Grabbing mechanism and photovoltaic cleaning system

Abstract

The grabbing mechanism comprises a frame, a pair of first clamping jaws, a pair of second clamping jaws and a driving piece, the frame comprises a first rod and a second rod which are parallel to each other, the pair of first clamping jaws is connected to the first rod in a sliding mode, and the pair of second clamping jaws is connected to the second rod in a sliding mode. The pair of first clamping jaws is connected to one end of the driving piece through two first connecting rods, the pair of second clamping jaws is connected to the other end of the driving piece through two second connecting rods, and the two first connecting rods drive the two first clamping jaws to be close to each other through length retraction of the driving piece. Meanwhile, the two second connecting rods respectively drive the two second clamping jaws to get close to each other; the grabbing mechanism can stably grab the cleaning robot and is suitable for being used in different severe environments. The utility model further provides a photovoltaic cleaning system.

Description

Technical Field

[0001] This utility model relates to a gripping mechanism and a photovoltaic cleaning system, belonging to the field of photovoltaic technology. Background Technology

[0002] Large-scale photovoltaic sites often present challenges due to differences in elevation, unevenness, misalignment, and undulating terrain between different arrays. When a cleaning robot reaches the end of an array, a gripping device picks it up and connects to a robotic arm on a chassis. The chassis then moves the robot to another array, thus resolving the issue of crossing arrays.

[0003] In related technologies, gripping devices include magnetic suction mechanisms, which adsorb cleaning robots. However, the adsorption stability is poor, making it difficult to adapt to harsh environments, such as sand and dust environments. Utility Model Content

[0004] The purpose of this invention is to provide a gripping mechanism and a photovoltaic cleaning system that can stably grip a cleaning robot and is adaptable to use in various harsh environments.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A gripping mechanism for gripping a cleaning robot includes a frame, a pair of first grippers, a pair of second grippers, and a drive unit. The frame includes first and second rods that are parallel to each other. The pair of first grippers are slidably connected to the first rods, and the pair of second grippers are slidably connected to the second rods. The pair of first grippers are connected to one end of the drive unit via two first connecting rods, and the pair of second grippers are connected to the other end of the drive unit via two second connecting rods. By retracting the length of the drive unit, the two first connecting rods respectively drive the two first grippers to move closer to each other, and simultaneously, the two second connecting rods respectively drive the two second grippers to move closer to each other.

[0007] As a further improvement of the present invention, the driving component includes a driving rod, the ends of the two first connecting rods are movably connected to the driving rod, and the ends of the two second connecting rods are movably connected to the non-driving end of the driving component.

[0008] As a further improvement of the present invention, the gripping mechanism includes a first connecting member and a second connecting member. The ends of the two first connecting rods are rotatably connected to one end of the first connecting member via a first pin. The end of the driving rod is rotatably connected to the other end of the first connecting member via a second pin. The ends of the two second connecting rods are rotatably connected to one end of the second connecting member via a third pin. The non-driving end of the driving member is rotatably connected to the other end of the second connecting member via a fourth pin. The axis of the first pin is perpendicular to the axis of the second pin, and the axis of the third pin is perpendicular to the axis of the fourth pin.

[0009] As a further improvement of this utility model, the first gripper includes a first clamping portion, a first sliding sleeve connected to the first clamping portion, and a first connecting portion connected to the first sliding sleeve; the second gripper includes a second clamping portion, a second sliding sleeve connected to the second clamping portion, and a second connecting portion connected to the second sliding sleeve; the first sliding sleeve is sleeved on the first rod, and the second sliding sleeve is sleeved on the second rod.

[0010] The first connecting part is rotatably connected to the other end of the first connecting rod via a fifth pin, and the second connecting part is rotatably connected to the other end of the second connecting rod via a sixth pin. The axis of the fifth pin is parallel to the axis of the first pin, and the axis of the sixth pin is parallel to the axis of the third pin.

[0011] As a further improvement of the present invention, the first clamping part includes a first vertical plate connected to the first sliding sleeve and a first horizontal plate perpendicularly connected to the first vertical plate, with the two first horizontal plates arranged opposite to each other. The second clamping part includes a second vertical plate connected to the second sliding sleeve and a second horizontal plate perpendicularly connected to the second vertical plate, with the two second horizontal plates arranged opposite to each other.

