Gripping device and cleaning system

Abstract

The utility model discloses a grabbing device and a cleaning system, and relates to the technical field of aircrafts, the grabbing device is used for grabbing a cleaning robot, the grabbing device comprises a mounting body, a first supporting piece and a second supporting piece, and at least one of the first supporting piece and the second supporting piece is movably arranged on the mounting body; the first supporting piece and the second supporting piece are oppositely arranged, the distance between the first supporting piece and the second supporting piece can be adjusted to form a containing space, and the containing space is used for containing part or all of the cleaning robot. According to the technical scheme, at least one of the first supporting piece and the second supporting piece can telescopically move relative to the mounting body, the containing space is formed by the first supporting piece and the second supporting piece and the mounting body, and the first supporting piece and the second supporting piece can grab or release the cleaning robot and can support the cleaning robot during contraction; and the grabbed part of the cleaning robot can be stably contained in the containing space, so that the stability of the grabbing device for grabbing the cleaning robot is improved.

Description

Technical Field

[0001] This application relates to the field of aircraft technology, and in particular to a gripping device and a cleaning system. Background Technology

[0002] Photovoltaic power plants require the use of miniature photovoltaic cleaning robots for post-cleaning and maintenance of photovoltaic panels. Existing gripping devices such as drones can use electromagnetic chucks to grab the cleaning robots when they are automatically placed and picked up. However, after long-term use, dust will accumulate on the surface of the electromagnetic chucks, affecting the stability of the connection between the electromagnetic chucks and the cleaning robot, thereby reducing the stability of the gripping device when grabbing the cleaning robot. Utility Model Content

[0003] The main objective of this application is to provide a gripping device that improves the stability of the gripping device when gripping a cleaning robot.

[0004] To achieve the above objectives, the present application proposes a gripping device for gripping a cleaning robot. The gripping device includes a mounting body, a first support member, and a second support member, wherein at least one of the first support member and the second support member is movably disposed on the mounting body.

[0005] The first support member and the second support member are arranged opposite to each other, and the distance between the first support member and the second support member is adjustable to form an accommodating space, which is used to accommodate part or all of the cleaning robot.

[0006] In one embodiment, the gripping device further includes a swing arm and a telescopic rod disposed on the mounting body. One end of the telescopic rod is connected to the first support member or the second support member, and the other end is movably connected to the swing arm. The rotation axis of the swing arm is set at an angle to the distribution direction of the first support member and the second support member. The rotation of the swing arm relative to the mounting body drives the telescopic rod to extend and retract.

[0007] In one embodiment, the swing arm has a sliding groove, and the end of the telescopic rod has a sliding protrusion; the sliding protrusion protrudes toward the sliding groove along the extension direction of the rotation axis and is embedded or engaged in the sliding groove and slides along the sliding groove.

[0008] In one embodiment, the mounting body is provided with a first driving member and a worm gear; the gripping device further includes a turbine, the worm wheel is rotatably connected to the mounting body, the worm wheel is fixedly connected to the swing arm, the first driving member drives the worm gear to rotate, and the turbine gear meshes with the worm gear for transmission.

[0009] In one embodiment, the gripping device further includes an adsorber mounted on the mounting body, the adsorber being disposed in the receiving space, the adsorber being used to adsorb the cleaning robot, the first support member and the second support member having a support surface for supporting the cleaning robot, the support surface being located below the adsorption surface of the adsorber, and a gap being present between the support surface and the adsorption surface of the adsorber.

[0010] In one embodiment, both the first support member and the second support member include a connecting portion and a supporting portion connected together. The first support member and the second support member are connected to different telescopic rods through their respective connecting portions. The connecting portions of the first support member and the second support member extend in parallel and spaced apart. The supporting portions of the first support member and the second support member extend toward each other. The supporting surface is formed on the upper side of the supporting portion.

[0011] In one embodiment, the gripping device further includes a mounting frame, a lifting member, and a second driving member. One end of the lifting member is fixedly connected to the mounting body, and the other end of the lifting member extends in a direction away from the mounting body and is movably disposed on the mounting frame. The second driving member is drivenly connected to the lifting member to drive the mounting body to move closer to or away from the mounting frame.

