Multi-degree-of-freedom suction cup device

Abstract

The utility model belongs to the technical field of photovoltaic operation and maintenance equipment, and particularly relates to a multi-degree-of-freedom suction cup device, which comprises a suction cup mechanism, a driving rod and a driving module, the first end of the driving rod is connected with the suction cup mechanism, and the second end of the driving rod is connected with the output end of the driving module; a rotating part is arranged between the driving rod and the suction cup mechanism, the rotating part comprises a rotating rod and a rotating part, a rotating cavity is formed in the rotating part, and a connecting part matched with the rotating cavity is arranged at the first end of the rotating rod; according to the multi-degree-of-freedom suction cup device, a built-in mounting scheme with multiple limiting structures is combined with a quick-release mounting mode, so that the stability of the whole suction cup device is fully guaranteed, quick release of the suction cup mechanism is realized, and the stable and convenient multi-degree-of-freedom suction cup device is comprehensively provided.

Description

[0001] Priority Application

[0002] This application claims priority to Chinese Invention Patent Application No. CN202410864868X, filed on June 28, 2024, “

Modular Photovoltaic Robot, Braking Robot and Braking Method Thereof

[0003] The utility model belongs to photovoltaic operation and maintenance equipment technical field, more specifically relates to a kind of multi-degree-of-freedom sucking disc device. BACKGROUND

[0004] Sucking disc is a common fixing device, it can be fixed on smooth surface by adsorption force. Among them, vacuum sucking disc utilizes vacuum negative pressure to adsorb and fix object, when vacuum state is formed in the inside of sucking disc, external atmospheric pressure will generate inward pressure to the air in the inside of sucking disc, and this pressure difference is enough to overcome the gravity or other external force of the object to be adsorbed, so as to realize stable adsorption, sucking disc device has wide application in multiple fields, for example, mechanical processing, logistics, building, shipbuilding and other industries, it plays an important role in daily life and industrial production, and with the diversification of industrial activities, various new types of sucking disc also emerge as the times require.

[0005] In the process of cleaning photovoltaic panel, in order to ensure the operation stability of photovoltaic cleaning robot, sucking disc mechanism is usually arranged at the bottom of cleaning mechanism (for example, cleaning robot), for example, Chinese Invention Patent No. 202410957795.9 discloses a photovoltaic cleaning robot with self-extending and rotating sucking disc assembly, the photovoltaic cleaning robot comprises a body, a driving mechanism and a cleaning mechanism are arranged on the body, the cleaning mechanism performs cleaning operation on cleaning operation plane under the driving of the driving mechanism, and a self-extending and rotating sucking disc assembly is arranged at the middle position of the chassis of the body.

[0006] However, the above scheme at least has the following problems: for example, the device is complex, the cost is high, and the rotating flexibility needs to be improved. Utility Model Content

[0007] The utility model aims at providing a kind of multi-degree-of-freedom sucking disc device to partially solve or alleviate the above problems, improve the stability of sucking disc device.

[0008] In order to solve the above-mentioned technical problems, the utility model specifically adopts the following technical scheme: a kind of multi-degree-of-freedom sucking disc device, the sucking disc device can be arranged in the bottom of photovoltaic cleaning robot in a detachable manner, the sucking disc device includes: sucking disc mechanism, drive rod and drive module, the first end of the drive rod is connected with the sucking disc mechanism, and the second end of the drive rod is connected with the output end of the drive module;

[0009] A rotating part is arranged between the driving rod and the suction disc mechanism, the rotating part comprises a split rotating rod and a rotating part, the rotating part is connected with the suction disc mechanism, a spherical rotating cavity is arranged on the rotating part, an opening in communication with the rotating cavity is arranged on the first end of the rotating part, a spherical connecting part matched with the rotating cavity is arranged on the first end of the rotating rod, and the second end of the rotating rod is connected with the driving rod; when the connecting part is installed in the rotating cavity, a gap is left between the connecting rod and the inner wall at the opening, so that the rotating part can rotate relative to the connecting part; when the rotating part rotates around the connecting part, the rotating part drives the suction disc mechanism to rotate relative to the rotating rod.

[0010] As an improvement, the suction disc mechanism comprises a suction disc body, an air cavity and a ventilation hole are arranged on the suction disc body, the ventilation hole is in communication with the air cavity, a groove is arranged on the suction disc body, and a second step matched with the groove is arranged on the end of the rotating part away from the rotating rod; when the second step is clamped into the groove, the suction disc body and the rotating part are fixed in a clamped manner.

[0011] As an improvement, a first step is further arranged on the rotating part, the first step is located between the first end of the rotating part and the second step, a clamping groove is arranged on the rotating part, and the clamping groove is located above the first step; the suction disc mechanism further comprises a fixing piece and a clamping block; when the fixing piece is installed on the first step and the clamping block is installed in the clamping groove, the clamping block abuts against the upper surface of the fixing piece, so that the fixing piece and the suction disc body form a clamping structure for clamping the first step.

[0012] As an improvement, the upper surface of the suction disc body is located in the same horizontal plane as the first step, and when the fixing piece is installed on the first step, the fixing piece abuts against the upper surface of the suction disc body at the same time.

[0013] As an improvement, the second end of the fixing piece extends downward along the height direction of the suction disc body to form a bending part; when the fixing piece is matched with the suction disc body and the rotating part, the bending part abuts against the side wall of the suction disc body to limit the width direction of the suction disc body.

[0014] As an improvement, a driving transmission member is further arranged between the driving rod and the driving module, two ends of the driving transmission member are connected with the second end of the driving rod and the output end of the driving module respectively, the central axis of the driving rod is parallel to the central axis of the driving module, and the driving transmission member is perpendicular to the driving rod; when the driving module drives the driving transmission member to reciprocate along the extending direction of the central axis of the driving module, the driving transmission member drives the driving rod to move up and down; when the driving module drives the driving transmission member to rotate around the central axis of the driving module, the driving transmission member drives the driving rod to rotate around the driving module.

[0015] As an improvement, the rotating rod is arranged above the opening and extends radially to form a limiting block.

[0016] As an improvement, the air valve control module comprises: an air valve unit which is connected with the air hole through a pipeline to control the opening and closing of the air hole of the air cavity; and a switch unit which is used to control the working state of the air valve unit.

[0017] As an improvement, the driving rod is further provided with a mounting disc, and the air valve control module is arranged on the upper surface of the mounting disc.

[0018] As an improvement, the fixing member and the clamping block are provided with a plurality of anti-skid protrusions.

[0019] The principle and beneficial technical effects of the utility model are as follows:

[0020] The actual provided by the scheme is a built-in quick-release multi-degree-of-freedom suction cup device capable of being mounted on a robot.