[0012] As a further improvement of the present invention, the gripping mechanism includes a first limiting member and a second limiting member. The first limiting member is fixed to the first rod, and the second limiting member is fixed to the second rod. The first limiting member extends toward the second rod, and the second limiting member extends toward the first rod.

[0013] As a further improvement of this utility model, along the length direction of the first rod, the first limiting member is located between the two first grippers, and along the length direction of the second rod, the second limiting member is located between the two second grippers.

[0014] As a further improvement of the present invention, the frame includes a third rod, a fourth rod, and a connecting plate. The third rod is parallel to the fourth rod. The third rod connects one end of the first rod and one end of the second rod. The fourth rod connects the other end of the first rod and the other end of the second rod. The connecting plate connects the third rod and the fourth rod.

[0015] To achieve the above objectives, the present invention also adopts the following technical solution: a photovoltaic cleaning system, comprising a chassis vehicle, a robotic arm, a cleaning robot, and a gripping mechanism, wherein the robotic arm is mounted on the chassis vehicle, and the gripping mechanism is mounted on the end of the robotic arm away from the chassis vehicle, and the gripping mechanism is capable of gripping the cleaning robot.

[0016] As a further improvement of the present invention, the cleaning robot includes a robot body and a support fixed to the robot body. The gripping mechanism grips the support with a pair of first grippers and a pair of second grippers to move the cleaning robot.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0018] 1. The gripping mechanism provided by this utility model uses the length retraction of the driving component to cause the two first links to drive the two first grippers to move closer to each other, and the two second links to drive the two second grippers to move closer to each other, thereby achieving stable gripping of the cleaning robot and adapting to use in different harsh environments.

[0019] 2. The gripping mechanism provided by this utility model adopts a scissor linkage in conjunction with the driving component to reduce the stroke of the driving component, thereby reducing the clamping time of the gripper. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of the photovoltaic cleaning system of this utility model;

[0021] Figure 2 yes Figure 1 A three-dimensional schematic diagram of the grasping mechanism;

[0022] Figure 3 yes Figure 2 A bottom view of the gripping mechanism shown;

[0023] Figure 4 yes Figure 2 A three-dimensional schematic diagram of the gripping mechanism from another angle;

[0024] Figure 5 yes Figure 4 A breakdown diagram of some of the components. Detailed Implementation

[0025] The exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. If several embodiments exist, features in these embodiments may be combined with each other without conflict. When the description refers to the drawings, unless otherwise stated, the same numbers in different drawings represent the same or similar elements. The descriptions in the following exemplary embodiments do not represent all embodiments consistent with the present invention; rather, they are merely examples of apparatuses, products, and / or methods consistent with some aspects of the present invention as set forth in the claims.

[0026] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of protection of this invention. The singular forms “a,” “the,” or “the” used in the specification and claims of this invention are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0027] It should be understood that the terms "first," "second," and similar words used in the specification and claims of this utility model do not indicate any order, quantity, or importance, but are merely used to distinguish the features. Similarly, the terms "an" or "a" do not indicate a quantity limitation, but rather indicate the presence of at least one. Unless otherwise stated, the terms "before," "after," "upper," "lower," and similar words appearing in this utility model are for ease of explanation only and are not limited to a specific location or spatial orientation. The terms "comprising" or "including" are an open-ended expression, meaning that the element preceding "comprising" or "including" covers the element following "comprising" or "including" and its equivalents, which does not exclude that the element preceding "comprising" or "including" may also include other elements. In this utility model, the word "several" means two or more.

[0028] Please refer to Figures 1 to 5 As shown, this utility model discloses a photovoltaic cleaning system, including a chassis vehicle 10, a robotic arm 20, a cleaning robot 30, and a gripping mechanism 50. The robotic arm 20 is mounted on the chassis vehicle 10, and the gripping mechanism is mounted on the end of the robotic arm 20 away from the chassis vehicle 10. The cleaning robot 30 includes a robot body 301 and a bracket 302 fixed to the robot body 301. The gripping mechanism grips the cleaning robot 30 through the gripping bracket 302.

[0029] See Figure 2The gripping mechanism 50 includes a frame 1, a pair of first grippers 2, a pair of second grippers 3, and a drive unit 6. The drive unit 6 drives the pair of first grippers 2 to move closer or further away from each other, and at the same time drives the pair of second grippers 3 to move closer or further away from each other. During operation, the pair of first grippers 2 and the pair of second grippers 3 move closer to each other to grip the support 302 to transport the cleaning robot 30, or the pair of first grippers 2 and the pair of second grippers 3 move further away from each other to release the support 302 and release the cleaning robot 30.