[0012] In one embodiment, the lifting component includes a lifting slider and a connecting component. One end of the connecting component is connected to the lifting slider, and the other end is connected to the mounting body. The mounting bracket is provided with a lead screw extending axially along the connecting component. The second driving component drives and connects to the lead screw. The lead screw passes through the lifting slider and is screwed to the lifting slider.

[0013] In one embodiment, the mounting bracket has a mounting cavity, the lifting slider is disposed in the mounting cavity, the lead screw is disposed on the outside of the mounting bracket, the lifting slider has a connecting protrusion that is screwed to the lead screw, and the mounting bracket has a clearance groove on one side facing the lead screw for the connecting protrusion to pass through.

[0014] In one embodiment, the mounting body is detachably connected to the lifting slider.

[0015] In one embodiment, the gripping device further includes a first connecting rod and a second connecting rod. One end of the first connecting rod is connected to the lifting slider, and the other end is provided with a mounting groove. The groove wall of the mounting groove is formed with a screw hole. One end of the second connecting rod is connected to the mounting body, and the other end is inserted into the mounting groove. A connecting hole is provided corresponding to the screw hole. The screw hole and the connecting hole are connected by fasteners.

[0016] This application also proposes a cleaning system, including a cleaning robot, an aircraft, and the aforementioned grasping device, wherein the aircraft is connected to the grasping device.

[0017] In one embodiment, the cleaning robot includes a robot body and a fixed plate connected together, wherein the fixed plate is accommodated within the accommodating space when the gripping device grips the cleaning robot.

[0018] The technical solution of this application allows at least one of the first support member and the second support member to extend and retract relative to the mounting body, forming an adjustable accommodating space with the mounting body. The first support member and the second support member can grasp or release the cleaning robot, and can support the cleaning robot when retracted, so that the part of the cleaning robot being grasped can be stably accommodated in the accommodating space, thereby improving the stability of the grasping device when grasping the cleaning robot. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the structure of an embodiment of the cleaning system provided in this application;

[0021] Figure 2 for Figure 1 A structural diagram of the cleaning system from another perspective;

[0022] Figure 3 for Figure 1 A schematic diagram of the structure of one embodiment of the gripping device;

[0023] Figure 4 for Figure 1 A structural schematic diagram of the gripping device from another perspective;

[0024] Figure 5 for Figure 4 Exploded view of the first and second connecting rods.

[0025] Explanation of icon numbers:

[0026] 10. Cleaning system; 100. Grabbing device; 200. Aircraft; 20. Fixing plate; 110. Mounting body; 120a. First support member; 120b. Second support member; 121. Connecting part; 122. Support part; 130. Swing arm; 131. Slide groove; 140. Telescopic rod; 141. First rod segment; 142. Second rod segment; 143. Sliding protrusion; 151. First driving member; 152. Worm gear; 153. 160. Worm gear; 171. Adsorber; 172. Mounting bracket; 173. Mounting cavity; 174. Second driving component; 185. Lead screw; 186. Relief groove; 187. Lifting component; 188. Lifting slider; 189. Connecting protrusion; 180. First connecting rod; 182. Mounting groove; 1821. Groove wall of mounting groove; 18212. Screw hole; 183. Second connecting rod; 1831. Connecting hole; 184. Fastener.

[0027] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0029] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0030] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0031] This application proposes a gripping device 100.

[0032] Please see Figures 1 to 3 In one embodiment of this application, the gripping device 100 is used to grip a cleaning robot. The gripping device 100 includes a mounting body 110, a first support member 120a, and a second support member 120b. At least one of the first support member 120a and the second support member 120b is movably disposed on the mounting body 110. The first support member 120a and the second support member 120b are arranged opposite to each other, and the distance between the first support member 120a and the second support member 120b is adjustable to form an accommodating space. The accommodating space is used to accommodate part or all of the cleaning robot.

[0033] Specifically, the cleaning robot includes a robot body and a fixed plate 300 fixedly connected to the robot body. The fixed plate 300 is used for gripping by the gripping device 100. When the gripping device 100 moves the cleaning robot, it can use a drone, robotic arm, or other means to move the cleaning robot from one photovoltaic panel to another.

