder connects the decoupling member and the connecting plate, and the second cylinder connects the hook member and the connecting plate. There is a space for the support rod to extend between the connecting plate and the hook member and the decoupling member. The connecting plate is provided with a groove facing the hook member and the decoupling member.

[0018] To achieve the above object, the present invention also adopts the following technical solutions:

[0019] A photovoltaic cleaning system includes a photovoltaic cleaning robot and a grasping device. The photovoltaic cleaning robot includes a cleaning robot body and a bracket. The bracket is connected to the cleaning robot body, and the bracket includes a support rod for the grasping device to grasp.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: The grasping device provided by the present invention has a simple structure and can realize the automatic grasping and automatic lowering of the photovoltaic cleaning robot by the grasping mechanism without using driving structures such as motors or cylinders, reducing the overall weight, having simple debugging, and reducing costs. Description of the Drawings

[0021] Figure 1 is a three-dimensional schematic diagram of the photovoltaic cleaning system of the present invention;

[0022] Figure 2 is Figure 1Left view of;

[0023] Figure 3 is Figure 1 Schematic perspective view of the grasping device in;

[0024] Figure 4 is Figure 3 Schematic perspective view from another angle;

[0025] Figure 5 is Figure 4 Enlarged schematic view of area A in;

[0026] Figure 6 is Figure 3 Left view of;

[0027] Figure 7 is Figure 3 Schematic perspective view of the grasping mechanism in;

[0028] Figure 8 is Figure 7 Exploded schematic view of;

[0029] Figure 9 is Figure 7 Left view of;

[0030] Figure 10 is Figure 7 Schematic perspective view from another angle;

[0031] Figure 11 is Figure 10 Exploded schematic view of;

[0032] Figure 12 is Figure 7 Schematic view of the hook lifting member and the hook disengaging member in;

[0033] Figure 13 Trajectory diagram of the support rod of the present invention moving in the channel of the grasping mechanism;

[0034] Figure 14 State diagram of the picking and placing process of the grasping mechanism of the present invention. Detailed implementation manners

[0035] The exemplary specific implementation manners of the present invention will be described in detail below with reference to the accompanying drawings. If there are several specific implementation manners, the features in these implementation manners can be combined with each other without conflict. When the description involves the accompanying drawings, unless otherwise specified, the same numbers in different drawings represent the same or similar elements. The content described in the following exemplary specific implementation manners does not represent all implementation manners consistent with the present invention; on the contrary, they are only examples of devices, products, and / or methods consistent with some aspects of the present invention recorded in the claims of the present invention.

[0036] The terms used in the present invention are for the purpose of describing specific embodiments only and are not intended to limit the scope of protection of the present invention. The singular forms "a", "the", or "said" used in the specification and claims of the present invention are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0037] It should be understood that the terms such as "first", "second", and similar words used in the specification and claims of the present invention do not denote any order, quantity, or importance, but are only used to distinguish the named features. Similarly, words such as "a" or "one" do not denote a quantity limitation, but mean that there is at least one. Unless otherwise specified, the words such as "front", "rear", "upper", "lower", etc. appearing in the present invention are only for convenience of description and are not limited to a specific position or a spatial orientation. The open-ended expression "comprising" or "including" means that the elements appearing before "comprising" or "including" cover the elements appearing after "comprising" or "including" and their equivalents, and this does not exclude that the elements appearing before "comprising" or "including" may also include other elements. If "several" appears in the present invention, it means two or more.

[0038] Please refer to Figures 1 to 14 As shown, the present invention discloses a photovoltaic cleaning system, including a traveling vehicle, a lifting device, a grasping device, and a photovoltaic cleaning robot 10. The lifting device is connected to the traveling vehicle, and the grasping device is connected to the lifting device. The lifting device is used to control the lifting of the grasping device, and the grasping device is used to grasp the photovoltaic cleaning robot 10 to achieve the handling of the photovoltaic cleaning robot 10. Both the traveling vehicle and the lifting device are prior arts and are not shown in the figure.

