Grabbing mechanism and vehicle-mounted cleaning machine

Abstract

A grabbing mechanism comprises a base plate, a driving part, two connecting rods and two clamping jaw mechanism parts, wherein the driving part, the two connecting rods and the two clamping jaw mechanism parts are positioned on the base plate. The driving piece comprises two output shafts which are oppositely arranged in the left-right direction, and the output shafts are connected with the connecting rods in a one-to-one correspondence mode. And the driving part can rotate so as to drive the two connecting rods to rotate synchronously through the two output shafts, so that the two clamping jaw mechanism parts are opened or closed synchronously. The structure of the grabbing mechanism and the structure of the vehicle-mounted cleaning machine are simplified and optimized, cost is reduced, and the grabbing mechanism and the vehicle-mounted cleaning machine have the advantage of being easy to grab.

Description

Technical Field

[0001] The utility model relates to the field of photovoltaics, in particular to a grasping mechanism and a vehicle-mounted cleaning machine. Background Art

[0002] In arid areas such as deserts and gobi, due to scarce precipitation all year round, the surface of photovoltaic modules is covered with a large amount of floating dust. The dust covering will seriously affect the power generation capacity of the photovoltaic modules, reduce the power output of the photovoltaic modules, and cause a large amount of economic losses. Therefore, it is necessary to clean the photovoltaic modules through cleaning equipment to ensure their stable power output. Since the number of photovoltaic modules is often large and they are mostly arranged row by row, the cleaning workload is large, and manual cleaning obviously cannot meet the cleaning requirements; in order to improve the cleaning effect, vehicle-mounted cleaning equipment will be used to clean the photovoltaic modules and then transport the cleaned photovoltaic modules to a suitable position again. Therefore, the grasping mechanism for photovoltaic modules on the vehicle-mounted cleaning equipment is particularly important. In the existing vehicle-mounted cleaning equipment, its grasping mechanism uses a single motor to drive a clamping jaw assembly correspondingly, and the grasping effect is not good; if considering the grasping effect, generally multiple single motors are used to drive multiple clamping jaw assemblies one by one, with a complex structure and high cost. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a grasping mechanism and a vehicle-mounted cleaning machine, which have a simplified structure, optimized cost reduction and simple operation.

[0004] To achieve the above purpose, the utility model adopts the following technical scheme: A grasping mechanism includes a substrate and a driving member, two connecting rods and two clamping jaw mechanism members positioned on the substrate. The driving member includes two output shafts arranged in opposite directions along the left-right direction. The output shafts are respectively connected to the connecting rods in one-to-one correspondence. The driving member can rotate to drive the two connecting rods to rotate synchronously through the two output shafts, so that the two clamping jaw mechanism members open or close synchronously.

[0005] As a further improved technical scheme of the utility model, the driving member is a motor. The forward rotation of the motor can drive the two clamping jaw mechanism members to open synchronously, and the reverse rotation of the motor can drive the two clamping jaw mechanism members to close synchronously.

[0006] As a further improved technical scheme of the utility model, each clamping jaw mechanism member on one side includes a pair of clamping jaw assemblies arranged oppositely along the front-back direction. The two connecting rods can drive the two pairs of clamping jaw assemblies on the left and right sides to move towards each other along the front-back direction respectively, so that the two clamping jaw mechanism members on the left and right sides close synchronously; the two connecting rods can drive the two pairs of clamping jaw assemblies on the left and right sides to move away from each other along the front-back direction respectively, so that the two clamping jaw mechanism members on the left and right sides open synchronously.

[0007] As a further improved technical solution of the present utility model, each of the jaw mechanism members on one side includes a slide rail, and the slide rails are respectively fixed to the left and right ends of the substrate in the front-rear direction; each of the jaw assemblies includes a jaw and a slider, the jaw is fixedly connected to the slider, and the slider is slidably engaged with the slide rail, so that the jaw can slide relative to the substrate along the slide rail in the front-rear direction along with the slider.

