Grabbing mechanism and photovoltaic cleaning system

Abstract

The invention discloses a grabbing mechanism and a photovoltaic sweeping system.The grabbing mechanism comprises a fixing frame, a driving piece connected to the fixing frame, a driving wheel connected with the driving piece, two driven pieces connected to the two sides of the driving wheel correspondingly and supporting blocks connected with the driven pieces correspondingly, and the supporting blocks are used for supporting a support of a sweeping machine; the driving part is used for controlling the driving wheel to rotate, and the driving wheel can drive the two supporting blocks to move in the opposite directions through the two driven parts so as to support or release the support. According to the grabbing mechanism, the two supporting blocks are driven by the driving piece to move at the same time, cost is low, and debugging is easy.

Description

Technical Field

[0001] The invention relates to a grabbing mechanism and a photovoltaic cleaning system, belonging to the technical field of photovoltaics. Background Art

[0002] There are problems such as height difference, unevenness, front-back misalignment and undulating terrain between different arrays in large photovoltaic sites. Usually, a chassis vehicle is used to tow a sweeper. When the sweeper runs to the end of the array, the chassis vehicle grabs the sweeper and carries it to another array to solve the problem of crossing arrays.

[0003] In the related art, a mechanical claw is used to grab the sweeper. The mechanical claw is connected to a mechanical arm, which is connected to a chassis vehicle. The chassis vehicle grabs the sweeper and moves. Specifically, two mechanical claws are connected to two motors respectively. The two motors control the two mechanical claws to grab and place the sweeper. During use, the position of the sweeper and the undulations of the ground terrain and other factors cause the gripping position to change, making it difficult to debug the control coordination of the motor and the entire gripping mechanism. In addition, the use of two motors increases costs and energy consumption. Summary of the invention

[0004] The object of the present invention is to provide a gripping mechanism and a photovoltaic cleaning system which are low in cost and easy to debug.

[0005] To achieve the above object, the present invention adopts the following technical solution: A gripping mechanism comprises a fixed frame, a driving member connected to the fixed frame, a driving wheel connected to the driving member, two followers respectively connected to both sides of the driving wheel, and a support block connected to each of the followers, wherein the support block is used to support a bracket of a sweeper, the driving member is used to control the rotation of the driving wheel, and the driving wheel can drive two support blocks to move in opposite directions through the two followers to support or release the bracket.

[0006] As a further improved technical solution of the present invention, the driving wheel is a gear, and the driven member is a rack. When the rack is engaged with the gear, the grasping mechanism also includes a guide member, which is arranged corresponding to the driven member, and the guide member is fixedly connected to the driving member. The guide member has a guide groove, and the driving wheel can drive the driven member to move in the guide groove.

[0007] As a further improved technical solution of the present invention, the gripping mechanism includes a ball and a ball seat, the ball is installed on the ball seat, mounting holes are provided on both sides of the guide member, the ball and the ball seat are arranged in the mounting hole, and the ball is in contact with the follower.

[0008] As a further improved technical solution of the present invention, along the moving direction of the follower, sliding seats are provided on both sides of the support block, and the fixed frame is correspondingly provided with sliding rails. The sliding seats on the same side are slidably connected to the sliding rails, and each of the support blocks is connected to the corresponding follower through a floating joint assembly.

[0009] As a further improved technical solution of the present invention, the floating joint assembly includes a floating joint and a joint seat, the floating joint is connected to the follower, the joint seat is connected to the support block, the joint seat is provided with a receiving groove, the floating joint is at least partially provided in the receiving groove, and the floating joint is located at an outer peripheral surface of the receiving groove and a first gap and a second gap exist between the groove wall surface of the receiving groove and the receiving groove.

