Gripping device and photovoltaic cleaning robot system

Abstract

The utility model discloses a grabbing device and a photovoltaic cleaning robot system. The grabbing device comprises a base, a clamping jaw mechanism and an adjusting mechanism. The clamping jaw mechanism comprises a first clamping jaw assembly and a second clamping jaw assembly, the first clamping jaw assembly and the second clamping jaw assembly are slidably arranged on the two opposite sides of the base correspondingly, and the first clamping jaw assembly and the second clamping jaw assembly are configured to grab the photovoltaic cleaning robot. The adjusting mechanism comprises a first adjusting piece and a second adjusting piece, one end of the first adjusting piece is connected with the base, the other end of the first adjusting piece is connected with the first clamping jaw assembly, one end of the second adjusting piece is connected with the base, and the other end of the second adjusting piece is connected with the second clamping jaw assembly. Through the arrangement, the positions of the first clamping jaw and the second clamping jaw are adjusted, so that a photovoltaic cleaning robot located on a photovoltaic support is conveniently grabbed.

Description

TECHNICAL FIELD

[0001] The utility model relates to photovoltaic field especially relates to a kind of grabbing device and photovoltaic cleaning robot system. BACKGROUND

[0002] When photovoltaic cleaning robot carries out grabbing photovoltaic cleaning work in different power stations, because the working angle of photovoltaic cleaning machine on photovoltaic module is not fixed, the angle of the gripper of the mechanical arm of photovoltaic cleaning robot needs to be adjusted to adapt to photovoltaic cleaning machine, so that the angle of the gripper is consistent with the angle of photovoltaic cleaning machine, so as to be able to grab photovoltaic cleaning machine.

[0003] Therefore, it is necessary to provide a kind of grabbing device and photovoltaic cleaning robot system to solve the above problems. INVENTION CONTENTS

[0004] The utility model aims at providing a kind of grabbing device and photovoltaic cleaning robot system, can adaptively adjust the angle of gripper, to facilitate grabbing photovoltaic cleaning robot, and grabbing device structure is simple, and cost is lower.

[0005] To achieve the above object, the utility model adopts the following technical scheme one:

[0006] A kind of grabbing device, for grabbing photovoltaic cleaning robot, comprising:

[0007] base,

[0008] gripper mechanism, including first gripper assembly and second gripper assembly, the first gripper assembly and the second gripper assembly are respectively slidably arranged on the opposite sides of the base, the first gripper assembly and the second gripper assembly are configured to grab the photovoltaic cleaning robot;

[0009] adjusting mechanism, including first adjusting piece and second adjusting piece, one end of the first adjusting piece is connected with the base, the other end of the first adjusting piece is connected with the first gripper assembly, one end of the second adjusting piece is connected with the base, the other end of the second adjusting piece is connected with the second gripper assembly;

[0010] the first adjusting piece is configured to adjust the position of the first gripper assembly, and the second adjusting piece is configured to adjust the position of the second gripper assembly.

[0011] Further, the base includes top wall and is arranged on the opposite ends of the top wall, and first side wall and second side wall are respectively arranged perpendicularly with top wall, the first gripper assembly is slidably arranged relative to the first side wall, the second gripper assembly is slidably arranged relative to the first side wall, and the first adjusting piece and the second adjusting piece are arranged between the first side wall and the second side wall.

[0012] Further, the first adjusting member comprises a first cylinder and a first telescopic rod telescopically arranged in the first cylinder, the first cylinder is rotationally connected with the bottom of the top wall, and the free end of the first telescopic rod is rotationally connected with the first jaw assembly.

[0013] The second adjusting member comprises a second cylinder and a second telescopic rod telescopically arranged in the second cylinder, the second cylinder is rotationally connected with the bottom of the top wall, and the free end of the second telescopic rod is rotationally connected with the second jaw assembly.

[0014] The telescopic lengths of the first telescopic rod and the second telescopic rod are consistent.