[0021] On the one hand, the rotating part and the suction cup mechanism are connected in a built-in manner, that is, the components of the suction cup mechanism cooperatively wrap the rotating part at multiple angles, so that the suction cup mechanism can limit the rotating part at multiple angles; further, the fixing member and the clamping block reinforce the rotating part and the suction cup body, so that the connection between the rotating part and the suction cup body is more stable; and at the same time, the rotating part and the suction cup mechanism are assembled in a quick-release connection manner, so that the suction cup mechanism can be quickly disassembled and replaced from the rotating part when the suction cup body is damaged or in a situation.

[0022] On the other hand, the rotating part is connected in a built-in manner, specifically, the connecting part is arranged inside the rotating cavity of the rotating part, the rotating cavity wraps the connecting part, and the rotating cavity can limit and support the connecting part in multiple directions when the rotating part rotates to any angle, so as to ensure the stability of the rotating part.

[0023] In summary, the application provides a stable and convenient multi-degree-of-freedom suction cup device through the built-in mounting scheme with multiple limiting structures and the quick-release mounting mode, while ensuring the stability of the entire suction cup device. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual proportions. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0025] Figure 1 FIG. 1 is a structural schematic diagram of a cleaning module in an exemplary embodiment of the present application;

[0026] Figure 2 FIG. 2 is an exploded schematic diagram of the cleaning module shown in FIG. 1; Figure 1

[0027] Figure 3 FIG. 3 is a partial perspective schematic diagram of the cleaning module shown in FIG. 1; Figure 1

[0028] Figure 4 FIG. 4 is a side view of the cleaning module shown in FIG. 1; Figure 1

[0029] Figure 5 FIG. 5 is a side view of the cleaning module in an exemplary embodiment of the present application;

[0030] Figure 6 FIG. 6 is a structural schematic diagram of a rotating member in an exemplary embodiment of the present application;

[0031] Figure 7 FIG. 7 is a structural schematic diagram of a robot in an exemplary embodiment of the present application;

[0032] Figure 8 FIG. 8 is an angle design schematic diagram of a scraper in an exemplary embodiment of the present application;

[0033] Figure 9 FIG. 9 is a connection relationship schematic diagram of a functional module and a robot in an exemplary embodiment of the present application;

[0034] Figure 10 FIG. 10 is a first structural schematic diagram of a mounting plate in an exemplary embodiment of the present application;

[0035] Figure 11 ​​​Fig. 2 is a schematic view of a second structure of the mounting plate according to an example embodiment of the present application;

[0036] Figure 12 Fig. 3 is a schematic view of a third structure of the mounting plate according to an example embodiment of the present application;

[0037] Figure 13 Fig. 4 is a schematic view of a fourth structure of the mounting plate according to an example embodiment of the present application;

[0038] Figure 14 Fig. 5 is a schematic view of a structure of the first fixing plate according to an example embodiment of the present application;

[0039] Figure 15 Fig. 6 is a schematic view of a structure of the second fixing plate according to an example embodiment of the present application;

[0040] Figure 16 Fig. 7 is a first schematic view of a cooperation relationship between the mounting plate and the positioning member according to an example embodiment of the present application;

[0041] Figure 17 Fig. 8 is a second schematic view of a cooperation relationship between the mounting plate and the positioning member according to an example embodiment of the present application

[0042] Figure 18 Fig. 9 is a schematic view of a robot structure according to an example embodiment of the present application;

[0043] Figure 19 Fig. 10 is a schematic view of a whole structure of a multi-degree-of-freedom suction cup device according to an example embodiment of the present application;

[0044] Figure 20 Fig. 11 is a front view of a multi-degree-of-freedom suction cup device according to an example embodiment of the present application;

[0045] Figure 21 Fig. 12 is a partial cross-sectional view of a rotating part and a suction cup mechanism according to an example embodiment of the present application;

[0046] Figure 22 Fig. 13 is another partial cross-sectional view of a rotating part and a suction cup mechanism according to an example embodiment of the present application;

[0047] Figure 23 Fig. 14 is a partial exploded view according to an example embodiment of the present application.

[0048] Fig. 16 is a summary of the reference signs.

[0049] 10 is a robot main body; 20 is a connecting piece, 21 is a second opening; 22 is an adjusting position, 23 is a limiting path, 24 is a scraper; 30 is a cleaning part; 40 is a rotating module, 41 is a rotating piece, 42 is a second fixing piece, 43 is a first fixing piece, 44 is a mounting port, 45 is a mounting hole, 46 is a first mounting position, 47 is a fifth fixing piece, 48 is a first opening, 49 is a fourth fixing piece; 50 is an elastic piece, 61 is an adjusting part, 611 is a first adjusting part, 612 is a second adjusting part, P1 is a limiting section, P2 is a first plane, P3 is a second plane;

[0050] 100 is a mounting piece, 101 is a first mounting plate, 102 is a positioning area, 1021 is a positioning port, 1022 is a side edge; 103 is a second mounting plate, 1031 is a first sub-mounting plate, 1032 is a second sub-mounting plate, 104 is a connecting hole, 105 is a third mounting hole, 106 is a connecting rod; 200 is a first fixing plate, 201 is a first positioning piece, 202 is a second positioning piece, 2021 is a first positioning column, 2022 is a connecting plate, 2023 is a second positioning column; 300 is a second fixing plate, 301 is a first mounting surface, 302 is a second mounting surface; P4 is a third plane (also referred to as: mounting inclined surface);

[0051] 401 is a suction cup mechanism, 4011 is a suction cup main body, 4012 is a fixing piece, 4013 is a clamping block, 402 is a driving rod, 403 is a driving module, 404 is a driving transmission piece, 405 is a gas valve unit, 406 is a switch unit; 407 is a mounting disc, 408 is a rotating rod, 409 is a rotating part, 4091 is a first step, 4092 is a second step, 4093 is a clamping groove, 410 is a connecting part, 411 is a limiting block, 412 is a first sub-pipe, 413 is a second sub-pipe. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0053] In this document, suffixes such as "module," "component," or "unit" used to denote elements are used solely for the purpose of illustrative purposes and have no specific meaning in themselves. Therefore, "module," "component," or "unit" can be used interchangeably. In this document, terms such as "upper," "lower," "inner," "outer," "front," "rear," "one end," and "the other end," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are used only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0054] In this document, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; it can also refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. In this document, "multiple" means two or more, that is, it includes two, three, four, five, etc.