[0034] The mounting body 110 is used to mount the first support member 120a, the second support member 120b, and other parts. The mounting body 110, together with the first support member 120a and the second support member 120b, forms a receiving space. When the gripping device 100 grips the cleaning robot, the cleaning robot is at least partially contained within the receiving space. The first support member 120a and the second support member 120b are mounted on the mounting body 110. At least one of the first support member 120a and the second support member 120b can telescopically move relative to the mounting body 110, thereby increasing or decreasing the volume of the receiving space. It is possible that the first support member 120a can telescopically move relative to the mounting body 110, or that the second support member 120b can telescopically move relative to the mounting body 110, or that both the first support member 120a and the second support member 120b can telescopically move relative to the mounting body 110.

[0035] The number of first support member 120a and second support member 120b can be one or more, and the number can be the same or different. For example, there is one first support member 120a and multiple second support members 120b.

[0036] The first support member 120a and the second support member 120b can be installed on opposite sides of the mounting body 110, or they can be installed opposite each other on the center line of the bottom surface of the mounting body 110. The first support member 120a and the second support member 120b are installed opposite each other, and there is sufficient space between them.

[0037] The first support member 120a and the second support member 120b can be used to grip the fixing plate 300. The first support member 120a and the second support member 120b extend away from each other to facilitate the gripping device 100 to grip or release the cleaning robot. When the gripping device 100 grips the cleaning robot, at least the fixing plate 300 is located within the receiving space. The first support member 120a and the second support member 120b retract toward each other, such that the first support member 120a and the second support member 120b are at least partially located below the fixing plate 300 and support the fixing plate 300. With the support of the first support member 120a and the second support member 120b, the fixing plate 300 is not easily detached from the receiving space, thereby preventing the cleaning robot from falling off the gripping device 100 during handling, thus improving the stability of the gripping device 100 when gripping the cleaning robot.

[0038] The first support member 120a and the second support member 120b can also be used to clamp the fixing plate 300. When it is necessary to grasp the cleaning robot, the two support members 120 move inward to reduce the accommodating space. The first support member 120a and the second support member 120b are L-shaped. The first support member 120a and the second support member 120b include a connecting part 121 and a supporting part 122. The connecting part 121 extends along a first direction, with one end connected to the supporting part 122 and the other end connected to the telescopic rod 140. The connecting part 121 is located on the side of the fixing plate 300 and applies a clamping force to the fixing plate 300. The supporting part 122 extends along a second direction and is located below the fixing plate 300 to support the fixing plate 300, so that the first support member 120a and the second support member 120b can clamp the cleaning robot. When it is necessary to release the cleaning robot, the two first support members 120a and the second support member 120b move outward to expand the accommodating space, allowing the cleaning robot to move in and out freely. The first support member 120a and the second support member 120b can simultaneously grasp and support the cleaning robot, thereby improving the stability of the grasping device 100 when grasping the cleaning robot.

[0039] The first support member 120a and the second support member 120b can extend and retract relative to the mounting body 110, making the accommodating space adjustable, thereby realizing the gripping and releasing of the cleaning robot. In addition, the gripping device 100 can adapt to different models or sizes of cleaning robots to cover the size of various cleaning robots, thus expanding the application scenarios of the gripping device 100.

[0040] The technical solution of this application allows at least one of the first support member 120a and the second support member 120b to be able to telescopically move relative to the mounting body 110 and form an adjustable-volume accommodating space with the mounting body 110. The first support member 120a and the second support member 120b can grasp or release the cleaning robot and support the cleaning robot when retracted, so that the cleaning robot can be stably accommodated in the accommodating space, thereby improving the stability of the grasping device 100 when grasping the cleaning robot.

[0041] In one implementation, please refer to Figure 3 and Figure 4 The gripping device 100 also includes a swing arm 130 and a telescopic rod 140 disposed on the mounting body 110. One end of the telescopic rod 140 is connected to the first support member 120a or the second support member 120b, and the other end is movably connected to the swing arm 130. The rotation axis of the swing arm 130 is set at an angle to the distribution direction of the first support member 120a and the second support member 120b. The rotation of the swing arm 130 relative to the mounting body 110 drives the telescopic rod 140 to extend and retract.

