Grasping mechanism and photovoltaic cleaning system

Abstract

The present invention discloses a grasping mechanism and a photovoltaic cleaning system. The grasping mechanism includes a fixed frame, a driving member connected to the fixed frame, a driving wheel connected to the driving member, two driven members respectively connected to both sides of the driving wheel, and a support block connected to each driven member. The support block is used to support the bracket of the cleaning machine. The driving member is used to control the rotation of the driving wheel. The driving wheel can drive the two support blocks to move in opposite directions through the two driven members to support or release the bracket. The grasping mechanism provided by the present invention drives the two support blocks to move simultaneously through the driving member, with low cost and easy debugging.

Description

Technical Field

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

[0002] There are problems of height difference, unevenness, front-back dislocation, and terrain undulation 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 an 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 grab 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. Specifically, two mechanical claws are correspondingly connected to two motors, and the two motors are used to control the two mechanical claws to grab and place the cleaning machine. During use, due to various factors such as the position of the cleaning machine and the undulation of the ground terrain, the change of the grabbing position makes it extremely difficult to debug the control cooperation between the motor and the entire grabbing mechanism; in addition, using two motors increases the cost and also increases the energy consumption. Summary of the Invention

[0004] The purpose of the present invention is to provide a grasping mechanism and a photovoltaic cleaning system with low cost and easy debugging.

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

[0006] A grasping mechanism includes a fixed frame, a driving member connected to the fixed frame, a driving wheel connected to the driving member, two driven members respectively connected to both sides of the driving wheel, and a support block connected to each driven member. The support block is used to support the bracket of the cleaning machine. The driving member is used to control the rotation of the driving wheel. The driving wheel can drive the two support blocks to move in opposite directions through the two driven members to support or release the bracket.

[0007] 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 meshes with the gear, the grasping mechanism further includes a guiding member. The guiding member is correspondingly arranged with the driven member. The guiding member is fixedly connected to the driving member. The guiding member has a guiding groove, and the driving wheel can drive the driven member to move in the guiding groove.

[0008] As a further improved technical solution of the present invention, the grasping mechanism includes a ball and a ball seat. The ball is installed in the ball seat. Installation holes are arranged on both sides of the guiding member. The ball together with the ball seat is arranged in the installation hole, and the ball contacts the driven member.

[0009] As a further improved technical solution of the present invention, along the moving direction of the driven member, sliding seats are provided on both sides of the supporting block, corresponding slide rails are provided on the fixed frame, the sliding seats on the same side are slidably connected to the slide rails, and each supporting block and the corresponding driven member are connected through a floating joint assembly.

[0010] 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 driven member, the joint seat is connected to the supporting block, the joint seat is provided with a receiving groove, at least part of the floating joint is disposed in the receiving groove, and there is a first gap and a second gap between the outer peripheral surface of the floating joint located in the receiving groove and the groove wall surface of the receiving groove.

[0011] As a further improved technical solution of the present invention, the receiving groove includes a first groove and a second groove. Along the width direction of the driven member, the width of the first groove is smaller than the width of the second groove, and there is a stepped portion between the first groove and the second groove. The floating joint includes a base portion, a first joint portion connected to the base portion, a second joint portion, and a connecting portion connecting the first joint portion and the second joint portion. The outer diameter of the connecting portion is smaller than the outer diameters of the first joint portion and the second joint portion;

[0012] The driven member is provided with a mounting groove, at least part of the base portion is disposed in the mounting groove, the connecting portion is disposed in the first groove, the second joint portion is disposed in the second groove, the second joint portion abuts against the inner side of the stepped portion, the first joint portion abuts against the outer side of the stepped portion, there is the first gap between the outer peripheral surface of the connecting portion and the groove wall surface of the first groove, and there is the second gap between the outer peripheral surface of the second joint portion and the groove wall surface of the second groove.

[0013] As a further improved technical solution of the present invention, the receiving groove has a notch facing the sweeper, and the notch is used to install the floating joint in the receiving groove.