[0055] The implementation examples are basically as follows Figures 1-18 As shown:

[0056] Example 1

[0057] See Figures 1-8 As shown, an adaptive robot (the robot in this article can also be referred to as a cleaning robot or a photovoltaic maintenance robot) includes:

[0058] Robot body 10;

[0059] At least one cleaning module, the cleaning module comprising: a cleaning component 30 and a connector 20, wherein the cleaning component 30 is rotatably connected to the connector 20 via a rotating module 40, and the connector 20 is fixedly connected to the robot body 10; wherein...

[0060] The rotating module 40 includes a rotating component 41; wherein, the first end of the rotating component 41 is rotatably connected to the connecting component, and the second end of the rotating component 41 is fixedly connected to the cleaning component 30.

[0061] The first limiting mechanism comprises a limiting path arranged on the connecting piece 20 or the rotating piece 41, and a limiting piece arranged on the rotating piece 41 or the connecting piece 20 correspondingly. When the rotating piece is installed on the connecting piece 20, the limiting piece can extend into the limiting path to limit the adjustable range of the included angle of the rotating piece to a first angle to a second angle. The included angle refers to the angle between the axis of the rotating piece (e.g. the direction of the first plane P2) and the vertical direction (e.g. the direction of the second plane P3).

[0062] Herein, the first angle is also referred to as the lower limit angle. The maximum angle of the rotating piece under the limiting of the second limiting mechanism is also referred to as the upper limit angle.

[0063] Further, the embodiment also comprises a second limiting mechanism, which comprises an adjusting part 61, and the connecting piece 20 is correspondingly provided with an adjusting position 22, and the adjusting part 61 can realize relative movement with the adjusting position 22 through the adjusting position 22. When the adjusting part 61 is in different positions, the angle between the limiting tangent plane P1 of the adjusting part 61 and the vertical direction also changes.

[0064] When the rotating piece rotates to the current maximum angle, the rotating piece will contact at least one point on the adjusting part 61, and the tangent plane of the point is the limiting tangent plane P1.

[0065] Referring to Figure 5 The first plane P2 is the side surface of the rotating piece, and the second plane P3 is the vertical plane (e.g. the plane perpendicular or approximately perpendicular to the horizontal plane).

[0066] In the embodiment, the limiting distance of the first limiting mechanism is limited to be non-adjustable, and the limiting distance of the second limiting mechanism can be automatically adjusted by the user. The limiting mechanism with the limitation and the limiting mechanism with the free adjustment are coordinated, which can avoid that the rotating of the robot is too intense (e.g. the lifting is too large) when the robot passes over the bump, and can reserve the free adjustment space for the user to finely adjust according to different cleaning requirements and photovoltaic panel surfaces, so as to improve the adjustment reliability.

[0067] For example, in some embodiments, referring to Figure 3 A limiting path 23 is arranged on the connecting piece 20, and a mounting hole 45 is arranged on the rotating piece 41. The mounting hole 45 is used to mount a limiting piece (e.g. a screw rod, a bolt, etc.). When the rotating piece 41 rotates in a set direction, the limiting piece will also move on the limiting path 23 correspondingly, and when it moves to both ends of the limiting path 23, the rotating angle or tendency of the rotating piece will also be limited correspondingly.

[0068] For example, in some embodiments, the adjusting part 61 comprises a first adjusting part 611 and a second adjusting part 612 connected with each other, and the axes of the first adjusting part 611 and the second adjusting part 612 do not coincide; the second adjusting part 612 is arranged towards the rotating part 41, so that when the included angle is rotated to the current maximum angle, the second adjusting part 612 will be in contact with the rotating part 41, thereby limiting the rotating part 41.

[0069] In some embodiments, the second limiting mechanism is arranged above the rotating part to limit the maximum included angle in the rotatable range of the rotating part.

[0070] In the embodiment, the lower limit is preferably achieved by the first limiting mechanism, and the upper limit is achieved by the second limiting mechanism, which can ensure a certain adjusting freedom of the user, and avoid over-adjustment of the user (for example, resulting in an excessively large lower limit angle, which leads to the inability to stick to the ground).

[0071] In other words, in the embodiment, the foolproof design is adopted for the limiting scheme, so as to avoid the over-adjustment of the lower limit angle by the user due to the misoperation or unskilled operation, and to avoid the robot from easily appearing the ground-holding condition when passing the bump, thereby affecting the cleaning efficiency.

[0072] In some embodiments, the adjusting part 61 can be an eccentric shaft.

[0073] In some embodiments, the connecting part 20 and the robot body 10 are fixedly connected, so that the connecting part and the robot body form a rigid body.

[0074] Preferably, in some embodiments, the rotating module is arranged on both sides of the cleaning part 30 and the connecting part 20 (specifically, on the end faces of both sides of the cleaning part and the connecting part). In the embodiment, the scheme of arranging the rotating modules at both ends in the cleaning module can also improve the rotating flexibility to a certain extent.

[0075] In some embodiments, referring to Figure 3 As shown, the first end of the rotating part 41 is provided with a first opening 48, and the connecting part 20 is correspondingly provided with a second opening 21; when the first fixing part 43 (for example, a fixed pin) passes through the first opening 48 and the second opening 21, the first end of the rotating part 41 can be fixed at the second opening 21 and can be relatively rotated along the axis of the second opening.

[0076] For example, in some embodiments, a fifth fixing member 47 (e.g., a belt pulley) is further included; wherein the first fixing member 43 extends into the first opening 48 from one end and extends out of the other end of the first opening 48, and the fifth fixing member 47 is sleeved on the end of the first fixing member 43 extending out, so as to further fix the rotating member 41.

[0077] In some embodiments, the second end of the rotating member 41 is further provided with a mounting port 44, which is used to fix the second fixing member 42 arranged on the cleaning component 30, so that the cleaning component 30 can be angle self-adaptively adjusted relative to the rotation of the rotating member 41.

[0078] Preferably, the mounting port 44 is a non-closed opening, that is, the edge of the mounting port 44 is a non-continuous surface with a breakage, so as to facilitate the quick removal of the cleaning component 30.

[0079] In some embodiments, an elastic adjustment module is further included, which comprises an elastic member 50; correspondingly, the rotating member 41 is provided with a first mounting site 46, and the connecting member 20 is correspondingly provided with a second mounting site; the first end and the second end of the elastic member 50 are connected with the first mounting site 46 and the second mounting site respectively.

[0080] Wherein, the elastic member 50 will apply a force to the cleaning component 30 in a first direction, and the first direction refers to the direction in which the cleaning component 30 points to the area to be cleaned.

[0081] For another example, in some embodiments, the elastic member can also be in the form of a tension spring or other spring.