[0042] The swing arm 130 is mounted on the mounting body 110, and its axis of rotation is angled to the distribution direction of the first support member 120a and the second support member 120b. One end of the telescopic rod 140 is connected to either the first support member 120a or the second support member 120b, and the other end is movably connected to the swing arm 130, converting the rotational motion of the swing arm 130 into linear motion. This allows the telescopic rod 140 to extend and retract along the distribution direction of the first support member 120a and the second support member 120b, thereby driving the first support member 120a or the second support member 120b connected to it to extend and retract. It is understood that when the swing arm 130 rotates relative to the mounting body 110, the swing arm 130 applies force through its movable connection point with the telescopic rod 140, forcing the telescopic rod 140 to extend and retract. When the swing arm 130 rotates forward, the two telescopic rods 140 are pulled toward each other, causing the first support 120a and the second support 120b to retract inward; conversely, when the swing arm 130 rotates in reverse, the two telescopic rods 140 extend away from each other, causing the first support 120a and the second support 120b to expand outward.

[0043] In other embodiments, the telescopic rod 140 can be extended or retracted using a rack and pinion structure; alternatively, the first support member 120a and / or the second support member 120b can be directly driven to move linearly by a servo motor or cylinder, so that the first support member 120a and the second support member 120b can move toward or away from each other, thereby realizing the retraction movement of the first support member 120a and the second support member 120b with respect to the mounting body 110.

[0044] In one implementation, please refer to Figure 4The swing arm 130 has a groove 131, and the end of the telescopic rod 140 has a sliding protrusion 143. The sliding protrusion 143 protrudes towards the groove 131 along the extension direction of the rotation axis and is embedded or locked on the groove 131 and slides along the groove 131.

[0045] The swing arm 130 has a groove 131, which can be straight, arc-shaped, or other shapes. The end of the telescopic rod 140 connected to the swing arm 130 has a sliding protrusion 143, which can slide within the groove 131. The sliding protrusion 143 is embedded in the groove 131 and has a certain gap with the inner wall of the groove 131, allowing it to slide freely along the length of the groove 131. Alternatively, the sliding protrusion 143 can be engaged within the groove 131, with a certain friction between it and the inner wall of the groove 131 in the width direction to prevent it from loosening or unnecessary slippage. When the swing arm 130 rotates, the groove 131 guides the sliding protrusion 143 to move along a predetermined path. Since the rotation axis of the slide groove 131 and the swing arm 130 are at a certain angle, the movement of the sliding protrusion 143 will be converted into the linear movement of the telescopic rod 140, thereby driving the first support member 120a and the second support member 120b to move telescopically.

[0046] In other embodiments, the end of the telescopic rod 140 is provided with a connecting rod rotatably connected thereto. The connecting rod is fixedly connected to the slide groove 131. When the swing arm 130 rotates, the connecting rod rotates together with the swing arm 130. The rotational motion of the connecting rod is converted into the linear motion of the telescopic rod 140, thereby driving the support member 120 to move telescopically.

[0047] In one implementation, please refer to Figure 4 The telescopic rod 140 includes a first rod segment 141 and a second rod segment 142. The second rod segment 142 is located at the end of the first rod segment 141 away from the support member 120. The second rod segment 142 is set at an angle to the first rod segment 141. The sliding protrusion 143 is located on the second rod segment 142.

[0048] By providing a second segment 142 at the end of the first segment 141 away from the support member 120, and by setting the second segment 142 at an angle to the first segment 141, the stress concentration of the first segment 141 can be reduced, and the travel of the first segment 141 in telescopic movement can be increased.

[0049] In other embodiments, the width of the end of the first rod segment 141 away from the support member 120 is larger, and the sliding protrusion 143 is directly provided at the end of the first rod segment 141 away from the support member 120, and is provided on one side in the width direction of the first rod segment 141.

[0050] In one implementation, please refer to Figure 3 and Figure 4 The mounting body 110 is provided with a first driving member 151 and a worm gear 153; the gripping device 100 also includes a turbine 152, which is rotatably connected to the mounting body 110 and fixedly connected to the swing arm 130. The first driving member 151 drives the worm gear 153 to rotate, and the turbine 152 meshes with the worm gear 153 for transmission.