[0030] See also Figure 2 The frame 1 is a square frame, comprising a first rod 11, a second rod 12, a third rod 13, a fourth rod 14, and a connecting plate 15. The first rod 11 and the second rod 12 are parallel to each other, as are the third rod 13 and the fourth rod 14. The third rod 13 connects one end of the first rod 11 and one end of the second rod 12, and the fourth rod 14 connects the other end of the first rod 11 and the other end of the second rod 12. The connecting plate 15 connects the third rod 13 and the fourth rod 14. The robotic arm 20 is connected to the gripping mechanism via the connecting plate 15.

[0031] A pair of first grippers 2 are slidably connected to a first rod 11, and a pair of second grippers 3 are slidably connected to a second rod 12. The first rod 11 and the second rod 12 act as guide rails, guiding the movement of the first grippers 2 and the second grippers 3. (See also...) Figure 2 A pair of first grippers 2 are connected to one end of the drive member 6 via two first links 4, and a pair of second grippers 3 are connected to the other end of the drive member 6 via two second links 5. The drive member 6 is a telescopic drive member. By retracting or extending the length of the drive member 6, the two first links 4 respectively drive the two first grippers 2 to move closer or further away from each other, and at the same time, the two second links 5 respectively drive the two second grippers 3 to move closer or further away from each other.

[0032] In this embodiment, see Figure 3The driving component 6 includes a driving rod 62, with the ends of two first connecting rods 4 movably connected to the driving rod 62, and the ends of two second connecting rods 5 movably connected to the non-driving ends of the driving component 6. The two first connecting rods 4 are arranged in a V-shape to form a scissor linkage, and the angle between the two first connecting rods 4 is adjustable. Similarly, the two second connecting rods 5 are arranged in a V-shape to form a scissor linkage, and the angle between the two second connecting rods 5 is adjustable. When the driving rod 62 extends outward, the length of the driving component 6 increases, and the angle between the two first connecting rods 4 increases, thereby causing the two first grippers 2 to move away from each other, and the angle between the two second connecting rods 5 to increase, thereby causing the two second grippers 3 to move away from each other. When the driving rod 62 retracts, the length of the driving component 6 shortens, and the angle between the two first connecting rods 4 decreases, thereby causing the two first grippers 2 to move closer together, and the angle between the two second connecting rods 5 to decrease, thereby causing the two second grippers 3 to move closer together. In this invention, the scissor linkage is used in conjunction with the driving component 6 to reduce the stroke of the driving component 6, thereby reducing the gripper tightening time.

[0033] The gripping mechanism includes a first connecting component and a second connecting component, see [link / reference] Figure 3 The first connecting assembly includes a first connector 71, a first pin 72, and a second pin 73. The second connecting assembly includes a second connector 81, a third pin 82, and a fourth pin 83. The ends of the two first connecting rods 4 are rotatably connected to one end of the first connector 71 via the first pin 72. The end of the drive rod 62 is rotatably connected to the other end of the first connector 71 via the second pin 73. The ends of the two second connecting rods 5 are rotatably connected to one end of the second connector 81 via the third pin 82. The non-driving end of the drive member 6 is rotatably connected to the other end of the second connector 81 via the fourth pin 83. The axis of the first pin 72 is perpendicular to the axis of the second pin 73, and the axis of the third pin 82 is perpendicular to the axis of the fourth pin 83.

[0034] For details, see Figure 5The first connecting member 71 is provided with a first mounting groove 711, a second mounting groove 712, a first mounting hole 713, and a second mounting hole 714. The second connecting member 81 is provided with a third mounting groove 811, a fourth mounting groove 812, a third mounting hole 813, and a fourth mounting hole 814. The ends of the two first connecting rods 4 are mounted in the first mounting groove 711. The first pin 72 passes through the first mounting hole 713 and the two first connecting rods 4 and is connected to a nut. The end of the drive rod 62 is mounted in the second mounting groove 712. The second pin 73 passes through the second mounting hole 714 and the drive rod 62 and is connected to a nut. The ends of the two second connecting rods 5 are mounted in the third mounting groove 811. The third pin 82 passes through the third mounting hole 813 and the two second connecting rods 5 and is connected to a nut. The non-driving end of the drive member 6 is provided with a connecting ear 63, which is mounted in the fourth mounting groove 812. The fourth pin 83 passes through the fourth mounting hole 814 and the connecting ear 63 and is connected to a nut. Optionally, the drive member 6 is a telescopic cylinder.