[0015] Further, a first sliding plate is arranged between the first jaw assembly and the first side wall, the first sliding plate is provided with a first sliding rail, the first side wall is provided with a first sliding groove, and the first sliding rail and the first sliding groove are in sliding fit.

[0016] Further, two first protrusions are arranged on the two sides of the first sliding plate in the width direction and face the first side wall, the first side wall is provided with a first hook portion on the two sides in the width direction and faces the first jaw assembly, the first protrusions and the first hook portion are oppositely arranged on the same side, and the first protrusions and the first hook portion are matched.

[0017] Further, the first jaw assembly comprises a first body, a first driving mechanism, a first linkage assembly and a pair of first jaws, the first body is connected with the first sliding plate, the first driving mechanism is arranged on the top of the first body, the first linkage assembly is arranged in the first body, the pair of first jaws are respectively connected with the first linkage assembly, the pair of first jaws are arranged on the bottom of the first body, and the first driving mechanism drives the pair of first jaws to approach or separate from each other through the first linkage assembly.

[0018] Further, a second sliding plate is arranged between the second jaw assembly and the second side wall, the second sliding plate is provided with a second sliding rail, the second side wall is provided with a second sliding groove, and the second sliding rail and the second sliding groove are in sliding fit.

[0019] Further, two second protrusions are arranged on the two sides of the second sliding plate in the width direction and face the second side wall, the second side wall is provided with a second hook portion on the two sides in the width direction and faces the second jaw assembly, the second protrusions and the second hook portion are oppositely arranged on the same side, and the second protrusions and the second hook portion are matched.

[0020] Further, the second jaw assembly comprises a second body, a second driving mechanism, a second linkage assembly and two pairs of second jaws, the second body is connected with the second slide plate, the second driving mechanism is arranged on the top of the second body, the second linkage assembly is arranged inside the second body, two pairs of the second jaws are connected with the second linkage assembly respectively, so that the second jaws are arranged on the bottom of the second body, and the second driving mechanism drives two pairs of the second jaws to approach or separate from each other through the second linkage assembly.

[0021] To achieve the above object, the utility model adopts the following technical scheme two:

[0022] A photovoltaic cleaning robot system, the photovoltaic cleaning robot system includes the grabbing device, the photovoltaic cleaning robot system still includes mobile device and mechanical arm, the mechanical arm rotation is arranged on the top of mobile device, the grabbing device is arranged on the free end of mechanical arm.

[0023] Compared with the prior art, the utility model has the beneficial effects that:

[0024] 1, by first adjusting piece and first jaw assembly connection, second adjusting piece and second jaw assembly connection, so can adjust the position of first jaw assembly, second jaw assembly respectively, so that the angle of first jaw assembly and second jaw assembly is adapted to the angle of photovoltaic cleaning robot, so that accurate and fast grabbing can be realized, and the structure is simple, and the cost is reduced.

[0025] 2, by installing the grabbing device in the utility model in the mechanical arm of photovoltaic cleaning robot system, the use range of photovoltaic cleaning robot system is expanded, not only can photovoltaic cleaning robot on fixed support be grabbed, but also photovoltaic cleaning robot on tracking support can be grabbed, so that the cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is the three-dimensional schematic view of the grabbing device of the utility model;

[0027] Figure 2 It is the front view of Figure 1 ;

[0028] Figure 3 It is the three-dimensional exploded schematic view of Figure 1 ;

[0029] Figure 4 It is the three-dimensional exploded schematic view of another angle of Figure 3 ;

[0030] Figure 5 It is the three-dimensional schematic view of the base in the utility model;

[0031] Figure 6 is a perspective view of the base and the adjusting mechanism in the utility model;

[0032] Figure 7 is Figure 6 a perspective view of another angle.