[0039] See Figure 1 , the photovoltaic cleaning robot 10 includes a cleaning robot body 101 and a bracket 102. The bracket 102 is connected to the cleaning robot body 101, and the bracket 102 includes a support rod 1021 for the grasping device to grasp. Specifically, the bracket 102 includes two groups of columns 1022 connected to the cleaning robot body 101 and two support rods 1021 correspondingly connected to the two groups of columns 1022. The grasping device grasps the free ends of the support rods 1021.

[0040] See Figure 1 , the grasping device includes a fixed frame 1, a grasping mechanism 2, and an elastic member 3. The grasping mechanism 2 is rotatably connected to the fixed frame 1, and the two ends of the elastic member 3 are respectively connected to the fixed frame 1 and the grasping mechanism 2.

[0041] See Figure 2 and Figure 3The fixing frame 1 includes a frame 11 and a support 12 . The support 12 is fixed to the bottom of the frame 11 , and the grabbing mechanism 2 is rotatably connected to the support 12 .

[0042] See also Figure 3 The grabbing mechanism 2 includes a hooking member 21, a hooking member 22, and a connecting frame 23 connecting the hooking member 21 and the hooking member 22. Figure 12 The hook lifting member 21 and the hook releasing member 22 are arranged at intervals along the height direction H of the grabbing mechanism 2, and a channel is formed between the hook lifting member 21 and the hook releasing member 22. The channel has an inlet 20a and an outlet 20b. The support rod 1021 can enter the channel from the inlet 20a and leave the channel from the outlet 20b.

[0043] See also Figure 6 and Figure 12 The unhooking member 22 is closer to the fixing frame 1 than the lifting member 21, that is, along the height direction H of the grabbing mechanism 2, the unhooking member 22 and the lifting member 21 are arranged up and down. The lifting member 21 has a lifting groove 210, and the unhooking member 22 has an unhooking groove 220. The opening direction of the lifting groove 210 faces the unhooking member 22, and the opening direction of the unhooking groove 220 faces the lifting member 21. The channel includes the lifting groove 210, the unhooking groove 220, and the gap between the lifting member 21 and the unhooking member 22. The lifting groove 210 is used to receive the support rod 1021, and the unhooking groove 220 is used for the support rod 1021 to escape from the channel.

[0044] See also Figure 6, the hook member 21 includes a first guiding surface 211 and a second guiding surface 212. Both the first guiding surface 211 and the second guiding surface 212 interact with the support rod 1021 to cause the grasping mechanism 2 to rotate around the fixed frame 1. When grasping, the grasping mechanism 2 is controlled to move downward. The first guiding surface 211 contacts the support rod 1021. Continuing to move downward, the first guiding surface 211 interacts with the support rod 1021 to cause the grasping mechanism 2 to rotate around the fixed frame 1 and stretch the elastic member 3; when the grasping mechanism 2 rotates until the inlet 20a is aligned with the support rod 1021, the elastic member 3 makes the first rebound so that the support rod 1021 falls into the hook groove 210. Then, the grasping mechanism 2 is lifted upward so that the support rod 1021 abuts against the hook member 21, and the grasping mechanism 2 hooks the support rod 1021. Affected by the gravity of the photovoltaic cleaning robot 10, the elastic member 3 will be appropriately stretched; when unhooking, the grasping mechanism 2 is controlled to move downward. Since the support rod 1021 no longer abuts against the hook member 21, the elastic member 3 makes the second rebound so that the support rod 1021 slides from the hook groove 210 into the unhooking groove 220; then, the grasping mechanism 2 is controlled to move upward, and the second guiding surface 212 interacts with the support rod 1021 to enable the grasping mechanism 2 to rotate around the fixed frame 1 and compress the elastic member 3 so that the support rod 1021 is disengaged from the unhooking groove 220. By controlling the downward pressure and upward lift of the grasping device, the present invention realizes the picking and placing of the photovoltaic cleaning robot 10, without using driving structures such as motors or cylinders, reducing the overall weight, having simple debugging, and reducing costs.