[0051] The first driving component 151 is mounted on the mounting body 110 and is used to drive the worm gear 153 to rotate. The worm gear 153 is directly connected to the first driving component 151 and is driven to rotate by the first driving component 151. The worm wheel 152 meshes with the worm gear 153 and can rotate relative to the mounting body 110. The rotation axis of the worm wheel 152 is connected to the swing arm 130, and the rotation axis of the worm wheel 152 is consistent with the rotation axis of the swing arm 130, ensuring that the rotation of the worm wheel 152 can directly drive the swing arm 130 to rotate.

[0052] When the first drive unit 151 is activated, it drives the worm gear 153 to rotate. The rotation of the worm gear 153 drives the meshing worm wheel 152 to rotate. The axis of rotation of the worm wheel 152 is aligned with the axis of rotation of the swing arm 130, and the rotation of the worm wheel 152 is directly converted into the rotation of the swing arm 130. The worm wheel 152 and worm gear 153 transmission system has a high reduction ratio. Even if the speed of the first drive unit 151 is high, the speed of the worm wheel 152 can be kept low, thereby achieving precise control of the rotation angle of the swing arm 130, and thus precise control of the extension and retraction of the support member 120. In addition, the self-locking characteristics of the worm wheel 152 and worm gear 153 (i.e., the worm gear 153 can easily drive the worm wheel 152, but the worm wheel 152 cannot easily drive the worm gear 153 in the opposite direction) increase the safety of the system, preventing accidental reversal or loosening, and preventing the support member 120 from being accidentally released due to external forces when it is necessary to maintain the gripping state.

[0053] In other embodiments, the output shaft of the first drive member 151 directly drives the swing arm 130; or the first drive member 151 drives the drive wheel, and the shaft of the drive wheel is fixedly connected to the swing arm 130.

[0054] In one embodiment, the mounting body 110 is configured as a mounting box, with the worm gear 152, worm 153, swing arm 130, etc., installed inside the mounting box, and the telescopic rod 140 passing through the mounting box. The mounting box serves to store and protect its internal components.

[0055] In one implementation, please refer to Figures 1 to 3The gripping device 100 also includes an adsorber 160 mounted on the mounting body 110. The adsorber 160 is disposed in the receiving space and is used to adsorb the cleaning robot. The first support member 120a and the second support member 120b have support surfaces for supporting the cleaning robot. The support surfaces are located below the adsorption surface of the adsorber 160, and there is a gap between the support surfaces and the adsorption surface of the adsorber 160.

[0056] Installed on the mounting body 110 and located within the receiving space, the suction device 160 is used to adsorb the cleaning robot. Various types of suction devices can be used, such as electromagnetic suction devices 160, vacuum suction devices 160, or magnetic suction devices 160. When the support member 120 opens and allows the cleaning robot to enter the receiving space, the suction device 160 activates, using electromagnetic force, vacuum suction, or magnetic force to adsorb the fixing plate 300 of the cleaning robot, thus achieving the gripping of the cleaning robot. With prolonged use, dust may accumulate on the surface of the suction device 160, affecting the stability of its gripping of the cleaning robot. By providing the support member 120, the support member 120 can support the fixing plate 300, enabling multiple gripping of the cleaning robot by the gripping device 100, improving the stability and safety of the gripping device 100, and reducing the risk of the cleaning robot accidentally falling off during transportation.

[0057] The support surface being located below the adsorption surface of the adsorber 160 means that when the gripping device 100 is in use, the support surface is located below the adsorber 160 in the first direction. Depending on the dimensions of the adsorber 160 and the support portion 122, the support surface can be located directly below the adsorption surface of the adsorber 160, that is, the projection of the support surface and the adsorption surface in the first direction at least partially coincides; or the support surface can be located obliquely below the adsorption surface of the adsorber 160, that is, the projection of the support surface and the adsorption surface in the first direction has a gap.