[0033] BRIEF DESCRIPTION OF DRAWINGS

[0034] 100, grabbing device;

[0035] 1, base; 11, top wall; 12, first side wall; 121, first chute; 122, first hook part; 123, second side face; 124, second top face; 125, second bottom face; 126, second front face; 127, second rear face; 13, second side wall; 131, second chute; 132, second hook part; 133, fourth side face; 134, fourth top face; 135, fourth bottom face; 136, fourth front face; 137, fourth rear face; 14, first fixed seat; 15, second fixed seat;

[0036] 2, clamping jaw mechanism; 21, first clamping jaw assembly; 211, first body; 212, first drive mechanism; 213, first clamping jaw; 214, third fixed seat; 22, second clamping jaw assembly; 221, second body; 222, second drive mechanism; 223, second clamping jaw; 224, fourth fixed seat;

[0037] 3, adjusting mechanism; 31, first adjusting piece; 311, first cylinder body; 312, first telescopic rod; 32, second adjusting piece; 321, second cylinder body; 322, second telescopic rod;

[0038] 4, first sliding plate; 41, first sliding rail; 42, first protruding block; 43, first side face; 44, first top face; 45, first bottom face; 47, first rear face;

[0039] 5, second sliding plate; 51, second sliding rail; 52, second protruding block; 53, third side face; 54, third top face; 55, third bottom face; 56, third front face. DETAILED DESCRIPTION

[0040] The exemplary embodiments of the present application will be described in detail below with reference to the accompanying drawings. If there are several embodiments, the features in these embodiments can be combined with each other in the case of no conflict. When the description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise specified. The description in the following exemplary embodiments does not represent all the embodiments consistent with the present application; rather, they are merely examples of devices, products and / or methods consistent with some aspects of the present application as recited in the claims of the present application.

[0041] The terms used in the present application are merely for the purpose of describing the embodiments and are not intended to limit the scope of the present application. The singular forms "a," "an," and "the" used in the specification and claims of the present application are also intended to include the plural forms unless the context clearly indicates otherwise.

[0042] It should be understood that the terms "first", "second", and similar terms used in the description and claims of the present application do not denote any order, quantity, or importance, but are merely used to distinguish features. Similarly, "one" or "a" and the like do not denote a quantity limitation, but rather indicate the presence of at least one. Unless otherwise indicated, the terms "front", "back", "up", "down", and the like used in the present application are intended to facilitate the description and are not limited to a particular position or spatial orientation. "Include" or "contain" and the like are open-ended terms that mean the elements before "include" or "contain" encompass the elements after "include" or "contain" and their equivalents, and do not exclude the possibility that the elements before "include" or "contain" can also contain other elements. If "several" appears in the present application, it means two or more.

[0043] Please refer to Figures 1 to 7 The present application discloses a photovoltaic cleaning robot system, which comprises a moving device and a mechanical arm, the mechanical arm is rotatably arranged on the top of the moving device, and the photovoltaic cleaning robot system further comprises a grabbing device 100 arranged on the free end of the mechanical arm, and the grabbing device 100 is used for grabbing the photovoltaic cleaning robot.

[0044] Please refer to Figures 1 to 7The gripping device 100 includes a base 1, a gripper mechanism 2, and an adjustment mechanism 3. The gripper mechanism 2 includes a first gripper assembly 21 and a second gripper assembly 22, which are slidably disposed on opposite sides of the base 1. The first gripper assembly 21 and the second gripper assembly 22 are configured to grip the photovoltaic cleaning robot. The adjustment mechanism 3 includes a first adjustment member 31 and a second adjustment member 32. One end of the first adjustment member 31 is connected to the base 1, and the other end is connected to the first gripper assembly 21. One end of the second adjustment member 32 is connected to the base 1, and the other end is connected to the second gripper assembly 22. The first adjustment member 31 is configured to adjust the position of the first gripper assembly 21, and the second adjustment member 32 is configured to adjust the position of the second gripper assembly 22. This configuration allows for adaptive adjustment of the angle between the first gripper assembly 21 and the second gripper assembly 22 to facilitate gripping the photovoltaic cleaning robot.