[0045] The hook groove 210 is close to the inlet 20a of the channel, and the unhooking groove 220 is close to the outlet 20b of the channel. The unhooking groove 220 is arranged in a dislocation manner with respect to the hook groove 210, and at least part of the unhooking groove 220 is opposite to the hook groove 210. In this way, when the elastic member 3 makes the second rebound and pulls the grasping mechanism 2 to rotate, the support rod 1021 can smoothly slide from the hook groove 210 into the unhooking groove 220.

[0046] See Figure 12The first guide surface 211 is located at one end of the hook lifting member 21 away from the hook releasing member 22. The first guide surface 211 includes a first inclined surface 2111 and a second inclined surface 2112. The second inclined surface 2112 extends from the connection with the first inclined surface 2111 to the direction close to the inlet 20a. The first inclined surface 2111 and the plane perpendicular to the height direction H of the grasping mechanism 2 have a first angle β1, and the second inclined surface 2112 and the plane perpendicular to the height direction H of the grasping mechanism 2 have a second angle β2. The first angle β1 is smaller than the second angle β2. When grasping, the first inclined surface 2111 first interacts with the support rod 1021 to rotate the grasping mechanism 2 and stretch the elastic member 3. As the grasping mechanism 2 continues to press downward, the support rod 1021 interacts with the second inclined surface 2112. By setting the inclination of the second inclined surface 2112 to be greater than the first inclined surface 2111, the support rod 1021 can smoothly enter the hook lifting groove 210. Among them, 15°<β2-β1<40°, by limiting β2-β1>15°, it is convenient for the support rod 1021 to smoothly enter the hook groove 210, and by limiting β2-β1<40°, the corners at the connection between the first inclined surface 2111 and the second inclined surface 2112 are smoother, so that the hook member 21 can be pressed down more smoothly, avoiding the situation where the support rod 1021 cannot enter the hook groove 210. When β2-β1>40°, when the grasping mechanism 2 is pressed down, the support rod 1021 is easily stuck at the corners, resulting in the support rod 1021 being unable to move forward into the hook groove 210. Preferably, β2-β1=20°.

[0047] See also Figure 12 The second guide surface 212 faces the unhooking member 22, the second guide surface 212 includes a third inclined surface 2121, the hook lifting member 21 includes a first groove surface 213, the first groove surface 213 surrounds the hook lifting groove 210, the third inclined surface 2121 extends from the connection with the first groove surface 213 toward the direction close to the outlet 20b, and there is a third angle β3 between the third inclined surface 2121 and the plane perpendicular to the height direction H of the grasping mechanism 2, and the third angle β3 is not less than the first angle β1. This arrangement facilitates the support rod 1021 to smoothly escape from the channel.

[0048] For details, see Figure 12 The first groove surface 213 includes a fourth inclined surface 2131, a first curved surface 2132 and a fifth inclined surface 2133. The fourth inclined surface 2131 is connected to the first curved surface 2132, and the first curved surface 2132 is connected to the fifth inclined surface 2133. The fourth inclined surface 2131 and the second inclined surface 2112 are respectively located on different sides of the first guide portion 214. The first curved surface 2132 is an inner concave surface. After the grasping device grasps the photovoltaic cleaning robot 10, the support rod 1021 abuts against the first curved surface 2132. The first curved surface 2132 is adapted to the surface of the support rod 1021. During the transportation process, the support rod 1021 can be stabilized in the hook groove 210.