[0058] The distance between the supporting surface and the adsorption surface in the first direction can be adjusted according to the size and shape of the cleaning robot to accommodate different models of cleaning robots. The supporting surface can be designed as a flat surface to fit the bottom surface of the fixing plate 300. The material of the supporting surface should have a certain degree of friction to prevent the fixing plate 300 from sliding. Anti-slip rubber or soft plastic materials can be selected to provide sufficient friction without damaging the fixing plate 300. In other embodiments, the distance between the supporting surface and the adsorption surface can also be adjusted to allow for automatic adjustment of the distance according to the fixing plate 300 of different models of cleaning robots, improving the versatility and flexibility of the gripping device 100.

[0059] In other embodiments, the gripping device 100 may also be provided with a clamping and fixing plate 300 to grip the cleaning robot.

[0060] In one implementation, please refer to Figures 1 to 3 The first support member 120a and the second support member 120b each include a connecting portion 121 and a supporting portion 122 connected to each other. The first support member 120a and the second support member 120b are connected to different telescopic rods 140 through their respective connecting portions 121. The connecting portions 121 of the first support member 120a and the second support member 120b extend in parallel and at intervals. The supporting portions 122 of the first support member 120a and the second support member 120b extend toward each other, and the supporting surface is formed on the upper side of the supporting portion 122.

[0061] The first support member 120a and the second support member 120b are both connected to different telescopic rods 140 via their respective connecting portions 121. Both the first support member 120a and the second support member 120b are capable of telescopic movement relative to the mounting body 110. The connecting portions 121 of the first support member 120a and the second support member 120b extend along a first direction, connecting the corresponding telescopic rod 140 and the support portion 122 to transmit the force of the connected telescopic rod 140 and guide the corresponding support portion 122 to perform telescopic movement. The support portion 122 of the first support member 120a extends in the forward direction of a second direction, and the support portion 122 of the second support member 120b extends in the reverse direction of the second direction. The support surface formed on the upper side of the support portion 122 is used to provide stable support for the fixing plate 300 after the cleaning robot is adsorbed, preventing it from shaking or falling off during transportation.

[0062] In other embodiments, the first support 120a and the second support 120b are configured as clamps capable of holding the fixing plate 300.

[0063] In one implementation, please refer to Figure 3 The gripping device 100 also includes a mounting frame 171, a lifting member 180, and a second driving member 172. One end of the lifting member 180 is fixedly connected to the mounting body 110, and the other end of the lifting member 180 extends away from the mounting body 110 and is movably disposed on the mounting frame 171. The second driving member 172 is drivenly connected to the lifting member 180, driving the mounting body 110 to move closer to or away from the mounting frame 171.

[0064] Mounting bracket 171 is used to mount lifting component 180 and second drive component 172. The second drive component 172 drives and connects to lifting component 180, driving the lifting component 180 to move up and down. The second drive component 172 can be an electric push rod, hydraulic cylinder, pneumatic cylinder, or screw transmission system, etc. One end of lifting component 180 is fixedly connected to mounting body 110, and the other end is movably mounted on mounting bracket 171. Lifting component 180 can move up and down on mounting bracket 171 through second drive component 172 to drive mounting body 110 closer to or away from mounting bracket 171, thereby adjusting the height of mounting body 110 and various components mounted on mounting body 110. When gripping the cleaning robot, gripping device 100 can pre-fit fixed plate 300 so that support component 120 can better grip fixed plate 300.

[0065] In one implementation, please refer to Figure 3 and Figure 4 The lifting component 180 includes a lifting slider 181 and a connector 182. One end of the connector 182 is connected to the lifting slider 181, and the other end is connected to the mounting body 110. The mounting bracket 171 is provided with a lead screw 173 extending along the axial direction of the connector 182. The second driving component 172 drives the lead screw 173. The lead screw 173 passes through the lifting slider 181 and is screwed to the lifting slider 181.

[0066] The lifting slider 181 is movably mounted on the mounting bracket 171 and can move along the axial direction of the lead screw 173 on the mounting bracket 171. The second driving member 172 is used to drive the lead screw 173 to rotate. When the second driving member 172 is activated, it drives the lead screw 173 to rotate. The rotation of the lead screw 173 is converted into linear motion through thread transmission, thereby causing the lifting slider 181 to move up and down along the axial direction of the lead screw 173. The connecting member 182 connects the mounting body 110 and the lifting slider 181 together and transmits the lifting motion of the lifting slider 181 to the mounting body 110, so that the mounting body 110 moves up and down together with the lifting slider 181. This adjusts the height of the mounting body 110 and the various components mounted on the mounting body 110, allowing the support member 120 to better grip the fixing plate 300.