[0010] As a further improved technical solution of the present invention, the accommodating groove includes a first groove and a second groove, along the width direction of the follower, the width of the first groove is smaller than the width of the second groove, a step portion is provided between the first groove and the second groove, the floating joint includes a base, a first joint portion connected to the base, a second joint portion, and a connecting portion connecting the first joint portion and the second joint portion, and the outer diameter of the connecting portion is smaller than the outer diameters of the first joint portion and the second joint portion; The follower is provided with a mounting groove, the base is at least partially provided in the mounting groove, the connecting portion is provided in the first groove, the second joint portion is provided in the second groove, the second joint portion abuts against the inner side of the step portion, the first joint portion abuts against the outer side of the step portion, the outer peripheral surface of the connecting portion and the groove wall surface of the first groove have the first gap, and the outer peripheral surface of the second joint portion and the groove wall surface of the second groove have the second gap.

[0011] As a further improved technical solution of the present invention, the accommodating groove has a notch facing the sweeper, and the notch is used to install the floating joint in the accommodating groove.

[0012] As a further improved technical solution of the present invention, the support block includes a guide structure, the support block includes a top, side portions connected to both sides of the top, and an inclined portion connected to both the top and the side portions, the inclined portion is inclined relative to the top toward the other end of the side portion connected to the top, a chamfer structure is provided at the connection between the inclined portion and the side portion, and the guide structure includes the inclined portion and the chamfer structure.

[0013] As a further improved technical solution of the present invention, a stop block is provided on the top, and when the support block supports the bracket, the stop block is used to limit the position of the support block.

[0014] To achieve the above object, the present invention also adopts the following technical solution: A photovoltaic cleaning system comprises a chassis, a mechanical arm connected to the chassis, a grasping mechanism connected to the mechanical arm, and a sweeper. The sweeper comprises a sweeper body and a bracket connected to the sweeper body, and the bracket is used for grasping by the grasping mechanism.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The grabbing mechanism provided by the present invention includes a driving member, a driving wheel, two followers and two support blocks. The driving member controls the rotation of the driving wheel, and the driving wheel drives the two followers to move. The two followers drive the two support blocks to move in opposite directions, so that the two support blocks support or release the bracket of the sweeper. Compared with the use of two driving members, the present invention uses one driving member to control the simultaneous movement of the two support blocks, which is conducive to reducing costs and saving energy consumption. In addition, it is easy to debug and simplifies the control program. 2. The support block of the present invention has an inclined surface and a chamfered structure, so that the robot arm can successfully grab even when the position deviation is large, reducing the grabbing difficulty of the grabbing mechanism. 3. The gear rack of the present invention cooperates with the transmission structure, and further ensures the stability of the position of the rack during the transmission process through the guide member, and a ball contacting the rack is set on the guide member to prevent the rack transmission from jamming. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a three-dimensional schematic diagram of the photovoltaic cleaning system of the present invention; Figure 2 yes Figure 1 A magnified schematic diagram of the middle A area; Figure 3 yes Figure 1 A three-dimensional schematic diagram of the grabbing mechanism and the sweeper; Figure 4 yes Figure 3 A magnified schematic diagram of the middle B area; Figure 5 yes Figure 3 Schematic diagram of the exploded grasping mechanism; Figure 6 yes Figure 3 A three-dimensional schematic diagram of the grabbing mechanism from another angle; Figure 7 yes Figure 6 Schematic diagram of the decomposition of Figure 8 yes Figure 7 Enlarged schematic diagram of the middle C area; Fig. 9 yes Figure 5 Detailed decomposition diagram of Fig.10 yes Fig. 9 Exploded diagram of some components in the figure; Fig.11 yes Figure 3 The main view of the grabbing mechanism; Fig.12 yes Figure 5 A cross-sectional view of the middle follower, support block and floating connection assembly; Fig.13 yes Fig.12 The enlarged schematic diagram of the D area in the middle; Fig.14 yes Figure 7 Exploded diagram of the floating joint assembly; Fig.15 yes Fig. 9 Top view of the center support block. DETAILED DESCRIPTION

[0017] The exemplary embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. If there are several embodiments, the features of these embodiments can be combined with each other without conflict. When the description refers to the drawings, unless otherwise specified, the same numbers in different drawings represent the same or similar elements. The contents described in the following exemplary embodiments do not represent all embodiments 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 as recorded in the claims of the present invention.