[0082] Completely opposite to the conventional rotating mode in which the cleaning module directly rotates relative to the robot body, in the present embodiment, the roller brush (equivalent to the cleaning component) is arranged to relatively rotate inside the cleaning module, that is, the roller brush with lighter mass is rotationally connected with the connecting member, so that the rotating module provides a supporting force required for supporting the rotation of the roller brush, thereby improving the service life and rotating flexibility of the rotating module to a certain extent. Meanwhile, for the internal relative rotation scheme of the cleaning module, the present embodiment further adopts the second limiting mechanism and the elastic adjustment module to fixedly limit the rotation angle and elastically limit the rotation speed in the upward and downward directions, so as to avoid the situation of "over flexibility" such as the contact with the photovoltaic panel being out of position or the contact pressure being too small caused by too fast rotation, on the basis of meeting the rotating flexibility and retaining the adjustment flexibility.

[0083] Embodiment Two

[0084] Referring to Figures 1-7 shown, a cleaning assembly comprises:

[0085] The cleaning module comprises a cleaning component 30, a connecting piece 20, the cleaning component 30 is rotationally connected with the connecting piece 20 through a rotating module 40, and the connecting piece 20 is fixedly connected with the robot body 10; the rotating module 40 comprises a rotating piece 41; wherein the first end of the rotating piece 41 is rotationally connected with the connecting piece, and the second end of the rotating piece 41 is fixedly connected with the cleaning component 30;

[0086] A first limiting mechanism, the first limiting mechanism comprises a limiting path arranged on the connecting piece 20 or the rotating piece 41, and a limiting piece arranged on the rotating piece 41 or the connecting piece 20 correspondingly, when the rotating piece is installed on the connecting piece 20, the limiting piece can extend into the limiting path, so as to limit the adjustable range of the included angle of the rotating piece to a first angle to a second angle; wherein the included angle refers to the angle between the axis of the rotating piece and the vertical direction;

[0087] A second limiting mechanism, the second limiting mechanism comprises an adjusting part 61, the connecting piece 20 is correspondingly provided with an adjusting position 22, and the adjusting part 61 can realize relative movement with the adjusting position 22 through the adjusting position 22; and when the adjusting part 61 is in different positions, the angle between the limiting section P1 of the adjusting part 61 and the vertical direction will also change; wherein,

[0088] When the rotating piece is rotated to the current maximum angle, the rotating piece will be in contact with at least one point on the adjusting part 61, and the tangent plane of the point is the limiting tangent plane P1.

[0089] In some embodiments, the connecting piece 20 is further provided with a scraper 24. Wherein the angle between the contact surface of the scraper 24 for cleaning the area to be cleaned (such as photovoltaic panel) and the vertical direction is β, and the optional range of angle β is 19.45°-20°.

[0090] The angle of the scraper can be seen from Figure 8 .

[0091] In some embodiments, the second limiting mechanism is arranged above the rotating piece, so as to limit the maximum included angle in the rotatable range of the rotating piece. For example, the adjusting part 61 will make the adjustable range be further limited to a first angle to a third angle, and the third angle is less than or equal to the second angle.

[0092] In some embodiments, further comprising: an elastic adjustment module, comprising: an elastic piece 50; correspondingly, a first mounting position 46 is arranged on the rotating piece 41, and a second mounting position is correspondingly arranged on the connecting piece 20; the first end and the second end of the elastic piece 50 are connected with the first mounting position 46 and the second mounting position respectively.

[0093] Wherein the elastic piece 50 will apply a force to the cleaning component 30 in the first direction, and the first direction refers to the direction in which the cleaning component 30 points to the area to be cleaned.

[0094] In this embodiment, the arrangement of the elastic piece can further limit the rotation trend of the rotating piece to a certain extent, so as to ensure that the relative force between the cleaning component and the area to be cleaned is of a certain size, and the cleaning strength is improved.

[0095] The arrangement of the elastic piece can also avoid that the included angle alpha is adjusted too fast or too large, so that the cleaning is not in place when passing over the bump.

[0096] The principle and beneficial technical effects of the utility model are as follows:

[0097] The photovoltaic panel will be uneven during installation due to the actual topography, and will be further uneven due to environmental erosion during use. The cleaning assembly in the prior art can only rotate within a fixed angle adjustment range, and cannot well adapt to different batches and different relief degrees of photovoltaic panels. The present application proposes a double-limiting scheme, which can adaptively adjust the photovoltaic panel in different scenes (for example, when cleaning the photovoltaic panel, a small part of the photovoltaic panel in the same area is first cleaned for trial, so as to determine the approximate relief degree of the photovoltaic panel, and then the angle adjustment range of the cleaning module is adjusted according to the cleaning effect), so that the cleaning assembly can more accurately adhere to the surface of the photovoltaic panel for cleaning.

[0098] Specifically, the present application proposes a double-limiting mechanism with different limiting effects (i.e. adjustable limiting angle), which can avoid over-adjustment of the user (for example, over-adjustment of the upper limit angle leads to the cleaning mechanism unable to adhere to the ground) on the basis of ensuring a certain adjustment freedom of the user.

[0099] On the other hand, the present scheme adopts a foolproof design for the limiting scheme, so as to avoid that the lower limit angle is adjusted too large due to misoperation or inexperience of the user, and the robot is prone to skidding when passing over the bump, affecting the cleaning efficiency.

[0100] In other words, the scheme provides more rotation range for the rotation of the cleaning mechanism by designing the double-limiting scheme with optional rotation angle, so as to adapt to photovoltaic panels with different undulations, make the adjustment flexibility higher, and effectively improve the overall cleaning effect.

[0101] Further, the scheme also forms a three-limiting scheme by setting the elastic member in cooperation with the two limiting mechanisms, so that the cleaning assembly has more adjustment angle range, and also avoids the problem of excessive rotation of the cleaning assembly to a certain extent (for example, the cleaning assembly cannot be cleaned in place when it rotates too fast or the adjustment range is too large).

[0102] Embodiment three

[0103] Referring to Figures 1-7 As shown in the figure, a robot with easily detachable cleaning components includes:

[0104] A robot body 10;

[0105] At least one cleaning module, the cleaning module includes: a cleaning component 30, a connecting piece 20, the cleaning component 30 is rotatably connected with the connecting piece 20 through a rotating module 40 (in some embodiments, the connecting piece 20 is fixedly connected with the robot body 10); wherein,

[0106] The rotating module 40 includes: a rotating piece 41; wherein the first end of the rotating piece 41 is rotatably connected with the connecting piece, and the second end of the rotating piece 41 is fixedly connected with the cleaning component 30;

[0107] Preferably, the second end of the rotating piece 41 is detachably connected with the cleaning component 30 through a second fixing piece 42;

[0108] Referring to Figure 3 As shown in the figure, the second end of the rotating piece 41 is provided with a mounting port 44, and the cleaning component 30 is provided with a second fixing piece 42 corresponding to the mounting port; the second fixing piece 42 is provided with at least one first fixing position 421, and the mounting port 44 is correspondingly provided with at least one second fixing position 441; when a third fixing piece (not shown in the figure) passes through the first fixing position 421 and the second fixing position 441 respectively, the second fixing piece 42 is clamped by the mounting port 44, so that the cleaning component 30 can be angle self-adaptively adjusted relative to the rotation of the rotating piece 41.