[0049] See Figure 12 , the hook lifting member 21 includes a first guiding portion 214. The head of the first guiding portion 214 is set to be pointed. The first guiding portion 214 includes a second inclined surface 2112 and at least part of a first groove surface 213. The second inclined surface 2112 is connected to the first groove surface 213. The first guiding portion 214 extends out of the hook disengaging member 22 along the width direction W of the grasping mechanism 2. In the prior art, the first guiding portion 214 is flush with the hook disengaging member 22 along the width direction W of the grasping mechanism 2, and it is likely to occur that the elastic member 3 has insufficient pulling force and the support rod 1021 cannot fall into the hook lifting groove 210. In the present invention, by extending the first guiding portion 214, the support rod 1021 can easily fall into the hook lifting groove 210.

[0050] See Figure 12 , the hook lifting member 21 includes a second guiding portion 215. The first guiding portion 214 is connected to the second guiding portion 215. The first guiding portion 214 is inclined. The width of the first guiding portion 214 gradually decreases outward from the second guiding portion 215. The second guiding portion 215 includes a first inclined surface 2111 and a third inclined surface 2121. The first inclined surface 2111 and the third inclined surface 2121 are respectively located on different sides of the second guiding portion 215.

[0051] See Figure 12 , the hook disengaging member 22 includes a first flat surface 221 and a second groove surface 222. The first flat surface 221 faces the hook lifting groove 210 of the hook lifting member 21. The second groove surface 222 encloses a hook disengaging groove 220. At least part of the second groove surface 222 is opposite to the first groove surface 213. The first flat surface 221 extends from the connection with the second groove surface 222 towards the direction close to the inlet 20a. In the present invention, by canceling the pointed portion and forming the first flat surface 221 at the position of the pointed portion, the gap between the hook disengaging member 22 and the hook lifting member 21 is increased, the movement range of the support rod 1021 is increased, while ensuring the completion of picking and placing, the movable range of the grasping mechanism 2 is increased, and the error tolerance rate is improved.

[0052] See Figure 12 , the second groove surface 222 includes a second arc surface 2221 and a sixth inclined surface 2222. The first flat surface 221 is connected to the second arc surface 2221. The second arc surface 2221 is connected to the sixth inclined surface 2222. The sixth inclined surface 2222 is opposite to the third inclined surface 2121. The second arc surface 2221 is a concave surface. When the photovoltaic cleaning robot 10 disengages the hook, the support rod 1021 slides into the hook disengaging groove 220 and first abuts against the second arc surface 2221. At least part of the second arc surface 2221 is opposite to the third inclined surface 2121. By lifting the grasping mechanism 2, the support rod 1021 can smoothly abut against the third inclined surface 2121.

[0053] See Figure 5, the decoupling member 22 is rotatably connected to the fixing bracket 1, the elastic member 3 is connected to the decoupling member 22, and the elastic member 3 is close to the inlet 20a of the channel. Specifically, refer to Figure 11 , the decoupling member 22 includes a connecting portion 224 and a groove portion 225. The connecting portion 224 is provided with a through hole 2241, a bearing 226 is provided in the through hole 2241, a shaft body 13 is passed through the support 12, and the shaft body 13 is rotatably connected to the bearing 226 to realize the relative rotation of the decoupling member 22 with respect to the shaft body 13. The decoupling groove 220 is provided in the groove portion 225.

[0054] Refer to Figure 10 , the grasping mechanism 2 further includes a blocking component 24. The blocking component 24 is used to close the inlet 20a of the channel. The blocking component 24 is rotatably connected to the decoupling member 22. The blocking component 24 rotates into the channel. For different pressing depths of the grasping mechanism 2, the blocking component 24 can avoid the phenomenon that the decoupling occurs before the photovoltaic cleaning robot 10 is lifted.

[0055] Specifically, refer to Figure 10 and Figure 11 , the blocking component 24 includes a blocking member 241, a torsion spring 242 and a rotating shaft 243. The decoupling member 22 includes a mounting groove 223 for mounting the rotating shaft 243. The torsion spring 242 is sleeved on the rotating shaft 243. The blocking member 241 is sleeved on the torsion spring 242. Two ends of the torsion spring 242 are respectively abutted against the blocking member 241 and the groove wall of the mounting groove 223. One end of the blocking member 241 away from the rotating shaft 243 abuts against the fourth inclined surface 2131. The fourth inclined surface 2131 enables the blocking member 241 to only rotate into the channel, that is, the blocking member 241 performs one-way rotation.