[0067] In other embodiments, the lifting component 180 can be driven to move up and down by a linear cylinder. The second driving component 172 can also be connected to the lifting slider 181 via a gear and a rack. The gear is mounted on the output shaft of the second driving component 172, and the rack is fixed on the lifting slider 181 and meshes with the gear. The second driving component 172 drives the gear to rotate, and through meshing with the rack, the rotational motion is converted into linear motion, thereby causing the lifting slider 181 to move up and down along the rack direction.

[0068] In one implementation, please refer to Figure 3 The mounting bracket 171 has a mounting cavity 1711, a lifting slider 181 is disposed in the mounting cavity 1711, a lead screw 173 is disposed on the outside of the mounting bracket 171, the lifting slider 181 is provided with a connecting protrusion 1811 that is screwed to the lead screw 173, and a clearance groove 174 is provided on the side of the mounting bracket 171 facing the lead screw 173 for the connecting protrusion 1811 to pass through.

[0069] Mounting bracket 171 extends along a first direction. The top of mounting bracket 171 along the first direction can mount the aircraft 200 to facilitate the transport of the cleaning robot from one photovoltaic panel to another. Mounting bracket 171 has an internal mounting cavity 1711 for accommodating the lifting slider 181. The mounting cavity 1711 extends along the first direction, allowing the lifting slider 181 to move up and down within it. Mounting bracket 171 has a clearance groove 174 on one side facing the lead screw 173, through which the connecting protrusion 1811 on the lifting slider 181 passes. This allows the connecting protrusion 1811 to be screwed onto the lead screw 173 without obstruction during up and down movement, enabling the lifting slider 181 to slide freely within the cavity. The connecting protrusion 1811 is located on the lifting slider 181, passes through the clearance groove 174 of mounting bracket 171, and is screwed onto the lead screw 173. The up and down movement of the lifting slider 181 is achieved by the rotation of the lead screw 173. By placing the lifting slider 181 inside the mounting cavity 1711, the structure of the entire gripping device 100 becomes more compact, reducing the space occupied by the lifting slider 181. The second drive member 172 and the lead screw 173 are located on the outside of the mounting frame 171 to facilitate the inspection and replacement of the second drive member 172 and the lead screw 173.

[0070] In other embodiments, the lead screw 173 can also be located inside the mounting cavity 1711, thus eliminating the need for the clearance groove 174 and further improving the integration of the device.

[0071] In one implementation, please refer to Figure 4 The mounting body 110 and the lifting slider 181 are detachably connected.

[0072] Mounting bracket 171 is used for fixed connection with aircraft 200 such as drones. Mounting body 110 is detachably connected to lifting slider 181, allowing mounting body 110 and components mounted on it to be removed from aircraft 200. This facilitates cleaning of the adsorber 160, reduces dust on its adsorption surface, and improves the stability of the adsorption connection between adsorber 160 and fixing plate 300, thereby improving the stability of gripping device 100 when gripping the cleaning robot. Furthermore, it facilitates the inspection and replacement of components on mounting body 110, preventing damage to aircraft 200 during maintenance.

[0073] In other embodiments, the connector 182 and the lifting slider 181 can also be fixedly connected, welded together, or integrally formed. This simplifies the structure of the gripping device 100, makes it easier to manufacture, and reduces production costs.

[0074] In one implementation, please refer to Figure 3 and Figure 4 The gripping device 100 also includes a first connecting rod 182 and a second connecting rod 183. One end of the first connecting rod 182 is connected to the lifting slider 181, and the other end is provided with a mounting groove 1821. The groove wall 18211 of the mounting groove is formed with a screw hole 18212. One end of the second connecting rod 183 is connected to the mounting body 110, and the other end is inserted into the mounting groove 1821. A connecting hole 1831 is provided corresponding to the screw hole 18212. The screw hole 18212 and the connecting hole 1831 are connected by a fastener 184.