[0109] In some embodiments, the first fixing position 421 is a mounting groove arranged outside the second fixing member 42, the second fixing position 441 is a through hole arranged corresponding to the first fixing position, and the second fixing member 42 can be a hexagonal nut. The third fixing member can penetrate the second fixing position 441 and extend into the first fixing position 42 to fix the hexagonal nut. When the hexagonal nut is disassembled, the cleaning component (such as a roller brush) can be removed.

[0110] In some embodiments, the third fixing member can be a tension shaft.

[0111] Preferably, referring to Figure 6 As shown, the mounting port 44 is a non-closed opening, that is, the edge of the mounting port is a non-continuous surface, so that a disassembly port 442 is formed at the edge of the two ends of the mounting port 44, and the disassembly port 442 is used for portable disassembly of the hexagonal nut.

[0112] In some embodiments, the cleaning component 30 is provided with a first positioning rod 31, when the second fixing member 42 is installed at the first end of the first positioning rod 31 close to the cleaning component, the inner side surface of the mounting port 44 is in contact with the outer side surface of the second fixing member 42, and the second end of the first positioning rod 31 is further sleeved with a fourth fixing member 49 (such as a pulley).

[0113] Specifically, the first positioning rod 31 extends into the inner side of the second fixing member 42 from one end and extends out from the other side of the second fixing member 42, and the fourth fixing member 49 is sleeved at the extending position to fix the second fixing member 42.

[0114] In some embodiments, the adjusting part 61 includes a first adjusting part 611 and a second adjusting part 612 connected with each other, and the axes of the first adjusting part 611 and the second adjusting part 612 do not coincide; the second adjusting part 612 is arranged towards the rotating member 41, so that when the included angle is rotated to the current maximum angle, the second adjusting part 612 will be in contact with the rotating member 41, thereby limiting the rotating member 41.

[0115] In this embodiment, the rotating module is integrated with a detachable design, so that the local disassembly of the cleaning component (such as a roller brush, a brush, etc.) is completed synchronously by using the rotating module, and the installation method is convenient.

[0116] Moreover, the function integrated design can effectively simplify the overall mechanical structure, so as to further reduce the processing difficulty on the basis of facilitating manual operation of the user.

[0117] For example, the embodiment preferably supports quick installation of a brush with a length specification of 13mm-15mm.

[0118] It can be understood that the robot in the embodiment can also include the same or similar components in any other embodiment, which will not be repeated here.

[0119] Embodiment four

[0120] A detachable cleaning assembly, see Figures 1-6 , comprising:

[0121] At least one cleaning module, the cleaning module comprising: a cleaning component 30, a connecting piece 20, the cleaning component 30 being rotatably connected with the connecting piece 20 through a rotating module 40, the connecting piece 20 being fixedly connected with the robot body 10; the rotating module 40 comprises: a rotating piece 41; wherein the first end of the rotating piece 41 is rotatably connected with the connecting piece, and the second end of the rotating piece 41 is fixedly connected with the cleaning component 30; wherein,

[0122] The second end of the rotating piece 41 is provided with a mounting port 44, and the cleaning component is provided with a second fixing piece 42 corresponding to the mounting port; the second fixing piece 42 is provided with at least one first fixing position 421, and the mounting port 44 is correspondingly provided with at least one second fixing position 441, when the third fixing piece passes through the first fixing position 421 and the second fixing position 441 respectively, the second fixing piece 42 is clamped by the mounting port 44; the mounting port is used for fixing the second fixing piece 42 arranged on the cleaning component 30, so that the cleaning component 30 can be angle self-adaptive adjusted relative to the rotation of the rotating piece 41.

[0123] In some embodiments, the connecting piece 20 and the robot body 10 can be fixedly connected in a detachable manner.

[0124] In some embodiments, the cleaning component 30 is provided with a first positioning rod 31, when the second fixing piece 42 is installed at the first end of the first positioning rod 31 close to the cleaning component, the inner side surface of the mounting port 44 is in contact with the outer side surface of the second fixing piece 42, and the second end of the first positioning rod 31 is further sleeved with a fourth fixing piece 49.

[0125] Embodiment five

[0126] The utility model provides a kind of photovoltaic operation and maintenance robot of modular design, see Figures 7-18 This kind of modular photovoltaic robot includes: robot body 10, and at least one functional module connected with robot body 10 in detachable mode.

[0127] In some embodiments, the functional module includes one or more of the following: a cleaning module, an intelligent coating module and an intelligent detection module.

[0128] The intelligent coating module is capable of coating a nano coating on the photovoltaic panel. Specifically, the intelligent coating module comprises a storage mechanism for storing a spraying material, and a plurality of spraying mechanisms connected to the storage mechanism through pipelines, which are used to spray the spraying material onto the photovoltaic panel.

[0129] The intelligent detection module uses the photoluminescence principle to complete real-time monitoring of the photovoltaic module.

[0130] In some embodiments, the intelligent detection module is capable of autonomously detecting defects on the photovoltaic panel.

[0131] In some embodiments, the functional module is detachably connected to the robot body 10 through the mounting piece 100. The robot body 10 is provided with a first fixing plate 200 matched with the mounting piece 100, and the first fixing plate 200 is provided with a first positioning piece 201 and a second positioning piece 202 matched with the mounting piece 100. At least one functional module is further provided with a second fixing plate 300 matched with the mounting piece 100. For example, the second fixing plate 300 is arranged on the connecting piece 20.

[0132] Herein, the mounting piece and the first fixing plate are also collectively referred to as the connecting device of the robot.

[0133] Correspondingly, in some embodiments, referring to Figure 11 As shown in the figure, the mounting piece 100 comprises:

[0134] A first mounting plate 101, a first end of the first mounting plate 101 is provided with a positioning area 102; the positioning area is used to cooperate with the first positioning piece and the second positioning piece to complete preliminary clamping; wherein the positioning area 102 comprises: a side edge 1022, the side edge 1022 forms a limiting path for the first positioning piece to slide on the surface thereof, and one end of the side edge further extends to form a positioning port 1021, wherein when the positioning area and the first fixing plate 200 complete preliminary clamping, the second positioning piece is clamped into the positioning port, and the side edge abuts against the first positioning piece 201.