[0018] The terms used in the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the scope of protection of the present invention. The singular forms "a", "said" or "the" used in the specification and claims of the present invention are also intended to include plural forms, unless the context clearly indicates other meanings.

[0019] It should be understood that the words used in the specification and claims of the present invention, such as "first", "second" and similar words, do not indicate any order, quantity or importance, but are only used to distinguish the names of features. Similarly, words such as "one" or "an" do not indicate a quantitative limitation, but indicate the existence of at least one. Unless otherwise specified, words such as "front", "rear", "upper", "lower" and similar words appearing in the present invention are only for the convenience of explanation and are not limited to a specific position or a spatial orientation. Words such as "include" or "comprise" are an open-ended expression, meaning that the elements appearing before "include" or "comprise" include the elements appearing after "include" or "comprise" and their equivalents, which does not exclude that the elements appearing before "include" or "comprise" may also include other elements. If "several" appears in the present invention, it means two or more.

[0020] Please refer to Figures 1 to 15As shown, the present invention discloses a photovoltaic cleaning system, including a cleaning machine 10, a chassis 20, a mechanical arm 30 connected to the chassis 20, and a grasping mechanism connected to the mechanical arm 30. The cleaning machine 10 includes a cleaning machine body 101 and a bracket 102 connected to the cleaning machine body 101. The grasping mechanism grasps the cleaning machine 10 by grasping the bracket 102.

[0021] See also Figure 4 The bracket 102 includes a pad 1021 and a U-shaped plate 1022. The pad 1021 is connected to the cleaning machine body 101. The inverted U-shaped plate 1022 is connected to the pad 1021. A space is formed between the U-shaped plate 1022 and the pad 1021 for the grabbing mechanism to extend into.

[0022] Continue to see Figure 4 The U-shaped plate 1022 is an integral piece, and includes two vertical plate portions 10221, a horizontal plate portion 10222 connecting the two vertical plate portions, and a bending portion 10223 extending from the horizontal plate portion 10222 in a direction away from the pad 1021, and the bending portion 10223 is used to limit the grasping mechanism.

[0023] See also Figure 1 The robotic arm 30 includes a base 301, a first arm 302 connected to the base 301, a second arm 303 connected to the first arm 302, a first cylinder 304, a second cylinder 305, a third cylinder 306, a connector 307 and a connecting rod assembly 308. The base 301 is connected to the chassis vehicle 20, two ends of the first cylinder 304 are respectively connected to the base 301 and one side of the first arm 302, two ends of the second cylinder 305 are respectively connected to a first connection of the connector 307 and the other side of the first arm 302, two ends of the third cylinder 306 are respectively connected to a second connection of the connector 307 and the connecting rod assembly 308, and the third connection of the connector 307 is connected to the first arm 302 and the second arm 303.

[0024] See also Figure 2 The robot arm 30 is connected to the grasping mechanism through the connecting seat 50, and the connecting rod assembly 308 includes a first connecting rod 3081, a second connecting rod 3082 and a connecting shaft 3083. One end of the first connecting rod 3081 is connected to the second arm 303, one end of the second connecting rod 3082 is connected to the first connection of the connecting seat 50, the other end of the first connecting rod 3081 and the other end of the second connecting rod 3082 are connected to the connecting shaft 3083, the two ends of the third cylinder 306 are respectively connected to the second connection of the connecting member 307 and the connecting shaft 3083, and the second connection of the connecting seat 50 is connected to the second arm 303. The angle of the first arm 302 is controlled by the first cylinder 304, the angle of the second arm 303 is controlled by the second cylinder 305, and the angle of the connecting seat 50 and the grasping mechanism is controlled by the third cylinder 306.