[0056] Refer to Figure 11 , the torsion spring 242 includes a torsion spring body 2421, a first end portion 2422 and a second end portion 2423. The first end portion 2422 and the second end portion 2423 are respectively connected to two ends of the torsion spring body 2421. The torsion spring body 2421 is sleeved on the rotating shaft 243. The first end portion 2422 and the second end portion 2423 are respectively abutted against the blocking member 241 and the groove wall of the mounting groove 223.

[0057] Refer to Figure 6 , the grasping mechanism 2 includes a guiding plate 25. The guiding plate 25 is connected to the hook member 21. The guiding plate 25 includes a guiding inclined surface 251. The guiding inclined surface 251 is located at one end of the first inclined surface 2111 away from the second inclined surface 2112 and is in the extending direction of the first inclined surface 2111. The guiding plate 25 plays a guiding role. When grasping the photovoltaic cleaning robot 10, the guiding inclined surface 251 of the guiding plate 25 first contacts the support rod 1021, so that the grasping mechanism 2 rotates and gradually interacts with the first inclined surface 2111 and the second inclined surface 2112. By providing the guiding plate 25, the contact range between the grasping mechanism 2 and the support rod 1021 can be expanded, and it is easy for the grasping mechanism 2 to be aligned with the support rod 1021.

[0058] In some embodiments, the guiding inclined surface 251 is parallel to the first inclined surface 2111, the length of the guiding inclined surface 251 is not less than the length of the first inclined surface 2111, and the guiding inclined surface 251 extends outward beyond the first inclined surface 2111. Such a setting is conducive to the smooth sliding of the support rod 1021 towards the first inclined surface 2111.

[0059] See Figure 7 , the connecting frame 23 includes a connecting plate 231, a first cylinder 232 and a second cylinder 233. The first cylinder 232 connects the hook disengaging member 22 and the connecting plate 231, and the second cylinder 233 connects the hook lifting member 21 and the connecting plate 231. There is a space for the support rod 1021 to extend between the connecting plate 231, the hook lifting member 21 and the hook disengaging member 22. See Figure 8 , the connecting plate 231 is provided with a groove 2310, and the groove 2310 faces the hook lifting member 21 and the hook disengaging member 22. When unhooking, the free end of the support rod 1021 may abut against the connecting plate 231, and a frictional force is generated between the two, resulting in difficulty in unhooking the support rod 1021. By providing the groove 2310, the space for the support rod 1021 to extend is enlarged, and the support rod 1021 is not likely to contact the connecting plate 231 during the downward pressing process of the grasping mechanism 2, which is conducive to the smooth unhooking of the support rod 1021.

[0060] In the thickness direction of the grasping mechanism 2, the set area of the groove 2310 at least covers the area of the channel where the hook disengaging groove 220 is located. That is to say, in the thickness direction of the grasping mechanism 2, the projections of the third inclined surface 2121 and the second groove surface 222 both fall on the inner wall of the groove 2310. Such a setting is conducive to the smooth unhooking of the support rod 1021.

[0061] See Figure 8 , both the first cylinder 232 and the second cylinder 233 are provided with notches 2320, and the notches 2320 facilitate the tightening and disassembly by a wrench.

[0062] See Figure 5 , the elastic member 3 is a spring. The fixing frame 1 includes a fixing seat 13 fixed to the frame body 11. The grasping mechanism 2 includes a pin shaft 26. The pin shaft 26 is connected to one side of the groove portion 225 of the hook disengaging member 22 close to the inlet 20a. The two ends of the spring are respectively connected to the fixing seat 13 and the pin shaft 26.