[0008] As a further improved technical solution of the present utility model, a connecting rod assembly is further provided between the connecting rod and the jaw assembly. Each of the connecting rod assemblies on one side of the driving member includes a first movable member, and the first movable member is fixedly connected to the corresponding connecting rod, so that the first movable member has a horizontal state and a vertical state relative to the substrate under the drive of the connecting rod.

[0009] As a further improved technical solution of the present utility model, each of the connecting rod assemblies on one side of the driving member further includes two second movable members, and each of the second movable members is fixedly connected to a jaw assembly respectively.

[0010] As a further improved technical solution of the present utility model, each of the connecting rod assemblies on one side of the driving member further includes two third movable members, and two ends of each of the third movable members are respectively rotatably connected to the adjacent first movable member and the adjacent second movable member.

[0011] As a further improved technical solution of the present utility model, the two third movable members on each side rotate in opposite directions in the up-down direction along with the first movable member, that is, when one end of the third movable member rotates obliquely upward, the other end of the third movable member rotates obliquely downward, or when one end of the third movable member rotates obliquely downward, the other end of the third movable member rotates obliquely upward.

[0012] As a further improved technical solution of the present utility model, the second movable member always maintains a vertical state in the up-down direction during the sliding process of moving relatively closer or moving away in the front-rear direction.

[0013] As a further improved technical solution of the present utility model, a vehicle-mounted cleaning machine includes a moving body, a robotic arm, and the grasping mechanism as described above. One end of the robotic arm is connected to the moving body, and the grasping mechanism is connected to the other end of the robotic arm.

[0014] Compared with the prior art, in the present utility model, two output shafts of a driving member drive two connecting rods to rotate synchronously, so that two jaw mechanism members open or close synchronously. The grasping mechanism and the vehicle-mounted cleaning machine of the present utility model have a simplified and optimized structure, reduce costs, and have simple grasping and control. Description of the Drawings

[0015] Figure 1 is a three-dimensional combined view of the vehicle-mounted cleaning machine of the present utility model;

[0016] Figure 2 is Figure 1 an enlarged view of part A in

[0017] Figure 3 is a three-dimensional combined view of the grasping mechanism of the present utility model in the open state of the jaws;

[0018] Figure 4 is a partial three-dimensional exploded view of the grasping mechanism of the present utility model;

[0019] Figure 5 is a further three-dimensional exploded view of the grasping mechanism of the present utility model;

[0020] Figure 6 is Figure 3 the front view of

[0021] Figure 7 is Figure 3 the side view of

[0022] Figure 8 is a three-dimensional combined view of the grasping mechanism of the present utility model from another angle;

[0023] Figure 9 is a three-dimensional combined view of the grasping mechanism of the present utility model in the closed state of the jaws. Detailed Description of the Embodiments

[0024] The following will describe in detail the exemplary specific embodiments of the present utility model with reference to the 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 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 utility model; on the contrary, they are only examples of devices, products, and / or methods consistent with some aspects of the present utility model recorded in the claims of the present utility model.

[0025] The terms used in the present utility model are for the purpose of describing specific embodiments only and are not intended to limit the protection scope of the present utility model. The singular forms of "a", "the" or "said" used in the specification and claims of the present utility model are also intended to include the plural forms unless the context clearly indicates otherwise.

[0026] It should be understood that the words such as "first", "second" and similar words used in the specification and claims of the present utility model do not indicate any order, quantity or importance, but are only used to distinguish the named features. Similarly, words such as "a" or "one" do not indicate a quantity limitation, but indicate that there is at least one. Unless otherwise specified, the words such as "front", "rear", "upper" and "lower" used in the present utility model are only for convenience of description and are not limited to a specific position or a spatial orientation. The expression "comprising" or "including" and similar words 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, which does not exclude that the elements appearing before "comprising" or "including" may also include other elements. If "several" appears in the present utility model, its meaning refers to two or more.