[0025] See also Figure 5 and Figure 6 The grabbing mechanism includes a fixed frame 1, a driving member 2 connected to the fixed frame 1, a driving wheel 3 connected to the driving member 2, two followers 4 respectively connected to both sides of the driving wheel 3, and a support block 5 connected to each follower 4, and the support block 5 is used to support the bracket 102 of the sweeper 10. During operation, the driving member 2 controls the driving wheel 3 to rotate, and the driving wheel 3 drives the two followers 4 to move along its length direction, and drives the two support blocks 5 to move in opposite directions through the two followers 4 to support or release the bracket 102. During the grabbing process, the driving member 2 controls the two support blocks 5 to move away from each other, and the support blocks 5 extend into the space enclosed between the U-shaped plate 1022 and the pad 1021. After the support blocks 5 abut against the bending portion 10223, the sweeper 10 is grabbed; during the releasing process, the driving member 2 controls the two support blocks 5 to move closer to each other, and the support blocks 5 are separated from the space enclosed between the U-shaped plate 1022 and the pad 1021, thereby releasing the sweeper 10.

[0026] Compared with using two driving members, the present invention uses one driving member 2 to control the simultaneous movement of two supporting blocks 5, which is conducive to reducing costs, saving energy consumption, and is also easy to debug and simplifies the control program. In addition, using one driving member 2 can leave a large margin for the mechanical arm 30, and can realize automatic correction of clamping to ensure smooth clamping.

[0027] See also Figure 5 The fixing frame 1 includes a frame body 11, a fixing plate 12 connected to the frame body 11, and side plates 13 connected to both sides of the fixing plate 12. The connecting seat 50 is connected to the frame body 11, and the driving member 2 is connected to the fixing plate 12. At least two side plates 13 are provided on both sides of the fixing plate 12, and there is a gap between at least two side plates 13 on the same side, and the driving member 2 at least partially extends out of the fixing frame 1 through the gap.

[0028] For details, see Fig. 9 Two side plates 13 are provided on both sides of the fixed plate 12. The fixed plate 12 includes a first fixed plate 121, a second fixed plate 122 and a third fixed plate 123. Two opposite side plates 13 are provided on both sides of the first fixed plate 121, and two opposite side plates 13 are provided on both sides of the third fixed plate 123. The driving member 2 is connected to the second fixed plate 122.

[0029] See also Figure 5 and Fig. 9The gripping mechanism further includes a slide rail assembly, which includes a slide rail 82 and a slide seat 81. Along the moving direction of the follower 4, slide seats 81 are provided on both sides of the support block 5. The side plates 13 of the fixed frame 1 are correspondingly provided with slide rails 82. The slide seats 81 on the same side are slidably connected with the slide rails 82. In this way, the support block 5 is connected to the fixed frame 1 and guides the movement of the support block 5. Each side plate 13 of the fixed plate 12 is connected to a baffle 14 at one end away from the driving member 2. The baffle 14 is used to limit the slide seat 81 to prevent the slide seat 81 from escaping from the slide rail 82.

[0030] The driving member 2 and the driving wheel 3 can be directly connected or indirectly connected. Direct connection means that the driving wheel 3 is installed on the output shaft of the driving member 2; Figure 7 As shown, indirect connection means that the driving member 2 is connected to the reducer 2a, and the driving wheel 3 is installed on the output shaft of the reducer 2a. Optionally, the driving member 2 is a motor, and the motor controls the support blocks 5 to move away from or close to each other by forward and reverse rotation.

[0031] The driving wheel 3 is a gear, and the driven member 4 is a rack. The two racks are respectively meshed with the upper and lower sides of the gear. The two racks are arranged at intervals up and down, and the teeth of the two racks are at least partially opposite. The two support blocks 5 are at the same horizontal height, and the two racks are connected to the two support blocks 5 at different heights.