[0063] The working process of the grasping device of the present invention: See Figure 14, the grasping mechanism 2 is controlled to descend, and the hook member 21 contacts the support rod 1021. Then, the second inclined surface 2112 of the hook member 21 is tangent to the support rod 1021, and the elastic member 3 is stretched; the grasping mechanism 2 continues to descend, and the first rebound of the elastic member 3 causes the support rod 1021 to slide into the channel from the inlet 20a; the grasping mechanism 2 is lifted, and the support rod 1021 is caught in the hook slot 210 to achieve grasping; after grasping is completed, the grasping mechanism 2 descends, and the second rebound of the elastic member 3 causes the support rod 1021 to slide into the unhooking slot 220 from the channel; the grasping mechanism 2 is lifted, and the support rod 1021 exits along the third inclined surface 2121 of the hook slot 210 to achieve the unhooking action.

[0064] The above embodiments are only used to illustrate the present invention and do not limit the technical solutions described in the present invention. The understanding of the present invention should be based on those skilled in the art. Although this specification has described the present invention in detail with reference to the above embodiments, those of ordinary skill in the art should understand that those skilled in the art can still modify the present invention or make equivalent substitutions. All technical solutions and their improvements that do not depart from the spirit and scope of the present invention shall be covered by the scope of the claims of the present invention.

Claims

1. A grasping device for grasping the support rod (1021) of a photovoltaic cleaning robot (10), characterized in that, The gripping device comprises a fixing frame (1), a gripping mechanism (2) and an elastic member (3), wherein the gripping mechanism (2) is rotatably connected to the fixing frame (1), and two ends of the elastic member (3) are respectively connected to the fixing frame (1) and the gripping mechanism (2). The grabbing mechanism (2) comprises a lifting hook member (21), a hook-off member (22) and a connecting frame (23) connecting the lifting hook member (21) and the hook-off member (22); the lifting hook member (21) and the hook-off member (22) are arranged at intervals along a height direction (H) of the grabbing mechanism (2); the hook-off member (22) is closer to the fixing frame (1) than the lifting hook member (21); the lifting hook member (21) has a lifting hook groove (210); the hook-off member (22) has a hook-off groove (220); the opening direction of the lifting hook groove (210) faces the hook-off member (22); and the opening direction of the hook-off groove (220) faces the lifting hook member (21); The hook lifting member (21) comprises a first guide surface (211) and a second guide surface (212); the first guide surface (211) is used to interact with the support rod (1021) so that the grasping mechanism (2) can rotate around the fixing frame (1) and stretch the elastic member (3); the support rod (1021) can fall into the hook lifting groove (210) through the first rebound of the elastic member (3); and the support rod (1021) can slide from the hook lifting groove (210) into the hook disengaging groove (220) through the second rebound of the elastic member (3); the second guide surface (212) is used to interact with the support rod (1021) so that the grasping mechanism (2) can rotate around the fixing frame (1) and compress the elastic member (3) so that the support rod (1021) can disengage from the hook disengaging groove (220).

2. The grasping device according to claim 1, characterized in that, A channel is formed between the hook lifting member (21) and the hook releasing member (22), the channel at least comprising the hook lifting groove (210) and the hook releasing groove (220), the channel having an inlet (20a) and an outlet (20b), the first guide surface (211) being located at an end of the hook lifting member (21) away from the hook releasing member (22), the first guide surface (211) comprising a first inclined surface (2111) and a second inclined surface (2112), the second inclined surface (2112) extending from a connection with the first inclined surface (2111) in a direction close to the inlet (20a), the first inclined surface (2111) having a first angle (β1) with a plane perpendicular to a height direction (H) of the gripping mechanism (2), the second inclined surface (2112) having a second angle (β2) with a plane perpendicular to a height direction (H) of the gripping mechanism (2), the first angle (β1) being smaller than the second angle (β2).