[0135] Preferably, the connecting line of the center points of the first positioning piece 201 and the second positioning piece 202 is obliquely arranged, that is, the connecting line intersects with a vertical plane (the included angle is γ); wherein the vertical plane refers to a plane perpendicular or approximately perpendicular to the horizontal plane where the robot body is located.

[0136] In some embodiments, the mounting piece and the second fixing plate are fixedly connected.

[0137] Herein, the fixed connection refers to a connection after fixing a part or component without any relative movement. The fixed connection includes detachable connection and non-detachable connection.

[0138] For example, the fixed connection of the mounting member and the second fixing plate means that there is no relative rotation after the connection.

[0139] For example, in some embodiments, in order to further reduce the labor intensity of the functional module replacement, the mounting member can also be integrally fixed with the functional module.

[0140] Further, referring to Figures 9-11 , the mounting member 100 further comprises: a second mounting plate 103 arranged along the second end of the first mounting plate 101; wherein the second mounting plate 103 comprises:

[0141] a first sub-mounting plate 1031, which is used to cooperate with the first mounting surface 301 of the second fixing plate 300; wherein the first sub-mounting plate 1031 is provided with at least one first mounting hole, and the first mounting surface 301 is also provided with a corresponding second mounting hole, when at least one positioning component (such as a screw rod, a positioning pin, etc.) penetrates the first mounting hole and is inserted into the second mounting hole, the first sub-mounting plate 1031 and the first mounting surface 301 are tightly connected with each other.

[0142] Further, the second mounting plate 103 can further comprise:

[0143] a second sub-mounting plate 1032, which is used to cooperate with the second mounting surface 302 of the second fixing plate 300; wherein the second sub-mounting plate 1032 is provided with at least one first mounting hole, and the second mounting surface 302 is also provided with a corresponding second mounting hole, the first mounting plate and the second mounting plate cooperate to form a mounting area for mounting the second fixing plate, when at least one positioning component (such as a screw rod, a positioning pin, etc.) penetrates the first mounting hole and is inserted into the second mounting hole, the second sub-mounting plate 1032 and the second mounting surface 302 are tightly connected with each other.

[0144] In some embodiments, the second mounting hole can be a through hole or a blind hole.

[0145] In some embodiments, the first positioning member 201 can be a positioning pin.

[0146] In some embodiments, referring to Figure 9 , the second positioning member 202 can comprise:

[0147] A first positioning column 2021 (for example, a positioning column can be a bolt, a positioning pin, etc.) is arranged on the first fixing plate 200; a connecting plate 2022 is arranged on the first positioning column 2021; a second positioning column 2023 is arranged on the second end of the connecting plate.

[0148] Referring to Figure 12 As shown, the first contact point formed by the first positioning member 201 and the side edge, and the second contact point formed by the first positioning column and the side edge (for example, it can refer to the point where the tangent line of the side edge is tangent to the first positioning column), form a first line, and the first line is arranged to intersect the vertical plane (the included angle is γ), and the vertical plane is perpendicular or approximately perpendicular to the horizontal plane where the robot body is located.

[0149] Specifically, in the horizontal direction, the distance between the first contact point and the functional module is less than the distance between the second contact point and the functional module.

[0150] Correspondingly, the side edge is also arranged as an inclined side edge; therefore, when the user preliminarily operates to make the mounting member 100 and the first fixing plate 200 be clamped, it can be moved in the direction parallel or approximately parallel to the installation inclined surface P4 (as shown by the arrow direction in Figure 13 , to abut the first positioning member 201 in sequence, and then clamp the second positioning member 202. Among them, the second positioning member 202 and the first positioning member 201 form at least two contact points with the side edge respectively; and a third plane P4 (also referred to as an installation inclined surface) formed by multiple contact points.

[0151] It can be understood that the first positioning member 201 can assist in positioning the clamping process of the second positioning member 202. For example, the lower end of the inclined surface can be first abutted with the first positioning member 201, and then slid downward along the first positioning member 201 until the second positioning member 202 is found and the preliminary fixing is completed by using the positioning port 1021.

[0152] Subsequently, the second positioning column 2023 is penetrated through the third mounting hole 105 to realize the close connection of the second positioning member 202 and the mounting plate 100; at least one positioning member and the side edge can be abutted by point contact, line contact or surface contact.

[0153] Preferably, the edge of the positioning hole 1021 comprises: a first line segment and a second line segment connected in sequence, the first line segment is curvedly extended along the first end of the inclined surface to form (preferably an arc-shaped line segment matched with the outer periphery of the first positioning column), and the second line segment is parallel or approximately parallel to the inclined surface, so that the user can smoothly insert the first positioning column 2021 along the direction of the installation inclined surface P4.

[0154] Referring to Figure 12 As shown, in the embodiment, the first positioning member 201, the second positioning member 202 and the third mounting hole (not shown in the figure) on the mounting member 100 cooperate to form a triangular action force distribution area 500. The action force distribution area 500 is connected by at least three points including the center point O1 of the first positioning member 201, the center point O2 of the first positioning column 2021 of the second positioning member 202 and the center point O3 of the second positioning column 2022. The action force distribution area 500 can reliably fix the mounting member 100 by using multi-point position limiting action, and can also disperse the overall limiting force by the design of multiple dispersed points, so as to reduce the force on a single point and enhance the working stability of the mounting member 100 and prolong the service life of the connecting components such as the mounting member 100 and the positioning member.

[0155] Preferably, in some embodiments, the functional module is connected to the robot body through at least two mounting members 100.

[0156] In some embodiments, the mounting member can be fixedly connected with the functional module.

[0157] Alternatively, in some other embodiments, the mounting member can also be rotatably connected with the functional module.

[0158] Further, in some embodiments, the first mounting plate 101 is further provided with a connecting hole 104, and the robot further comprises a connecting rod 106, wherein the connecting rod penetrates through the connecting holes 104 on the at least two first mounting plates 101. The user can conveniently operate the overall disassembly process of the functional module by grabbing the connecting rod.

[0159] Further, the utility model provides a cleaning robot which comprises a cleaning module. The cleaning module is detachably connected with the robot body through the mounting member 100, and a rotating module is arranged in the cleaning module to adaptively adjust the angle of the roller brush. The connecting structure formed by the mounting member and the rotating module in sequence has the advantages of adjustment flexibility and working stability.

[0160] When assembling the functional module and the robot body, it is necessary to quickly position the two to improve the installation efficiency, and at the same time, in order to maintain the working stability, it is necessary to make the connection between the two more stable.