[0032] The support block 5 has an inner cavity, the opening of which faces the sweeper 10. By setting the support block 5 as a hollow structure, it is helpful to reduce the weight. Fig. 9 The support block 5 includes a top 51, side portions 52 connected to both sides of the top 51, and an inclined portion 53 connected to both the top 51 and the side portions 52. The inclined portion 53 is inclined relative to the top 51 toward the other end where the side portions 52 are connected to the top 51. A chamfered structure 532 is provided at the connection between the inclined portion 53 and the side portions 52. The support block 5 includes a guide structure, and the guide structure includes the inclined portion 53 and the chamfered structure 532. When the support block 5 and the bracket 102 are matched with each other, the inclined portion 53 allows a height deviation between the support block 5 and the bracket 102, and the chamfered structure 532 allows a width deviation between the support block 5 and the bracket 102, so that the support block 5 can successfully grasp the bracket 102 even when the position deviation of the robot arm 30 is large.

[0033] See also Fig. 9 The top 51 is provided with a stopper 54, and when the support block 5 supports the bracket 102, the stopper 54 is used to limit the position of the support block 5. During the grabbing process, the driving member 2 controls the support block 5 to extend into the space enclosed between the U-shaped plate 1022 and the pad 1021 of the bracket 102, and after the stopper 54 abuts against the bent portion 10223, the support block 5 moves into position, and the sweeper 10 is grabbed at this time.

[0034] The top 51, the side 52 and the inclined portion 53 are all plate structures, see Fig. 9The support block 5 includes an end plate 55 facing the driving member 2, the end plate 55 is connected to the top 51 and the side 52 at the same time, and the driven member 4 is connected to the end plate 55. The top 51, the side 52, the inclined portion 53 and the end plate 55 form an inner cavity.

[0035] In this embodiment, see Fig.11 There is a first spacing H1 between the bottom end of the support block 5 and the frame 11 of the fixed frame 1, and there is a second spacing H2 between the bottom end of the driving member 2 and the frame 11 of the fixed frame 1. The second spacing H2 is greater than the first spacing H1, that is, the bottom end of the driving member 2 is lower than the bottom end of the support block 5, and the support block 5 is lifted upward relative to the driving member 2. When grabbing the sweeper 10, the mechanical arm 30 controls the grabbing mechanism to move downward until the bottom end of the driving member 2 contacts the sweeper 10 and stops moving. There is a gap between the support block 5 and the sweeper 10. When the driving member 2 controls the support block 5 to move, the support block 5 does not contact the sweeper 10, and there is no friction.

[0036] See also Figure 6 The gripping mechanism includes a guide member 6, which is arranged corresponding to the driven member 4. The guide member 6 is directly or indirectly fixedly connected to the driving member 2. The indirect fixed connection means that the guide member 6 is fixedly connected to the reducer 2a. Fig.10 The guide member 6 has a guide groove 63 , and the driving wheel 3 can drive the driven member 4 to move in the guide groove 63 to guide the driven member 4 .

[0037] See also Fig.10 The guide member 6 includes an upper guide member and a lower guide member, each of which includes two opposite guide side plates 61 and a base plate 62 connecting the two guide side plates 61, and the two guide side plates 61 and the corresponding base plate 62 form a guide groove 63. The guide side plate 61 located on the outer side of the upper guide member is provided with a first abutting portion 611 extending vertically to the guide groove 63, and the guide side plate 61 located on the outer side of the lower guide member is provided with a second abutting portion 612 extending vertically to the guide groove 63. The follower 4 is provided with a matching groove 42, and the first abutting portion 611 and the second abutting portion 612 are correspondingly arranged in the respective matching grooves 42 and abut against the groove wall surface of the matching groove 42. The height direction of the follower 4 is limited by the base plate 62 and the abutting portion, and the width direction of the follower 4 is limited by the guide side plate 61.

[0038] See also Fig.10 The grabbing mechanism includes a ball 71 and a ball seat 72. The ball 71 is installed on the ball seat 72. The guide side plate 61 of the guide member 6 is provided with a mounting hole 610. The ball 71 and the ball seat 72 are arranged in the mounting hole 610. The ball 71 contacts the follower 4, so that the follower 4 moves smoothly in the guide groove 63 to prevent jamming.