[0027] Please refer to Figures 1 to 9 As shown, the present utility model discloses a grasping mechanism 100, which includes a substrate 1 and a driving member 2, two connecting rods 3 and two jaw mechanism members 4 positioned on the substrate 1. The driving member 2 includes two output shafts 20 arranged in opposite directions along the left-right direction, and the output shafts 20 are respectively connected to the connecting rods 3 in a one-to-one correspondence. The driving member 2 can rotate to drive the two connecting rods 3 to rotate synchronously through the two output shafts 20, so that the two jaw mechanism members 4 open or close synchronously. The driving member 2 of the present utility model includes two output shafts 20, that is, a single driving source can drive the two connecting rods 3 to rotate synchronously, so that the two jaw mechanism members 4 open or close synchronously. The structure of the grasping mechanism 100 of the present utility model is simplified and optimized, the cost is reduced, and the grasping action of the grasping mechanism 100 of the present utility model has the beneficial effect of simple operation.

[0028] Please refer to Figures 3 to 5 , the driving member 2 is a motor, the forward rotation of the motor can drive the two jaw mechanism members 4 to open synchronously, and the reverse rotation of the motor can drive the two jaw mechanism members 4 to close synchronously. Specifically, please refer to Figure 5 , the two output shafts 20 are arranged in opposite directions in the left-right direction of the driving member 2. Additionally, please refer to Figure 5 、 Figure 6 and Figure 8, the driving member 2 positions a corresponding output shaft 20 through a support frame 7. Therefore, the motor, i.e., the driving member 2, is fixedly installed at a corresponding position on the substrate 1 through two support frames 7 on the left and right sides. Specifically, each support frame 7 includes a vertical plate portion 71 and a horizontal plate portion 72 that are bent perpendicular to each other. A sleeve 70 is formed on the vertical plate portion 71 for sleeving outside the output shaft 20 to position the output shaft 20; both the vertical plate portion 71 and the horizontal plate portion 72 are used for several fasteners 6 to pass through to position the housing (not labeled) of the driving member 2, i.e., the motor, on the substrate 1.

[0029] Please refer to Figures 3 to 6 , the grasping mechanism 100 of the present invention further includes two support seats 8. Each support seat 8 is also fixed to the substrate 1 through the fasteners 6. That is, the grasping mechanism 100 of the present invention not only positions the driving member 2 through the support frame 7, but also the grasping mechanism 100 of the present invention realizes the rotational limit of the two connecting rods 3 on the substrate 1 through two support seats 8.

[0030] Please refer to Figures 3 to 8 , each jaw mechanism member 4 on each side includes a pair of jaw assemblies 40 arranged opposite to each other in the front-rear direction. The two connecting rods 3 can drive the two pairs of jaw assemblies 40 on the left and right sides to move towards each other in the front-rear direction respectively, so that the two jaw mechanism members 4 on the left and right sides are synchronously closed; the two connecting rods 3 can drive the two pairs of jaw assemblies 40 on the left and right sides to move away from each other in the front-rear direction respectively, so that the two jaw mechanism members 4 on the left and right sides are synchronously opened. The present invention grabs the object to be grabbed (such as a photovoltaic panel) from four corners of left, right, front and rear through two groups of jaw assemblies 40. Since the two groups of jaw assemblies 40 of the present invention are driven by the same driving source to synchronously rotate the two connecting rods 3, so that the two jaw mechanism members 4 are synchronously opened or closed, therefore, the structure of the grasping mechanism 100 of the present invention is simplified and optimized, the cost is reduced, and the grasping control action of the grasping mechanism 100 of the present invention is simple.

[0031] Please refer to Figure 4 and Figure 5 and Figure 8, each of the jaw mechanism members 4 on each side includes a slide rail 403, and the slide rails 403 are respectively fixed to the left and right ends of the substrate 1 in the front-rear direction. Each of the jaw assemblies 40 includes a jaw 401 and a slider 402. The jaw 401 is fixedly connected to the slider 402, and the slider 402 is slidably engaged with the slide rail 403, so that the jaw 401 can slide relative to the substrate 1 along the slide rail 403 in the front-rear direction with the slider 402. The sliding fit between the slider 402 and the slide rail 403 ensures the smooth progress of the grasping action.