[0035] See Figure 4 The first gripper 2 includes a first clamping part 21, a first sliding sleeve 22 connected to the first clamping part 21, and a first connecting part 23 connected to the first sliding sleeve 22. The second gripper 3 includes a second clamping part 31, a second sliding sleeve 32 connected to the second clamping part 31, and a second connecting part 33 connected to the second sliding sleeve 32. The first sliding sleeve 22 is sleeved on the first rod 11, and the second sliding sleeve 32 is sleeved on the second rod 12. The first connecting part 23 is rotatably connected to the other end of the first connecting rod 4 through a fifth pin 74, and the second connecting part 33 is rotatably connected to the other end of the second connecting rod 5 through a sixth pin 84. The axis of the fifth pin 74 is parallel to the axis of the first pin 72, and the axis of the sixth pin 84 is parallel to the axis of the third pin 82.

[0036] See also Figure 4 Both the first clamping part 21 and the second clamping part 31 are L-shaped. The first clamping part 21 includes a first vertical plate 211 connected to the first sliding sleeve 22 and a first horizontal plate 212 perpendicularly connected to the first vertical plate 211. The two first horizontal plates 212 are arranged opposite to each other. The second clamping part 31 includes a second vertical plate 311 connected to the second sliding sleeve 32 and a second horizontal plate 312 perpendicularly connected to the second vertical plate 311. The two second horizontal plates 312 are arranged opposite to each other. When the two first grippers 2 and the two second grippers 3 approach each other, the two first horizontal plates 212 hook the bracket 302 to pick up the cleaning robot 30.

[0037] See Figure 4The gripping mechanism includes a first limiting member 91 and a second limiting member 92. The first limiting member 91 is fixed to a first rod 11, and the second limiting member 92 is fixed to a second rod 12. The first limiting member 91 extends towards the second rod 12, and the second limiting member 92 extends towards the first rod 11. Along the length of the first rod 11, the first limiting member 91 is located between two first grippers 2, and along the length of the second rod 12, the second limiting member 92 is located between two second grippers 3. Along the height of the gripping mechanism, the first limiting member 91 is located between two first connecting rods 4, and along the height of the gripping mechanism, the second limiting member 92 is located between two second connecting rods 5. In this invention, both the first limiting member 91 and the second limiting member 92 are plate structures. The plate structure limits the connecting rods, replacing the use of limit switches and other electrical components, thus improving the working stability of the grippers.

[0038] The photovoltaic cleaning system also includes a controller, which sends instructions to the drive unit 6. The drive unit 6 controls the drive rod 62 to extend or retract by a set stroke according to the received instructions. When the chassis 10 transports the cleaning robot 30 to the target position, the controller controls the drive rod 62 of the drive unit 6 to extend outward. When the first connecting member 71 touches the first limiting member 91, the two first connecting rods 4 move to their limit positions. At this time, the two first grippers 2 also contact the third rod 13 and the fourth rod 14 respectively, and the two first connecting rods 4 and the two first grippers 2 stop moving. The drive rod 62 continues to extend outward. When the second connecting member 81 touches the second limiting member 92, the two second connecting rods 5 move to their limit positions. At this time, the two second grippers 3 also contact the third rod 13 and the fourth rod 14 respectively, thereby completing the opening action of the grippers and the gripping mechanism releases the cleaning robot 30.

[0039] The above embodiments are only used to illustrate the present utility model and are not intended to 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. Although the present utility model has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still make modifications or equivalent substitutions to the present utility model. All technical solutions and improvements that do not depart from the spirit and scope of the present utility model should be covered within the scope of the claims of the present utility model.

Claims

1. A gripping mechanism for gripping a cleaning robot (30), characterized in that, The device includes a frame (1), a pair of first grippers (2), a pair of second grippers (3), and a drive unit (6). The frame (1) includes a first rod (11) and a second rod (12) that are parallel to each other. The pair of first grippers (2) are slidably connected to the first rod (11), and the pair of second grippers (3) are slidably connected to the second rod (12). A pair of first grippers (2) are connected to one end of the drive member (6) via two first links (4), and a pair of second grippers (3) are connected to the other end of the drive member (6) via two second links (5). The retraction of the length of the drive member (6) causes the two first links (4) to drive the two first grippers (2) to move closer to each other, and at the same time causes the two second links (5) to drive the two second grippers (3) to move closer to each other.