[0039] In this embodiment, each support block 5 is connected to the corresponding follower 4 via a floating joint assembly 9. Figure 8 The floating joint assembly 9 includes a floating joint 91 and a joint seat 92. The floating joint 91 is connected to the follower 4, and the joint seat 92 is connected to the end plate 55 of the support block 5. The joint seat 92 is provided with a receiving groove 920. The floating joint 91 is at least partially provided in the receiving groove 920. The follower 4 drives the support block 5 to move along the axial direction of the floating joint 91 through the floating joint 91. There is a first gap 901 and a second gap 902 between the outer peripheral surface of the floating joint 91 located in the receiving groove 920 and the groove wall surface of the receiving groove 920. In this way, the floating joint 91 is not subjected to force in the circumferential direction, that is, the follower 4 is not subjected to force, which protects the follower 4.

[0040] For details, see Fig.13 and Fig.14 The receiving groove 920 includes a first groove 9201 and a second groove 9202 which are connected to each other. Along the width direction of the follower 4, the width of the first groove 9201 is smaller than the width of the second groove 9202. There is a step portion 921 between the first groove 9201 and the second groove 9202. The floating joint 91 includes a base 911, a first joint portion 912 connected to the base 911, a second joint portion 913, and a connecting portion 914 connecting the first joint portion 912 and the second joint portion 913. The outer diameter of the connecting portion 914 is smaller than the outer diameters of the first joint portion 912 and the second joint portion 913.

[0041] Accordingly, see Fig.13 The follower 4 is provided with a mounting groove 41, the base 911 is at least partially provided in the mounting groove 41, the connecting portion 914 is provided in the first groove 9201, the second joint portion 913 is provided in the second groove 9202, the second joint portion 913 abuts against the inner side of the step portion 921, the first joint portion 912 abuts against the outer side of the step portion 921, a first gap 901 exists between the outer peripheral surface of the connecting portion 914 and the groove wall surface of the first groove 9201, and a second gap 902 exists between the outer peripheral surface of the second joint portion 913 and the groove wall surface of the second groove 9202, so that the outer peripheral surfaces of the connecting portion 914 and the second joint portion 913 do not contact the groove wall surface of the second groove 9202, and no force is applied to the floating joint 91 in the circumferential direction. In addition, the outer end surface of the second joint portion 913 does not contact the groove wall surface of the second groove 9202, so that the outer end surface of the second joint portion 913 is also not subjected to force.

[0042] It should be noted that the two slide rails 82 on both sides of the support block 5 are arranged at intervals along the width direction of the driven member 4 .

[0043] In some embodiments, the mounting groove 41 has an internal thread, the base 911 has an external thread, and the base 911 is screwed to the mounting groove 41 .

[0044] In this embodiment, see Figure 8The first groove 9201 and the second groove 9202 are both inverted U-shaped grooves, so that the receiving groove 920 has a groove 9203 facing the sweeper 10, and the groove 9203 is used to install the floating joint 91 in the receiving groove 920.

[0045] The above implementation modes are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. The understanding of the present invention should be based on the technical personnel in the relevant technical field. Although the present invention has been described in detail in this specification with reference to the above implementation modes, the ordinary technical personnel in the field should understand that the technical personnel in the relevant technical field can still modify or replace the present invention with equivalents, and all technical solutions and improvements thereof that do not depart from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

1. A gripping mechanism, characterized in that: The invention comprises a fixing frame (1), a driving member (2) connected to the fixing frame (1), a driving wheel (3) connected to the driving member (2), two driven members (4) respectively connected to both sides of the driving wheel (3), and a support block (5) connected to each of the driven members (4), wherein the support block (5) is used to support a bracket (102) of a sweeper (10), the driving member (2) is used to control the rotation of the driving wheel (3), and the driving wheel (3) can drive the two support blocks (5) to move in opposite directions through the two driven members (4) to support or release the bracket (102).

2. The gripping mechanism according to claim 1, characterized in that: The driving wheel (3) is a gear, and the driven member (4) is a rack. When the rack is meshed with the gear, the grasping mechanism further comprises a guide member (6), the guide member (6) being arranged corresponding to the driven member (4), the guide member (6) being fixedly connected to the driving member (2), the guide member (6) having a guide groove (63), and the driving wheel (3) can drive the driven member (4) to move in the guide groove (63).