[0045] Specifically, the base 1 includes a top wall 11 and a first side wall 12 and a second side wall 13 disposed at opposite ends of the top wall 11 and respectively perpendicular to the top wall 11. A first gripper assembly 21 is slidably disposed relative to the first side wall 12, and a second gripper assembly 22 is slidably disposed relative to the second side wall 13. Preferably, the first side wall 12 and the second side wall 13 are respectively perpendicularly disposed at two pairs of ends of the top wall 11, and the first side wall 12 and the second side wall 13 extend from the top wall 11 in the same direction, so that the base 1 forms a "U" shaped structure.

[0046] For ease of explanation, this utility model defines the following: Figure 1 The first direction D1-D1 is the length direction of the base 1, the second direction D2-D2 is the thickness direction of the base 1, and the third direction D3-D3 is the height direction of the base 1. The first direction D1-D1, the second direction D2-D2, and the third direction D3-D3 are all perpendicular to each other. That is, the first sidewall 12 and the second sidewall 13 are respectively perpendicularly disposed on both sides of the top wall 11 along the first direction D1-D1. The first adjusting member 31 is disposed along the first direction D1-D1 on the outer side of the first sidewall 12, and the second adjusting member 32 is disposed along the first direction D1-D1 on the outer side of the second sidewall 13. Furthermore, the first adjusting member 31 controls the first gripper assembly 21 to slide along the third direction D3-D3, and the second adjusting member 32 controls the second gripper assembly 22 to slide along the third direction D3-D3. This configuration allows for separate control of the heights of the first gripper assembly 21 and the second gripper assembly 22, enabling them to adapt to the angle of the photovoltaic cleaning machine. This is convenient, quick, and cost-effective.

[0047] Please refer to Figure 2 as well as Figures 6 to 7The first adjusting member 31 comprises a first cylinder body 311 and a first telescopic rod 312 telescopically arranged in the first cylinder body 311. The first cylinder body 311 is rotationally connected to the bottom of the top wall 11. The free end of the first telescopic rod 312 is rotationally connected to the first jaw assembly 21. The second adjusting member 32 comprises a second cylinder body 321 and a second telescopic rod 322 telescopically arranged in the second cylinder body 321. The second cylinder body 321 is rotationally connected to the bottom of the top wall 11. The free end of the second telescopic rod 322 is rotationally connected to the second jaw assembly 22. In the embodiment, the first adjusting member 31 and the second adjusting member 32 are both two push rods with the same structure. Preferably, the telescopic lengths of the first telescopic rod 312 and the second telescopic rod 322 are consistent. In this way, when the first telescopic rod 312 and the second telescopic rod 322 are retracted to the initial position, the heights of the first jaw assembly 21 and the second jaw assembly 22 remain consistent.

[0048] Please refer to Figure 7 The bottom surface of the top wall 11 is provided with a first fixing seat 14 and a second fixing seat 15. The first fixing seat 14 is arranged close to the first side wall 12. The second fixing seat 15 is arranged close to the second side wall 13. The first cylinder body 311 is rotationally connected to the first fixing seat 14. The second cylinder body 321 is rotationally connected to the second fixing seat 15, facilitating assembly. Preferably, the first fixing seat 14 and the second fixing seat 15 are symmetrically arranged relative to the center line of the top wall 11.

[0049] Please refer to Figures 1 to 4 The first jaw assembly 21 and the first side wall 12 are further provided with a first sliding plate 4. The first sliding plate 4 is provided with a first sliding rail 41. The first side wall 12 is provided with a first sliding groove 121. The first sliding rail 41 and the first sliding groove 121 are in sliding cooperation. Specifically, the first sliding plate 4 is provided with two first sliding rails 41. The two first sliding rails 41 are arranged in extension along the third direction D3-D3. The two first sliding rails 41 are arranged in interval along the second direction D2-D2. The first side wall 12 is provided with two first sliding grooves 121. The two first sliding grooves 121 are arranged in extension along the third direction D3-D3. The two first sliding grooves 121 are arranged in interval along the second direction D2-D2. In the embodiment, the cross section of the first sliding rail 41 is trapezoidal. The cross section of the first sliding groove 121 is trapezoidal. The first sliding rail 41 is embedded in the first sliding groove 121. In this way, the first sliding plate 4 slides relative to the first side wall 12. The first sliding plate 4 and the first side wall 12 do not separate in the first direction D1-D1. In other embodiments, the cross sections of the first sliding rail 41 and the first sliding groove 121 can also be other shapes that can cooperate with each other, which are not limited herein.