[0161] Therefore, the application fixes the mounting piece and the first fixed plate through the multi-point double-acting structure, realizes quick positioning, and forms a stable fixing structure. Specifically, the scheme sets a side on the mounting plate to form a positioning path, sets a positioning opening at one end of the positioning path, uses the first positioning piece as an auxiliary positioning piece, can assist the clamping process of the first positioning column, and can also cooperate with the first positioning column and the second positioning column to form a force distribution area. The force distribution area can reliably fix the mounting piece and the first fixed plate through multi-point limiting, can also disperse the overall limiting force through the dispersed multiple points, can realize balanced distribution of the force on each point, can enhance the working stability of the mounting piece, and can prolong the service life of the mounting piece, the positioning piece and other connecting components.

[0162] Especially for large-scale photovoltaic panel cleaning scenes, different photovoltaic panel areas may have different undulations (for example, different specifications of photovoltaic panels are designed, or different thicknesses of dust obstacles are accumulated), the robot may frequently bump during long-term movement, and the installation piece can effectively improve the installation stability between the robot and the cleaning module, and the selection of the rotating module in the cleaning module can further reduce the influence of angle adjustment on the structural stability of the robot.

[0163] Embodiment six

[0164] Referring to Figures 19-23 The embodiment provides a multi-degree-of-freedom suction cup device, such as Figure 1 The suction cup device comprises a suction cup mechanism 401, a driving rod 402 and a driving module 403, the first end of the driving rod 402 is connected with the suction cup mechanism 401, and the second end of the driving rod 402 is connected with the output end of the driving module 403.

[0165] As Figure 21, the rotation part is provided between the driving rod and the suction disc mechanism, and the rotation part comprises a rotation rod 408 and a rotation part 409, the rotation part 409 is provided with a rotation cavity, and the first end of the rotation rod 408 is provided with a connecting part 410 matched with the rotation cavity; specifically, the rotation part comprises a split type rotation rod 408 and a rotation part 409, the rotation part is connected with the suction disc mechanism, the rotation part is provided with a spherical rotation cavity, the first end of the rotation part is provided with an opening communicated with the rotation cavity, the first end of the rotation rod is provided with a spherical connecting part matched with the rotation cavity, and the second end of the rotation rod is connected with the driving rod; when the connecting part is installed in the rotation cavity, a gap is left between the connecting rod and the inner wall at the opening, so that the rotation part can rotate relative to the connecting part, and when the rotation part rotates around the connecting part, the rotation part drives the suction disc mechanism to rotate relative to the rotation rod.

[0166] In some specific embodiments, the rotation cavity is a circular or approximately circular cavity, and correspondingly, the connecting part is spherical or approximately spherical, which can be closely fitted and rotated.

[0167] As Figure 23 , the rotation part is sequentially recessed downward from the first end to the second end to form a first step 4091 and a second step 4092, and the rotation part is provided with a clamping groove 4093; the suction disc mechanism comprises a suction disc body 4011, a fixing piece 4012 and a clamping block 4013, the suction disc body 4011 is provided with a groove matched with the second step 4092, and the suction disc body is provided with an air cavity and a ventilation hole, the ventilation hole is communicated with the air cavity; when the second step is clamped into the groove, and the fixing piece and the clamping block are sequentially installed on the suction disc body and the rotation part, the lower surface of the fixing piece is simultaneously abutted on the upper surfaces of the rotation part and the suction disc body, the first end of the clamping block is located in the clamping groove, and the lower surface of the clamping block is abutted on the upper surface of the fixing piece, so that the fixing piece and the suction disc body form a clamping structure for clamping the first step in the height direction.

[0168] In some embodiments, the fixing piece and the clamping block matched part are provided with a plurality of anti-skid protrusions, so as to prevent the relative rotation of the clamping block and the fixing piece to a certain extent.

[0169] In some embodiments, the top of the groove of the suction disc body is made of a deformable material (such as rubber), when the connecting part and the suction disc body are assembled, the groove is first expanded, then the second step is clamped into the groove, and after the external force is removed, the groove can be clamped on the second step to realize the fixation with the suction disc body.

[0170] In one aspect, when the second step is clamped into the groove, the rotating part and the suction disc body can be clamped and fixed, at the same time, the fixing part and the suction disc body cooperate to clamp the first step, and the first step cooperates with the clamping block to stably clamp the fixing part, that is, the first step and the second step of the rotating part are respectively realized by the suction disc mechanism, and the rotating part and the suction disc body are reinforced by the fixing part and the clamping block, so that the connection between the rotating part and the suction disc body is more stable; but at the same time, each rotating part and each part of the suction disc mechanism are assembled in a quick release connection mode, when the suction disc body is damaged (for example, long time work is worn out, resulting in poor sealing effect), the suction disc mechanism can be quickly disassembled and replaced from the rotating part.

[0171] On the other hand, the rotating part and the connecting part are connected in a "wrapping type" installation mode, when the rotating part rotates relative to the connecting part, no matter which direction it rotates, the rotating part and the connecting part always remain closely connected, which also makes the rotating part with the above structure stable under complex working environment (for example, cleaning photovoltaic panels with different inclinations).

[0172] In some embodiments, the second end of the fixing part extends downward along the height direction of the suction disc body to form a bending part; when the fixing part cooperates with the suction disc body and the rotating part, the bending part abuts against the side wall of the suction disc body to limit the width direction of the suction disc body. That is, the fixing part and the bending part form a corner with a first angle (preferably 90°) to wrap and limit the outer edge of the suction disc body, and to strengthen the stability of the rotating part and the connecting part under the action of the width direction.

[0173] In some embodiments, as Figure 23 , a limiting block 411 is arranged on the rotating rod, specifically, the limiting block 411 is formed by extending radially from the part of the rotating rod above the opening, when the rotating part rotates relative to the connecting part, the limiting block above the connecting part can limit the rotation angle of the rotating part, preventing the rotating part from being "too flexible" during rotation, specifically, when the rotating part rotates to the maximum, the upper surface of the rotating part abuts against the limiting block, thereby limiting.

[0174] In some embodiments, a handle is arranged on the clamping block; when the suction disc mechanism needs to be disassembled, only the handle needs to be held to pull out the clamping block from the rotating part, and then the fixing part and the suction disc body can be taken out in turn.

[0175] In some specific embodiments, the second end of the clamping block extends upward along the height direction of the rotating part to form the handle, that is, the clamping block and the handle can be integrally formed, and the clamping block and the handle are perpendicular to each other.

[0176] In some embodiments, as shown in Figure 19 , the suction cup device further comprises a gas valve control module, which comprises: a gas valve unit 405, which is connected to the air hole through a pipeline for controlling the opening and closing of the air hole of the air cavity; a switch unit 406 for controlling the working state of the gas valve unit.