[0032] Please refer to Figures 3 to 9 , the grasping mechanism 100 of the present utility model further includes a link assembly 5 located between the connecting rod 3 and the jaw assembly 40. Each of the link assemblies 5 on each side of the driving member 2 first includes a first movable member 51. The first movable member 51 is fixedly connected to the corresponding connecting rod 3, so that the first movable member 51 has a horizontal state and a vertical state relative to the substrate 1 under the drive of the connecting rod 3. Please refer to Figure 3 , which shows a schematic diagram of the first movable member 51 of the grasping mechanism 100 of the present utility model in a horizontal state relative to the substrate 1; Please refer to Figure 9 , which shows a schematic diagram of the first movable member 51 of the grasping mechanism 100 of the present utility model in a vertical state relative to the substrate 1. The horizontal state of the first movable member 51 corresponds to the synchronous opening state of the two groups of jaw assemblies 40 in the two jaw mechanism members 4; the vertical state of the first movable member 51 corresponds to the synchronous closing state of the two groups of jaw assemblies 40 in the two jaw mechanism members 4.

[0033] Please refer to Figure 3 , Figure 4 , Figure 7 and Figure 8 , each of the link assemblies 5 on each side of the driving member 2 further includes two second movable members 52. Each of the second movable members 52 is fixedly connected to a jaw assembly 40 respectively. Specifically, the second movable member 52 is also fixedly connected to the jaw 401 in the jaw assembly 40 through a fastener 6. Therefore, the movement of the second movable member 52 can directly drive the forward and backward movement of the jaw assembly 40.

[0034] Please continue to refer to Figure 3 , Figure 4 , Figure 7 and Figure 8, on each side of the driving member 2, the link assembly 5 further includes two third movable members 53. Two ends of each third movable member 53 are respectively rotatably connected to the adjacent first movable member 51 and the adjacent second movable member 52. The rotational connections at opposite ends can ensure that when both the first movable member 51 and the third movable member 53 rotate, the second movable member 52 only slides in the front-back direction.

[0035] Therefore, it further needs to be explained that: the two third movable members 53 on each side perform reverse rotational movements in the up-down direction along with the first movable member 51, that is, when one end of the third movable member 53 rotates obliquely upward, the other end of the third movable member 53 rotates obliquely downward, or when one end of the third movable member 53 rotates obliquely downward, the other end of the third movable member 53 rotates obliquely upward. And, it further needs to be explained that: during the process of the second movable member 52 sliding relatively closer or farther away in the front-back direction, it always maintains a vertical state in the up-down direction.

[0036] Please refer to Figures 1 to 9 , the present utility model further relates to a vehicle-mounted cleaning machine 200, which includes a moving body 201, a robotic arm 202, and the grasping mechanism 100 as described above. One end of the robotic arm 202 is connected to the moving body 201, and the grasping mechanism 100 is connected to the other end of the robotic arm 202. Therefore, the vehicle-mounted cleaning machine 200 of the present utility model can meet the cleaning requirements of photovoltaic modules and improve the cleaning effect.

[0037] In summary, for the grasping mechanism 100 in the vehicle-mounted cleaning machine 200 of the present utility model, a driving member can rotate to drive two connecting rods to rotate synchronously through two output shafts, so that two jaw mechanism members open or close synchronously. The grasping mechanism and the vehicle-mounted cleaning machine of the present utility model have a simplified and optimized structure, reduce costs, and have the beneficial effect of simple operation for the grasping action.

[0038] The above embodiments are only used to illustrate the present utility model and do not limit the technical solutions described in the present utility model. The understanding of the present utility model should be based on those skilled in the art of the relevant technical field. Although this specification has described the present utility model in detail with reference to the above embodiments, those of ordinary skill in the art should understand that those skilled in the relevant technical field can still modify the present utility model or make equivalent replacements. All technical solutions and their improvements that do not depart from the spirit and scope of the present utility model shall be covered within the scope of the claims of the present utility model.