[0050] The two sides of the first slide plate 4 in the width direction are provided with two first protrusions 42 facing the first side wall 12, the two sides of the first side wall 12 in the width direction are provided with first hook portions 122 facing the first jaw assembly 21, the first protrusions 42 and the first hook portions 122 located on the same side are oppositely arranged, and the first protrusions 42 and the first hook portions 122 are matched. The first slide plate 4 further comprises two first side surfaces 43 oppositely arranged along the second direction D2-D2, and a first top surface 44 and a first bottom surface 45 oppositely arranged along the third direction D3-D3, the two first side surfaces 43 and the second top surface 124 and the first bottom surface 45 are spaced apart and sequentially connected in head-to-tail manner. The two first protrusions 42 are arranged on the two first side surfaces 43, the two first protrusions 42 are arranged back-to-back along the second direction D2-D2 of the first slide plate 4, and the two first protrusions 42 are located at the junction of the first top surface 44 and the first side surface 43. The first side wall 12 further comprises a first front surface and a first rear surface 47 oppositely arranged along the first direction D1-D1, the two first slide rails 41 are arranged on the first rear surface 47, and the first jaw assembly 21 is fixedly connected with the first front surface.

[0051] The first side wall 12 comprises two second side surfaces 123 oppositely arranged along the second direction D2-D2, and a second top surface 124 and a second bottom surface 125 oppositely arranged along the third direction D3-D3, the two second side surfaces, the second top surface 124 and the second bottom surface 125 are spaced apart and sequentially connected in head-to-tail manner. The first side wall 12 further comprises a second front surface 126 and a second rear surface 127 oppositely arranged along the first direction D1-D1, and the two slide grooves are arranged on the second front surface 126. When the first slide rail 41 is matched with the first slide groove 121 to slide, the first rear surface 47 and the second front surface 126 are surface-to-surface fitted, so as to ensure the stability of the up-and-down sliding of the first jaw assembly 21. The two first hook portions 122 are respectively arranged on the two second side surfaces 123, and each first hook portion 122 is arranged close to the second bottom surface 125. In this way, when the first adjusting member 31 drives the first slide plate 4 to slide downward along the third direction D3-D3 to the lowest position, the first protrusion 42 contacts the first hook portion 122 to limit the first slide plate 4 from continuously sliding downward, so as to avoid the disengagement of the first slide plate 4 from the first side wall 12.

[0052] Please refer to Figures 1 to 4 The first jaw assembly 21 comprises a first body 211, a first driving mechanism 212, a first connecting member, and a pair of first clamping jaws 213, the first body 211 is connected with the first slide plate 4, the first driving mechanism 212 is arranged on the top of the first body 211, the first connecting member is arranged in the interior of the first body 211, the pair of first clamping jaws 213 are respectively connected with the first connecting member, the pair of first clamping jaws 213 are arranged on the bottom of the first body 211, and the first driving mechanism 212 drives the pair of first clamping jaws 213 to approach or separate from each other through the linkage assembly, so as to be able to grasp the photovoltaic cleaning machine.

[0053] The first clamping jaw assembly 21 further comprises a third fixing base 214 vertically arranged on the first body 211, and the third fixing base 214 is arranged below the first sliding plate 4 and the first side wall 12. The free end of the first telescopic rod 312 is rotationally connected with the third fixing base 214 to drive the first clamping jaw assembly 21 to move up and down.