[0014] As a further improved technical solution of the present invention, the supporting block includes a guiding structure. The supporting block includes a top portion, side portions connected to both sides of the top portion, and inclined portions connected to both the top portion and the side portions. The inclined portions are inclined relative to the top portion toward the other ends where the side portions are connected to the top portion. Chamfer structures are provided at the connections between the inclined portions and the side portions, and the guiding structure includes the inclined portions and the chamfer structures.

[0015] As a further improved technical solution of the present invention, a stop block is provided on the top portion. When the supporting block supports the bracket, the stop block is used to limit the supporting block.

[0016] To achieve the above object, the present invention also adopts the following technical solutions:

[0017] A photovoltaic cleaning system includes a chassis vehicle, a robotic arm connected to the chassis vehicle, a grasping mechanism connected to the robotic arm, and a cleaning machine. The cleaning machine includes a cleaning machine main body and a bracket connected to the cleaning machine main body, and the bracket is for the grasping mechanism to grasp.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The grasping mechanism provided by the present invention includes a driving member, a driving wheel, two driven members, and two supporting blocks. By controlling the driving wheel to rotate through the driving member, the driving wheel drives the two driven members to move, and the two driven members drive the two supporting blocks to move in opposite directions, so as to realize the support or release of the bracket of the cleaning machine by the two supporting blocks. Compared with using two driving members, the present invention uses one driving member to control the simultaneous movement of the two supporting blocks, which is beneficial to reducing costs, saving energy consumption, and is also easy to debug and simplifies the control program. 2. The supporting blocks of the present invention have inclined surface and chamfer structures, so that the robotic arm can also be successfully grasped under the state of large position deviation, reducing the grasping difficulty of the grasping mechanism. 3. In the gear-rack meshing transmission structure of the present invention, the position stability of the rack during the transmission process is further ensured by a guiding member, and balls in contact with the rack are arranged on the guiding member to prevent the rack transmission from jamming. Description of the Drawings

[0019] Figure 1 is a three-dimensional schematic diagram of the photovoltaic cleaning system of the present invention;

[0020] Figure 2 is Figure 1 the enlarged schematic diagram of area A in

[0021] Figure 3 is Figure 1 the three-dimensional schematic diagram of the grasping mechanism and the cleaning machine in

[0022] Figure 4 is Figure 3 the enlarged schematic diagram of area B in

[0023] Figure 5 is Figure 3 the exploded schematic diagram of the grasping mechanism in

[0024] Figure 6 is Figure 3 the three-dimensional schematic diagram of another angle of the grasping mechanism in

[0025] Figure 7 is Figure 6 the exploded schematic diagram of

[0026] Figure 8 is Figure 7 the enlarged schematic diagram of area C in

[0027] Figure 9 isFigure 5 Detailed exploded view;

[0028] Figure 10 is Figure 9 Exploded view of some components in;

[0029] Figure 11 is Figure 3 Front view of the grasping mechanism in;

[0030] Figure 12 is Figure 5 Cross-sectional view of the follower, support block and floating connection assembly in;

[0031] Figure 13 is Figure 12 Enlarged view of area D in;

[0032] Figure 14 is Figure 7 Exploded view of the floating joint assembly in;

[0033] Figure 15 is Figure 9 Top view of the support block in. Specific embodiments

[0034] The following will describe in detail the exemplary specific embodiments of the present invention with reference to the accompanying drawings. If there are several specific embodiments, the features in these embodiments 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 embodiments does 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 recorded in the claims of the present invention.

[0035] The terms used in the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the protection scope of the present invention. The singular forms of "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.

[0036] It should be understood that in the description and claims of the present invention, words such as "first", "second" and similar words do not indicate any order, quantity or importance, but are only used to distinguish the named features. Similarly, words such as "a" or "an" do not indicate a quantity limitation, but indicate the existence of at least one. Unless otherwise indicated, words such as "front", "rear", "upper", "lower" and similar words in the present invention are only for convenience of description and are not limited to a specific position or a spatial orientation. Words such as "comprising" or "including" are an open-ended expression, meaning 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.

[0037] Please refer to Figures 1 to 15 As shown, the present invention discloses a photovoltaic cleaning system, which includes a cleaning machine 10, a chassis vehicle 20, a robotic arm 30 connected to the chassis vehicle 20, and a grasping mechanism connected to the robotic arm 30. The cleaning machine 10 includes a cleaning machine main body 101 and a bracket 102 connected to the cleaning machine main body 101. The grasping mechanism realizes the grasping of the cleaning machine 10 through the grasping bracket 102.