[0177] In some embodiments, as shown in Figure 22 , the pipeline comprises a first sub-pipeline 412 arranged on the rotating part 409 and a second sub-pipeline 413 arranged on the rotating rod 408, wherein the second sub-pipeline 413 penetrates the rotating rod 408 and the connecting part and communicates with the first sub-pipeline 412.

[0178] In some specific embodiments, the first sub-pipeline is arranged on the central axis of the rotating part, and the second sub-pipeline is arranged on the central axis of the connecting part and the rotating rod.

[0179] In some embodiments, as shown in Figure 19 , the driving rod 402 is further provided with a mounting disc 407, and the gas valve control module is arranged on the upper surface of the mounting disc 407.

[0180] In some embodiments, as shown in Figure 19 , a driving transmission member 404 is further arranged between the driving rod 402 and the driving module 403, and the two ends of the driving transmission member 404 are respectively connected to the second end of the driving rod 402 and the output end of the driving module 403; the central axis of the driving rod 402 is parallel to the central axis of the driving module 403, and the driving transmission member 404 is perpendicular to the driving rod 402; when the driving module 403 drives the driving transmission member 404 to reciprocate along the extension direction of the central axis of the driving module 403, the driving transmission member 404 drives the driving rod 402 to move up and down; when the driving module 403 drives the driving transmission member 404 to rotate around the central axis of the driving module 403, the driving transmission member 404 drives the driving rod 402 to rotate around the driving module 403.

[0181] In some specific embodiments, the driving module can be a combination structure of a motor and a lead screw, which is used to realize the up-down linear motion and rotation of the output shaft respectively. Therefore, it can be understood that those skilled in the art can also choose other driving modules that can realize the function.

[0182] For the photovoltaic area installed in a sheet, there is a gap between the single photovoltaic panel and the adjacent photovoltaic panel, when the suction cup body is located at the gap, it is difficult to stably adsorb, and the application adjusts the relative position of the suction cup mechanism and the cleaning robot through the driving module, so that the cleaning robot can stably adsorb at any position.

[0183] In summary, the application provides an internal connection scheme, the photovoltaic panel has different degrees of fluctuation, so when the suction cup rotates to different angles, the stress points of the rotating part are different, in the application, the "wrapping type" mounting method can stably contact and uniformly bear stress between the connecting part and the rotating part no matter which angle the suction cup rotates to, so as to ensure the stability of the whole device.

[0184] It should be noted that in this paper, the term "including", "containing" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or device. Without more limitations, the element defined by the sentence "including a" does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0185] The embodiments of the application are described above in combination with the drawings, but the application is not limited to the above specific embodiments, the above specific embodiments are only illustrative, not restrictive, and those skilled in the art can make many forms under the inspiration of the application without departing from the purpose of the application and the scope protected by the claims, which all belong to the protection of the application.​​​​​​

Claims

1. A multi-degree-of-freedom chuck device, characterized by, The suction cup device can be detachably arranged at the bottom of the robot, and the suction cup device comprises: a suction cup mechanism, a driving rod and a driving module, the first end of the driving rod is connected with the suction cup mechanism, and the second end of the driving rod is connected with the output end of the driving module; a rotating part is arranged between the driving rod and the suction cup mechanism, the rotating part comprises a split rotating rod and a rotating part, the rotating part is connected with the suction cup mechanism, a spherical rotating cavity is arranged on the rotating part, the first end of the rotating part is provided with an opening communicated with the rotating cavity, the first end of the rotating rod is provided with a spherical connecting part matched with the rotating cavity, and the second end of the rotating rod is connected with the driving rod; when the connecting part is installed in the rotating cavity, a gap is left between the connecting rod and the inner wall at the opening, so that the rotating part can rotate relative to the connecting part, and when the rotating part rotates around the connecting part, the rotating part drives the suction cup mechanism to rotate relative to the rotating rod.

2. A multi-degree of freedom chuck device according to claim 1, characterized in that The suction cup mechanism comprises a suction cup body, the suction cup body is provided with a gas cavity and a gas hole, the gas hole is communicated with the gas cavity, the suction cup body is provided with a groove, and the end of the rotating part away from the rotating rod is provided with a second step matched with the groove; when the second step is clamped into the groove, the suction cup body and the rotating part are fixed in a clamped manner.

3. A multi-degree of freedom chuck device according to claim 2, wherein The rotating part is also provided with a first step between the first end of the rotating part and the second step, the rotating part is provided with a clamping groove above the first step; the suction cup mechanism further comprises a fixing piece and a clamping block; when the fixing piece is installed on the first step and the clamping block is installed in the clamping groove, the clamping block abuts against the upper surface of the fixing piece, so that the fixing piece cooperates with the suction cup body to form a clamping structure for clamping the first step.

4. A multi-degree of freedom chuck device according to claim 3, wherein The upper surface of the suction cup body and the first step are located in the same horizontal plane, when the fixing piece is installed on the first step, the fixing piece abuts against the upper surface of the suction cup body at the same time.

5. A multi-degree of freedom chuck device according to claim 4, wherein The second end of the fixing piece extends downward along the height direction of the suction cup body to form a bending part; when the fixing piece cooperates with the suction cup body and the rotating part, the bending part abuts against the side wall of the suction cup body to limit the width direction of the suction cup body.

6. The multi-degree-of-freedom chuck of claim 1, wherein A driving transmission piece is further arranged between the driving rod and the driving module, the two ends of the driving transmission piece are connected with the second end of the driving rod and the output end of the driving module respectively; the central axis of the driving rod is parallel to the central axis of the driving module, and the driving transmission piece is perpendicular to the driving rod; When the driving module drives the driving transmission piece to reciprocate along the extension direction of the central axis of the driving module, the driving transmission piece drives the driving rod to move up and down; when the driving module drives the driving transmission piece to rotate around the central axis of the driving module, the driving transmission piece drives the driving rod to rotate around the driving module.

7. The multi-degree-of-freedom chuck of claim 1, wherein The rotating rod is located above the opening and extends radially to form a limiting block.

8. A multi-degree of freedom chuck device according to claim 2, wherein The air valve control module comprises: an air valve unit connected with the air hole through a pipeline for controlling the opening and closing of the air hole of the air cavity; and a switch unit for controlling the working state of the air valve unit.

9. A multi-degree of freedom chuck device according to claim 8, characterized in that The driving rod is further provided with a mounting disc, and the air valve control module is arranged on the upper surface of the mounting disc.

10. The multi-degree-of-freedom chuck of claim 3, wherein The fixing member and the clamping block cooperation part are provided with a plurality of anti-skid protrusions.

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