Claims

1. A gripping mechanism (100), characterized in that: The invention comprises a base plate (1), a driving member (2) positioned on the base plate (1), two connecting rods (3) and two clamping mechanism components (4); the driving member (2) comprises two output shafts (20) arranged in opposite directions along the left and right directions; the output shafts (20) are respectively connected to the connecting rods (3) in a one-to-one correspondence; the driving member (2) can rotate so as to drive the two connecting rods (3) to rotate synchronously through the two output shafts (20), so that the two clamping mechanism components (4) are opened or closed synchronously.

2. The gripping mechanism (100) according to claim 1, characterized in that: The driving member (2) is a motor, and the forward rotation of the motor can drive the two clamping mechanism members (4) to open synchronously, and the reverse rotation of the motor can drive the two clamping mechanism members (4) to close synchronously.

3. The gripping mechanism (100) according to claim 2, characterized in that: The clamping mechanism (4) on each side comprises a pair of clamping assemblies (40) arranged opposite to each other in the front-to-back direction; the two connecting rods (3) can drive the two pairs of clamping assemblies (40) on the left and right sides to move towards each other in the front-to-back direction, so that the two clamping mechanism (4) on the left and right sides are closed synchronously; the two connecting rods (3) can drive the two pairs of clamping assemblies (40) on the left and right sides to move away from each other in the front-to-back direction, so that the two clamping mechanism (4) on the left and right sides are opened synchronously.

4. The gripping mechanism (100) according to claim 3, characterized in that: The clamping jaw mechanism (4) on each side includes a slide rail (403), and the slide rail (403) is fixed to the left and right ends of the base plate (1) along the front-back direction respectively; each clamping jaw assembly (40) includes a clamping jaw (401) and a slider (402), the clamping jaw (401) is fixedly connected to the slider (402), and the slider (402) is slidably matched with the slide rail (403), so that the clamping jaw (401) can slide along the slide rail (403) relative to the base plate (1) in the front-back direction along with the slider (402).

5. The gripping mechanism (100) according to claim 3, characterized in that: A connecting rod assembly (5) is also provided between the connecting rod (3) and the clamping jaw assembly (40). The connecting rod assembly (5) on each side of the driving member (2) includes a first movable member (51). The first movable member (51) is fixedly connected to the corresponding connecting rod (3) so that the first movable member (51) has a horizontal state and a vertical state relative to the base plate (1) under the drive of the connecting rod (3).

6. The gripping mechanism (100) according to claim 5, characterized in that: The connecting rod assembly (5) on each side of the driving member (2) further comprises two second movable members (52), and each of the second movable members (52) is fixedly connected to one of the clamping jaw assemblies (40).

7. The gripping mechanism (100) according to claim 6, characterized in that: The connecting rod assembly (5) on each side of the driving member (2) further comprises two third movable members (53), and the two ends of each third movable member (53) are respectively rotatably connected to the adjacent first movable member (51) and the adjacent second movable member (52).

8. The gripping mechanism (100) according to claim 7, characterized in that: The two third movable members (53) on each side rotate in opposite directions in the up and down directions along with the first movable member (51), that is, when the third movable member (53) at one end rotates upward, the third movable member (53) at the other end rotates downward; or when the third movable member (53) at one end rotates downward, the third movable member (53) at the other end rotates upward.

9. The gripping mechanism (100) according to claim 7, characterized in that: The second movable member (52) always maintains a vertical state in the up-down direction during the process of sliding relatively close to or away from each other in the front-back direction.

10. A vehicle-mounted cleaning machine (200), characterized in that: It comprises a mobile body (201), a mechanical arm (202) and a grasping mechanism (100) as described in any one of claims 1 to 9, wherein one end of the mechanical arm (202) is connected to the mobile body (201), and the grasping mechanism (100) is connected to the other end of the mechanical arm (202).

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