[0038] See Figure 4 , the bracket 102 includes a backing plate 1021 and a U-shaped plate 1022. The backing plate 1021 is connected to the cleaning machine main body 101, and the inverted U-shaped plate 1022 is connected to the backing plate 1021. A space for the grasping mechanism to extend into is formed between the U-shaped plate 1022 and the backing plate 1021.

[0039] Continue to refer to Figure 4 , the U-shaped plate 1022 is an integral part. The U-shaped plate 1022 includes two vertical plate portions 10221, a horizontal plate portion 10222 connecting the two vertical plate portions, and a bent portion 10223 extending and bending away from the backing plate 1021 from the horizontal plate portion 10222. The bent portion 10223 is used to limit the grasping mechanism.

[0040] See 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 connecting member 307, and a connecting rod assembly 308. The base 301 is connected to the chassis truck 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 part of the connecting member 307 and the other side of the first arm 302. Two ends of the third cylinder 306 are respectively connected to a second connection part of the connecting member 307 and the connecting rod assembly 308. A third connection part of the connecting member 307 is connected to the first arm 302 and the second arm 303.

[0041] See Figure 2 , the robotic arm 30 is connected to the grasping mechanism through a connecting seat 50. 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 a first connection part 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. Two ends of the third cylinder 306 are respectively connected to a second connection part of the connecting member 307 and the connecting shaft 3083. A second connection part 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.

[0042] See Figure 5 and Figure 6 , the grasping mechanism includes 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 supporting block 5 connected to each driven member 4. The supporting block 5 is used to support the bracket 102 of the sweeper 10. During operation, the driving member 2 controls the rotation of the driving wheel 3. The driving wheel 3 drives the two driven members 4 to move along their length directions. The two driven members 4 drive the two supporting blocks 5 to move in opposite directions to support or release the bracket 102. During the grasping process, the driving member 2 controls the two supporting blocks 5 to move away from each other. The supporting blocks 5 extend into the space enclosed by the U-shaped plate 1022 and the backing plate 1021. After the supporting blocks 5 abut against the bent part 10223, the sweeper 10 is grasped. During the releasing process, the driving member 2 controls the two supporting blocks 5 to move closer to each other. The supporting blocks 5 disengage from the space enclosed by the U-shaped plate 1022 and the backing plate 1021, thereby releasing the sweeper 10.

[0043] 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 beneficial to reducing costs, saving energy consumption, and is also easy to debug and simplifies the control program. In addition, by using one driving member 2, a large margin can be left for the robotic arm 30, and automatic correction during clamping can be achieved to ensure smooth clamping.

[0044] See 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. At least a part of the driving member 2 extends out of the fixing frame 1 through the gap.

[0045] Specifically, see Figure 9 , two side plates 13 are provided on both sides of the fixing plate 12. The fixing plate 12 includes a first fixing plate 121, a second fixing plate 122, and a third fixing plate 123. Two opposite side plates 13 are provided on both sides of the first fixing plate 121, and two opposite side plates 13 are provided on both sides of the third fixing plate 123. The driving member 2 is connected to the second fixing plate 122.

[0046] See Figure 5 and Figure 9 , the grasping mechanism further includes a slide rail assembly. The slide rail assembly includes a slide rail 82 and a slide seat 81. Along the moving direction of the driven member 4, slide seats 81 are provided on both sides of the supporting block 5, and slide rails 82 are correspondingly provided on the side plates 13 of the fixing frame 1. The slide seats 81 on the same side are slidably connected to the slide rails 82. In this way, the supporting block 5 is connected to the fixing frame 1 and the movement of the supporting block 5 is guided. A baffle 14 is connected to each end of the side plate 13 of the fixing plate 12 away from the driving member 2. The baffle 14 is used to limit the slide seat 81 to prevent the slide seat 81 from disengaging from the slide rail 82.