3. The grasping device according to claim 2, characterized in that, The second guiding surface (212) faces the decoupling member (22). The second guiding surface (212) includes a third inclined surface (2121). The hook member (21) includes a first groove surface (213). The first groove surface (213) defines the hook groove (210). The third inclined surface (2121) extends from the connection with the first groove surface (213) towards the direction close to the outlet (20b). There is a third included angle (β3) between the third inclined surface (2121) and the plane perpendicular to the height direction (H) of the grasping mechanism (2), and the third included angle (β3) is not less than the first included angle (β1).

4. The grasping device according to claim 3, characterized in that The hook member (21) includes a first guiding portion (214) and a second guiding portion (215). The first guiding portion (214) is connected to the second guiding portion (215). The first guiding portion (214) includes the second inclined surface (2112) and at least part of the first groove surface (213). The second inclined surface (2112) is connected to the first groove surface (213). The second guiding portion (215) includes a first inclined surface (2111) and a third inclined surface (2121). The first inclined surface (2111) and the third inclined surface (2121) are located on different sides of the second guiding portion (215). The first guiding portion (214) extends out of the decoupling member (22) along the width direction (W) of the grasping mechanism (2).

5. The grasping device according to claim 4, characterized in that, The decoupling member (22) includes a first flat surface (221) and a second groove surface (222). The first flat surface (221) faces the hook groove (210) of the hook member (21). The second groove surface (222) defines the decoupling groove (220). At least part of the second groove surface (222) is opposite to the first groove surface (213). The first flat surface (221) extends from the connection with the second groove surface (222) towards the direction close to the inlet (20a).

6. The grasping device according to claim 2, wherein The decoupling member (22) is rotatably connected to the fixed frame (1). The elastic member (3) is connected to the decoupling member (22), and the elastic member (3) is close to the inlet (20a).

7. The grasping device according to claim 4, wherein The grasping mechanism (2) includes a blocking assembly. The blocking assembly is used to close the inlet (20a) of the channel. The blocking assembly includes a blocking member (241), a torsion spring (242), and a rotating shaft (243). The decoupling member (22) includes a mounting groove (223) for mounting the rotating shaft (243). The torsion spring (242) is sleeved on the rotating shaft (243). The blocking member (241) is sleeved on the torsion spring (242). Two ends of the torsion spring (242) respectively abut against the blocking member (241) and the groove wall of the mounting groove (223). The first groove surface (213) includes a fourth inclined surface (2131), the fourth inclined surface (2131) and the second inclined surface (2112) are respectively located on different sides of the first guiding portion (214), and one end of the blocking member (241) away from the rotating shaft (243) abuts against the fourth inclined surface (2131).

8. The grasping device according to claim 4, characterized in that, The grasping mechanism (2) includes a guiding plate (25), the guiding plate (25) is connected to the hook member (21), the guiding plate (25) includes a guiding inclined surface (251), and the guiding inclined surface (251) is located at one end of the first inclined surface (2111) away from the second inclined surface (2112) and in the extending direction of the first inclined surface (2111).

9. The grasping device according to claim 1, wherein, The connecting frame (23) includes a connecting plate (231), a first cylinder (232) and a second cylinder (233). The first cylinder (232) connects the hook releasing member (22) and the connecting plate (231), the second cylinder (233) connects the hook member (21) and the connecting plate (231). There is a space for the support rod (1021) to extend between the connecting plate (231), the hook member (21) and the hook releasing member (22). The connecting plate (231) is provided with a groove (2310), and the groove (2310) faces the hook member (21) and the hook releasing member (22).

10. A photovoltaic cleaning system, characterized in that, It includes a photovoltaic cleaning robot (10) and a grasping device. The grasping device is the grasping device according to any one of claims 1 to 9. The photovoltaic cleaning robot (10) includes a cleaning robot body (101) and a bracket (102). The bracket (102) is connected to the cleaning robot body (101), and the bracket (102) includes a support rod (1021) for the grasping device to grasp.

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