[0054] Please refer to Figures 1 to 4 The second clamping jaw assembly 22 and the second side wall 13 are further provided with the second sliding plate 5, the second sliding plate 5 is provided with the second sliding rail 51, the second side wall 13 is provided with the second sliding groove 131, and the second sliding rail 51 and the second sliding groove 131 are in sliding cooperation. Specifically, the second sliding plate 5 is provided with two second sliding rails 51, the two second sliding rails 51 are arranged in extension along the third direction D3-D3, and the two second sliding rails 51 are arranged in interval along the second direction D2-D2. The second side wall 13 is provided with two second sliding grooves 131, the two second sliding grooves 131 are arranged in extension along the third direction D3-D3, and the two second sliding grooves 131 are arranged in interval along the second direction D2-D2. In the embodiment, the cross section of the second sliding rail 51 is trapezoidal, the cross section of the second sliding groove 131 is trapezoidal, the second sliding rail 51 and the second sliding groove 131 are arranged in face-to-face one-to-one correspondence along the first direction D1-D1, the second sliding rail 51 is embedded in the second sliding groove 131, so that the second sliding plate 5 slides relative to the second side wall 13, and the second sliding plate 5 and the second side wall 13 will not be separated in the first direction D1-D1. In other embodiments, the shapes of the cross sections of the second sliding rail 51 and the second sliding groove 131 can also be other shapes that can cooperate with each other, which is not limited here.

[0055] The two sides of the second slide plate 5 in the width direction are provided with two second protrusions 52 facing the second side wall 13, the two sides of the second side wall 13 in the width direction are provided with second hook portions 132 facing the second angle assembly 22, the second protrusions 52 and the second hook portions 132 located on the same side are oppositely arranged and matched with each other. The second slide plate 5 further comprises two third side faces 53 oppositely arranged along the second direction D2-D2 and a third top face 54 and a third bottom face 55 oppositely arranged along the third direction D3-D3, the two third side faces 53 and the third top face 54 and the third bottom face 55 are spaced apart and sequentially connected in head-to-tail manner. The two second protrusions 52 are arranged on the two third side faces 53, the two second protrusions 52 are arranged back-to-back along the second direction D2-D2 of the second slide plate 5, and the two second protrusions 52 are located at the junction of the third top face 54 and the third side face 53. The second slide plate 5 further comprises a third front face 56 and a third rear face oppositely arranged along the first direction D1-D1, the two second slide rails 51 are arranged on the third front face 56, and the second jaw assembly 22 is fixedly connected with the third rear face. The second side wall 13 comprises two fourth side faces 133 oppositely arranged along the second direction D2-D2 and a fourth top face 134 and a fourth bottom face 135 oppositely arranged along the third direction D3-D3, the two fourth side faces 133, the fourth top face 134 and the fourth bottom face 135 are spaced apart and sequentially connected in head-to-tail manner. The second side wall 13 further comprises a fourth front face 136 and a fourth rear face 137 oppositely arranged along the first direction D1-D1, and the two slide grooves are arranged on the fourth rear face 137. When the second slide rail 51 is matched with the second slide groove 131 to slide, the fourth rear face 137 and the third front face 56 are surface-to-surface matched, so as to ensure the stability of the up-and-down sliding of the second jaw assembly 22. The two second hook portions 132 are respectively arranged on the two fourth side faces 133, and each second hook portion 132 is arranged close to the fourth bottom face 135. In this way, when the second adjusting member 32 drives the second slide plate 5 to slide downward along the third direction D3-D3 to the lowest position, the second protrusion 52 contacts the second hook portion 132 to limit the second slide plate 5 from continuously sliding downward, so as to avoid the disengagement of the second slide plate 5 from the second side wall 13.

[0056] Please refer to Figures 1 to 4 The second jaw assembly 22 comprises a second body 221, a second driving mechanism 222, a second connecting member and a pair of second jaws 223, the second body 221 is connected with the second slide plate 5, the second driving mechanism 222 is arranged on the top of the second body 221, the second connecting member is arranged in the interior of the second body 221, the pair of second jaws 223 are respectively connected with the second connecting member, and the pair of second jaws 223 are arranged on the bottom of the second body 221. The second driving mechanism 222 drives the pair of second jaws 223 to approach or separate from each other through the second connecting member, so as to be able to grasp the photovoltaic cleaning machine.