[0047] 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; as Figure 7 shown, indirect connection means that the driving member 2 is connected to the speed reducer 2a, and the driving wheel 3 is installed on the output shaft of the speed reducer 2a. Optionally, the driving member 2 is a motor, and the motor controls the supporting blocks 5 to move away from or close to each other by forward and reverse rotation.

[0048] The driving wheel 3 is a gear, 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 at least part of the teeth of the two racks are opposite. The two supporting blocks 5 are at the same horizontal height, and the two racks are connected to the two supporting blocks 5 at different height positions.

[0049] The support block 5 has an inner cavity, and the opening of the inner cavity faces the cleaning machine 10. By setting the support block 5 as a hollow structure, it is beneficial to reduce the weight. Refer to Figure 9 , the support block 5 includes a top portion 51, side portions 52 connected to both sides of the top portion 51, and an inclined portion 53 connected to both the top portion 51 and the side portions 52. The inclined portion 53 is inclined relative to the top portion 51 towards the other end where the side portion 52 is connected to the top portion 51. Chamfer structures 532 are provided at the joints of the inclined portion 53 and the side portions 52. The support block 5 includes a guiding structure, and the guiding structure includes the inclined portion 53 and the chamfer structures 532. When the support block 5 is mutually matched with the bracket 102, the inclined portion 53 allows a height - direction deviation between the support block 5 and the bracket 102, and the chamfer structures 532 allow a width - direction 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 robotic arm 30 is relatively large.

[0050] Refer to Figure 9 , a stop block 54 is provided on the top portion 51. When the support block 5 supports the bracket 102, the stop block 54 is used to limit the support block 5. During the grasping process, the driving member 2 controls the support block 5 to extend into the space enclosed by the U - shaped plate 1022 and the backing plate 1021 of the bracket 102. After the stop block 54 abuts against the bent portion 10223, the support block 5 moves into place, and at this time, the cleaning machine 10 is grasped.

[0051] The top portion 51, the side portions 52, and the inclined portion 53 are all plate - like structures. Refer to Figure 9 , the support block 5 includes an end plate 55 facing the driving member 2. The end plate 55 is connected to both the top portion 51 and the side portions 52 at the same time, and the driven member 4 is connected to the end plate 55. The top portion 51, the side portions 52, the inclined portion 53, and the end plate 55 enclose the inner cavity.

[0052] In this embodiment, refer to Figure 11 , there is a first distance H1 between the bottom end of the support block 5 and the frame body 11 of the fixing frame 1, and there is a second distance H2 between the bottom end of the driving member 2 and the frame body 11 of the fixing frame 1. The second distance H2 is greater than the first distance 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 grasping the cleaning machine 10, the robotic arm 30 controls the grasping mechanism to move downward until the bottom end of the driving member 2 contacts the cleaning machine 10 and then stops moving, while there is a gap between the support block 5 and the cleaning machine 10. When the driving member 2 controls the movement of the support block 5, the support block 5 does not contact the cleaning machine 10, and thus there is no frictional force.

[0053] Refer to Figure 6 , the grasping mechanism includes a guiding member 6. The guiding member 6 is correspondingly arranged with the driven member 4. The guiding member 6 is directly fixedly connected or indirectly fixedly connected to the driving member 2. Indirect fixed connection means that the guiding member 6 is fixedly connected to the reduction gear 2a. Refer to Figure 10, the guiding member 6 has a guiding groove 63, and the driving wheel 3 can drive the driven member 4 to move in the guiding groove 63 to realize the guiding of the driven member 4.

[0054] See Figure 10 , the guiding member 6 includes an upper guiding member and a lower guiding member. Both the upper guiding member and the lower guiding member include two opposite guiding side plates 61 and a base plate 62 connecting the two guiding side plates 61. The two guiding side plates 61 and the corresponding base plate 62 enclose the guiding groove 63. The guiding side plate 61 of the upper guiding member located on the outer side is provided with a first abutting portion 611 extending vertically towards the guiding groove 63, and the guiding side plate 61 of the lower guiding member located on the outer side is provided with a second abutting portion 612 extending vertically towards the guiding groove 63. The driven member 4 is provided with a mating groove 42. The first abutting portion 611 and the second abutting portion 612 are correspondingly arranged in their respective mating grooves 42 and abut against the groove wall surface of the mating groove 42. The height direction of the driven member 4 is limited by the base plate 62 and the abutting portions, and the width direction of the driven member 4 is limited by the guiding side plates 61.