2. The gripping mechanism as described in claim 1, characterized in that, The driving component (6) includes a driving rod (62), the ends of the two first connecting rods (4) are movably connected to the driving rod (62), and the ends of the two second connecting rods (5) are movably connected to the non-driving end of the driving component (6).

3. The gripping mechanism as described in claim 2, characterized in that, The gripping mechanism includes a first connector (71) and a second connector (81). The ends of the two first connecting rods (4) are rotatably connected to one end of the first connector (71) via a first pin (72). The end of the drive rod (62) is rotatably connected to the other end of the first connector (71) via a second pin (73). The ends of the two second connecting rods (5) are rotatably connected to one end of the second connector (81) via a third pin (82). The non-drive end of the drive member (6) is rotatably connected to the other end of the second connector (81) via a fourth pin (83). The axis of the first pin (72) is perpendicular to the axis of the second pin (73), and the axis of the third pin (82) is perpendicular to the axis of the fourth pin (83).

4. The gripping mechanism as described in claim 3, characterized in that, The first gripper (2) includes a first clamping part (21), a first sliding sleeve (22) connected to the first clamping part (21), and a first connecting part (23) connected to the first sliding sleeve (22). The second gripper (3) includes a second clamping part (31), a second sliding sleeve (32) connected to the second clamping part (31), and a second connecting part (33) connected to the second sliding sleeve (32). The first sliding sleeve (22) is sleeved on the first rod (11), and the second sliding sleeve (32) is sleeved on the second rod (12). The first connecting part (23) is rotatably connected to the other end of the first connecting rod (4) via a fifth pin (74), and the second connecting part (33) is rotatably connected to the other end of the second connecting rod (5) via a sixth pin (84). The axis of the fifth pin (74) is parallel to the axis of the first pin (72), and the axis of the sixth pin (84) is parallel to the axis of the third pin (82).

5. The gripping mechanism as described in claim 4, characterized in that, The first clamping part (21) includes a first vertical plate (211) connected to the first sliding sleeve (22) and a first horizontal plate (212) vertically connected to the first vertical plate (211). The two first horizontal plates (212) are arranged opposite to each other. The second clamping part (31) includes a second vertical plate (311) connected to the second sliding sleeve (32) and a second horizontal plate (312) vertically connected to the second vertical plate (311). The two second horizontal plates (312) are arranged opposite to each other.

6. The gripping mechanism as described in claim 1, characterized in that, The gripping mechanism includes a first limiting member (91) and a second limiting member (92). The first limiting member (91) is fixed to the first rod (11), and the second limiting member (92) is fixed to the second rod (12). The first limiting member (91) extends toward the second rod (12), and the second limiting member (92) extends toward the first rod (11).

7. The gripping mechanism as described in claim 6, characterized in that, Along the length direction of the first rod (11), the first limiting member (91) is located between the two first grippers (2), and along the length direction of the second rod (12), the second limiting member (92) is located between the two second grippers (3).

8. The gripping mechanism as described in claim 1, characterized in that, The frame (1) includes a third rod (13), a fourth rod (14), and a connecting plate (15). The third rod (13) is parallel to the fourth rod (14). The third rod (13) connects one end of the first rod (11) and one end of the second rod (12). The fourth rod (14) connects the other end of the first rod (11) and the other end of the second rod (12). The connecting plate (15) connects the third rod (13) and the fourth rod (14).

9. A photovoltaic cleaning system, characterized in that, The system includes a chassis (10), a robotic arm (20), a cleaning robot (30), and a gripping mechanism as described in any one of claims 1-8, wherein the robotic arm (20) is mounted on the chassis (10), and the gripping mechanism is mounted on the end of the robotic arm (20) away from the chassis (10), and the gripping mechanism is capable of gripping the cleaning robot (30).

10. The photovoltaic cleaning system as described in claim 9, characterized in that, The cleaning robot (30) includes a robot body (301) and a bracket (302) fixed to the robot body (301). The gripping mechanism grips the bracket (302) together with a pair of first grippers (2) and a pair of second grippers (3) to realize the transportation of the cleaning robot (30).

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