[0057] The second clamping jaw assembly 22 further comprises a fourth fixing base 224 vertically arranged on the second body 221, and the fourth fixing base 224 is arranged below the second sliding plate 5 and the second side wall 13, and the free end of the second telescopic rod 322 is rotationally connected with the fourth fixing base 224 to drive the second clamping jaw assembly 22 to move up and down.

[0058] When the photovoltaic cleaning robot system needs to grab the photovoltaic cleaning robot located on the fixed support, because the inclination angle of each group of fixed supports is a fixed value, the positions of the first clamping jaw 213 and the second clamping jaw 223 are adjusted once, so that the front and rear angles of the first clamping jaw 213 and the second clamping jaw 223 are consistent with the inclination angle of the fixed support, and then the photovoltaic cleaning robot is grabbed, and the positions of the first clamping jaw 213 and the second clamping jaw 223 do not need to be adjusted again subsequently.

[0059] When the photovoltaic cleaning robot system needs to grab the photovoltaic cleaning robot located on the tracking support, because the inclination angle of each group of tracking supports is not a fixed value, the positions of the first clamping jaw 213 and the second clamping jaw 223 need to be adjusted again for each group of tracking supports, so that the front and rear angles of the first clamping jaw 213 and the second clamping jaw 223 are consistent with the inclination angle of the tracking support.

[0060] In summary, the utility model discloses a kind of grabbing devices 100 for grabbing photovoltaic cleaning robot. Grabbing device 100 includes pedestal 1, clamping jaw mechanism 2 and adjusting mechanism 3. Clamping jaw mechanism 2 includes first clamping jaw assembly 21 and second clamping jaw assembly 22, and first clamping jaw assembly 21, second clamping jaw assembly 22 are slidably arranged at opposite ends of pedestal 1 respectively. Adjusting mechanism 3 includes first adjusting piece 31 and second adjusting piece 32, and the two ends of first adjusting piece 31 are connected with pedestal 1 and first clamping jaw assembly 21 respectively, and the two ends of second adjusting piece 32 are connected with pedestal 1 and second clamping jaw assembly 22 respectively, and the positions between first clamping jaw assembly 21 and second clamping jaw assembly 22 are adjusted by setting first adjusting piece 31 and second adjusting piece 32 respectively, so that the angle of first clamping jaw assembly 21 and second clamping jaw assembly 22 is adapted to the angle of photovoltaic cleaning robot, to be able to accurately and quickly grab, and structure is simple, and cost is reduced.

[0061] The above examples are only used for illustrating the present application and not limiting the technical solutions described in the present application, and the understanding of the present specification should be based on the technicians in the technical field, for example, the directional description of "front", "rear", "left", "right", "upper", "lower" and the like, although the present application has been described in detail with reference to the above examples, however, the ordinary technicians in the field should understand that the technicians in the field can still modify or equivalently replace the present application, and all the technical solutions and improvements which do not deviate from the spirit and scope of the present application should be covered in the scope of the claims of the present application.

Claims

1. A gripping device for gripping a photovoltaic cleaning robot, characterized in that, The utility model relates to a kind of grabbing devices, including: Base (1), Clamping jaw mechanism (2), including first clamping jaw assembly (21) and second clamping jaw assembly (22), the first clamping jaw assembly (21) and the second clamping jaw assembly (22) are respectively slidably arranged in the opposite sides of the base (1), the first clamping jaw assembly (21) and the second clamping jaw assembly (22) are configured to grasp the photovoltaic cleaning robot; Adjusting mechanism (3), including first adjusting piece (31) and second adjusting piece (32), one end of the first adjusting piece (31) is connected with the base (1), the other end of the first adjusting piece (31) is connected with the first clamping jaw assembly (21), one end of the second adjusting piece (32) is connected with the base (1), the other end of the second adjusting piece (32) is connected with the second clamping jaw assembly (22); The first adjusting piece (31) is configured to adjust the position of the first clamping jaw assembly (21), and the second adjusting piece (32) is configured to adjust the position of the second clamping jaw assembly (22).