[0055] See Figure 10 , the grasping mechanism includes balls 71 and ball seats 72. The balls 71 are installed in the ball seats 72. The guiding side plates 61 of the guiding member 6 are each provided with a mounting hole 610. The balls 71 together with the ball seats 72 are arranged in the mounting holes 610. The balls 71 are in contact with the driven member 4, enabling the driven member 4 to move smoothly in the guiding groove 63 and preventing jamming.

[0056] In this embodiment, each support block 5 and the corresponding driven member 4 are connected through a floating joint assembly 9. See 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 driven member 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. At least a part of the floating joint 91 is arranged in the receiving groove 920. The driven member 4 drives the support block 5 to move along the axis direction of the floating joint 91 through the floating joint 91. There are 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. This enables the floating joint 91 to be not stressed in the circumferential direction, that is, the driven member 4 is not stressed, which plays a protective role for the driven member 4.

[0057] Specifically, see Figure 13 and Figure 14, the receiving groove 920 includes a first groove 9201 and a second groove 9202 that communicate with each other. Along the width direction of the follower 4, the width of the first groove 9201 is smaller than that of the second groove 9202, and there is a step portion 921 between the first groove 9201 and the second groove 9202. The floating joint 91 includes 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.

[0058] Correspondingly, referring to Figure 13 , the follower 4 is provided with a mounting groove 41. The base portion 911 is at least partially disposed in the mounting groove 41. The connecting portion 914 is disposed in the first groove 9201. The second joint portion 913 is disposed in the second groove 9202. The second joint portion 913 abuts against the inner side of the step portion 921, and the first joint portion 912 abuts against the outer side of the step portion 921. There is a first gap 901 between the outer peripheral surface of the connecting portion 914 and the groove wall surface of the first groove 9201, and there is a second gap 902 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 the floating joint 91 is not subjected to force 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 not subjected to force.

[0059] 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 follower 4.

[0060] In some embodiments, the mounting groove 41 has an internal thread, the base portion 911 has an external thread, and the base portion 911 is screwed to the mounting groove 41.

[0061] In this embodiment, referring to Figure 8 , both the first groove 9201 and the second groove 9202 are inverted U-shaped grooves, so that the receiving groove 920 has a notch 9203 facing the sweeper 10, and the notch 9203 is used to install the floating joint 91 in the receiving groove 920.

[0062] 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 replacements, and all technical solutions and improvements 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 fixed frame (1), a driving member (2) connected to the fixed 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), the driving wheel (3) can drive the two supporting blocks (5) to move in opposite directions through the two driven members (4) to support or release the bracket (102), each supporting block (5) is connected to the corresponding driven member (4) via a floating joint assembly (9), the floating joint assembly (9) comprises a floating joint (91) and a joint seat (92), the floating joint (91) and the supporting block (5) are connected to the supporting block (102) and the supporting block (5) is ...102) and the supporting block The floating joint (91) is connected to a follower (4), the joint seat (92) is connected to the support block (5), the joint seat (92) is provided with a receiving groove (920), the receiving groove (920) comprises a first groove (9201) and a second groove (9202), 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), a step portion (921) is provided between the first groove (9201) and the second groove (9202), the floating joint (91) comprises a first joint portion (912), 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 connecting portion (914) is arranged in the first groove (9201), and the second joint portion (913) is arranged in the second groove (9202). The second joint portion (913) abuts against the inner side of the step portion (921), and 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).

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), both sides of the support block (5) are provided with slide seats (81), and the fixed frame (1) is correspondingly provided with slide rails (82), and the slide seats (81) and the slide rails (82) on the same side are slidably connected.

5. The gripping mechanism according to claim 4, characterized in that: The floating joint (91) comprises a base (911) and the first joint portion (912) connected to the base (911); The driven member (4) is provided with a mounting groove (41), and the base (911) is at least partially disposed in the mounting groove (41).

6. The gripping mechanism according to claim 1, 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).

7. 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).

8. The gripping mechanism according to claim 7, 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).

9. 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 8, 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.

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