3. The gripping mechanism according to claim 2, characterized in that: The gripping mechanism comprises a ball (71) and a ball seat (72), the ball (71) being mounted on the ball seat (72), mounting holes (610) being provided on both sides of the guide member (6), the ball (71) together with the ball seat (72) being arranged in the mounting holes (610), and the ball (71) being in contact with the follower member (4).

4. The gripping mechanism according to claim 1, characterized in that: Along the moving direction of the driven member (4), slide seats (81) are provided on both sides of the support block (5), and the fixed frame (1) is correspondingly provided with slide rails (82). The slide seats (81) and the slide rails (82) on the same side are slidably connected, and each support block (5) is connected to the corresponding driven member (4) via a floating joint assembly (9).

5. The gripping mechanism according to claim 4, characterized in that: The floating joint assembly (9) comprises a floating joint (91) and a joint seat (92); the floating joint (91) is connected to the driven member (4); the joint seat (92) is connected to the support block (5); the joint seat (92) is provided with a receiving groove (920); the floating joint (91) is at least partially provided in the receiving groove (920); and a first gap (901) and a second gap (902) exist between the outer peripheral surface of the floating joint (91) located in the receiving groove (920) and the groove wall surface of the receiving groove (920).

6. The gripping mechanism according to claim 5, characterized in that: The accommodating groove (920) comprises a first groove (9201) and a second groove (9202); along the width direction of the driven member (4), the width of the first groove (9201) is smaller than the width of the second groove (9202); a step portion (921) is provided between the first groove (9201) and the second groove (9202); the floating joint (91) comprises a base portion (911), a first joint portion (912) connected to the base portion (911), a second joint portion (913), and a connecting portion (914) connecting the first joint portion (912) and the second joint portion (913); the outer diameter of the connecting portion (914) is smaller than the outer diameters of the first joint portion (912) and the second joint portion (913); The follower (4) is provided with a mounting groove (41), the base (911) is at least partially provided in the mounting groove (41), the connecting portion (914) is provided in the first groove (9201), the second joint portion (913) is provided in the second groove (9202), the second joint portion (913) abuts against the inner side of the step portion (921), the first joint portion (912) abuts against the outer side of the step portion (921), the outer peripheral surface of the connecting portion (914) and the groove wall surface of the first groove (9201) have the first gap (901), and the outer peripheral surface of the second joint portion (913) and the groove wall surface of the second groove (9202) have the second gap (902).

7. The gripping mechanism according to claim 5, characterized in that: The accommodating groove (920) has a notch (9203) facing the sweeping machine (10), and the notch (9203) is used to install the floating joint (91) in the accommodating groove (920).

8. The gripping mechanism according to claim 1, characterized in that: The support block (5) comprises a guiding structure, the support block (5) comprising a top (51), a side portion (52) connected to both sides of the top (51), and an inclined portion (53) connected to both the top (51) and the side portion (52), the inclined portion (53) being inclined relative to the top (51) toward the other end of the side portion (52) connected to the top (51), a chamfered structure (532) being provided at the connection between the inclined portion (53) and the side portion (52), and the guiding structure comprising the inclined portion (53) and the chamfered structure (532).

9. The gripping mechanism according to claim 8, characterized in that: The top (51) is provided with a stopper (54), and when the support block (5) supports the bracket (102), the stopper (54) is used to limit the position of the support block (5).

10. A photovoltaic cleaning system, characterized in that: The invention comprises a chassis vehicle (20), a mechanical arm (30) connected to the chassis vehicle (20), a grasping mechanism connected to the mechanical arm (30), and a sweeper (10), wherein the grasping mechanism is a grasping mechanism as claimed in any one of claims 1 to 9, and the sweeper (10) comprises a sweeper body (101) and a bracket (102) connected to the sweeper body (101), and the bracket (102) is used for being grasped by the grasping mechanism.

Images