2. The gripping device of claim 1, wherein: The base (1) includes a top wall (11), a first side wall (12) and a second side wall (13) arranged at opposite ends of the top wall (11) and perpendicular to the top wall (11), the first clamping jaw assembly (21) is slidably arranged opposite the first side wall (12), the second clamping jaw assembly (22) is slidably arranged opposite the second side wall (13), and the first adjusting piece (31) and the second adjusting piece (32) are arranged between the first side wall (12) and the second side wall (13).

3. The grabbing device of claim 2, wherein: The first adjusting piece (31) includes a first cylinder (311) and a first telescopic rod (312) telescopically arranged in the first cylinder (311), the first cylinder (311) is rotatably connected to the bottom of the top wall (11), and the free end of the first telescopic rod (312) is rotatably connected to the first clamping jaw assembly (21); The second adjusting piece (32) includes a second cylinder (321) and a second telescopic rod (322) telescopically arranged in the second cylinder (321), the second cylinder (321) is rotatably connected to the bottom of the top wall (11), and the free end of the second telescopic rod (322) is rotatably connected to the second clamping jaw assembly (22); The first telescopic rod (312) and the second telescopic rod (322) have the same telescopic length.

4. The gripping device of claim 2, wherein: A first sliding plate (4) is further arranged between the first clamping jaw assembly (21) and the first side wall (12), the first sliding plate (4) is provided with a first sliding rail (41), the first side wall (12) is provided with a first sliding groove (121), and the first sliding rail (41) and the first sliding groove (121) are in sliding cooperation.

5. The gripping device of claim 4, wherein: Two first protrusions (42) are arranged on the two sides of the first sliding plate (4) in the width direction and face the first side wall (12), and two first hook portions (122) are arranged on the two sides of the first side wall (12) in the width direction and face the first jaw assembly (21), the first protrusions (42) and the first hook portions (122) are arranged oppositely and cooperated with each other.

6. The gripping device of claim 5, wherein: The first jaw assembly (21) comprises a first body (211), a first driving mechanism (212), a first connecting member and a pair of first jaws (213), the first body (211) is connected with the first sliding plate (4), the first driving mechanism (212) is arranged on the top of the first body (211), the first connecting member is arranged in the first body (211), the pair of first jaws (213) are connected with the first connecting member respectively, the pair of first jaws (213) are arranged on the bottom of the first body (211), and the first driving mechanism (212) drives the pair of first jaws (213) to approach or separate from each other through the first connecting member.

7. The gripping device of claim 2, wherein: The second sliding plate (5) is arranged between the second jaw assembly (22) and the second side wall (13), the second sliding plate (5) is provided with a second sliding rail (51), and the second side wall (13) is provided with a second sliding groove (131), the second sliding rail (51) and the second sliding groove (131) are in sliding cooperation.

8. The gripping device of claim 7, wherein: Two second protrusions (52) are arranged on the two sides of the second sliding plate (5) in the width direction and face the second side wall (13), and two second hook portions (132) are arranged on the two sides of the second side wall (13) in the width direction and face the second jaw assembly (22), the second protrusions (52) and the second hook portions (132) are arranged oppositely and cooperated with each other.

9. The gripping device of claim 8, wherein: The second jaw assembly (22) comprises a second body (221), a second driving mechanism (222), a second connecting member and two pairs of second jaws (223), the second body (221) is connected with the second sliding plate (5), the second driving mechanism (222) is arranged on the top of the second body (221), the second connecting member is arranged in the second body (221), two pairs of second jaws (223) are connected with the second connecting member respectively, the second jaws (223) are arranged on the bottom of the second body (221), and the second driving mechanism (222) drives the two pairs of second jaws (223) to approach or separate from each other through the second connecting member.

10. A photovoltaic cleaning robot system, characterized by: The photovoltaic cleaning robot system comprises the grabbing device according to any one of claims 1-9, the photovoltaic cleaning robot system further comprises a moving device and a mechanical arm, the mechanical arm is arranged on the top of the moving device in a rotating mode, and the grabbing device is arranged on the free end of the mechanical arm.

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