[0075] The mounting groove 1821 faces the mounting body 110 and is used to accommodate the end of the second connecting rod 183 facing the lifting slider 181. One end of the second connecting rod 183 is inserted into the mounting groove 1821, ensuring a tight fit between the first connecting rod 182 and the second connecting rod 183. The shape of the mounting groove 1821 should match the cross-section of the end of the second connecting rod 183 to ensure smooth insertion and a tight fit. The mounting groove 1821 can be circular, square, or other polygonal. A square or polygonal mounting groove 1821 can withstand greater rotational torque, while a circular mounting groove 1821 is easier to install. A guide bevel or chamfer can be provided at the entrance of the mounting groove 1821 to help the second connecting rod 183 insert more easily and reduce friction during insertion.

[0076] A screw hole 18212 is formed on the wall 18211 of the mounting slot for alignment with the connecting hole 1831 on the second connecting rod 183 and connection via a fastener 184, so that the mounting body 110 and the lifting slider 181 are detachably connected together. The screw hole 18212 and the connecting hole 1831 are connected by the fastener 184, and the connection between the first connecting rod 182 and the second connecting rod 183 is very strong, capable of withstanding large tensile and shear forces, and is not easily loosened under the gravity of the cleaning robot; moreover, the mounting body 110 or the lifting slider 181 can be quickly disassembled and replaced, facilitating maintenance and cleaning of the suction device 160.

[0077] In other embodiments, the first connecting rod 182 and the second connecting rod 183 can be connected by a pin, with the pin passing through a pin hole on the first connecting rod 182 and the second connecting rod 183, and fixed by a cotter pin or a resilient retaining ring. Alternatively, the first connecting rod 182 and the second connecting rod 183 can be connected by a snap-fit ​​mechanism, with one of the first connecting rod 182 and the other having a snap-fit ​​mechanism, the snap-fit ​​engaging with the slot.

[0078] In other embodiments, the first connecting rod 182 and the second connecting rod 183 are fixedly connected as a single unit and are in the shape of straight rods. The first connecting rod 182 is fixedly connected to the lifting slider 181, and the second connecting rod 183 is detachably connected to the mounting body 110. Alternatively, the first connecting rod 182 is detachably fixedly connected to the lifting slider 181, and the second connecting rod 183 is fixedly connected to the mounting body 110.

[0079] This application also proposes a cleaning system 10, which includes a cleaning robot, an aircraft 200, and a gripping device 100. The specific structure of the gripping device 100 is as described in the above embodiments. Since this cleaning system 10 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0080] In one implementation, please refer to Figure 1 and Figure 2 The cleaning robot includes a connected robot body and a fixed plate. When the gripping device grips the cleaning robot, the fixed plate is accommodated within the accommodating space.

[0081] The cleaning robot includes a robot body and a fixed plate 300 fixedly connected to the robot body. The fixed plate 300 is used for gripping by a gripping device 100. Generally, the fixed plate 300 is fixedly connected to the top of the robot body, and when the gripping device 100 grips the cleaning robot, the fixed plate 300 is accommodated within an accommodating space. The gripping device 100 can transport the cleaning robot by gripping the fixed plate 300. Of course, in other embodiments, the gripping device 100 can also directly grip the robot body, provided that the robot body has mating surfaces for the gripping device 100 to contact and act upon.

[0082] The above description is merely an exemplary embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the technical concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A gripping device (100) for gripping a cleaning robot, characterized in that, The gripping device (100) includes a mounting body (110), a first support (120a) and a second support (120b), wherein at least one of the first support (120a) and the second support (120b) is movably disposed on the mounting body (110). The first support member (120a) and the second support member (120b) are arranged opposite to each other, and the distance between the first support member (120a) and the second support member (120b) is adjustable to form an accommodating space, which is used to accommodate part or all of the cleaning robot.

2. The gripping device (100) as described in claim 1, characterized in that, The gripping device (100) further includes a swing arm (130) and a telescopic rod (140) disposed on the mounting body (110). One end of the telescopic rod (140) is connected to the first support member (120a) or the second support member (120b), and the other end is movably connected to the swing arm (130). The rotation axis of the swing arm (130) is set at an angle to the distribution direction of the first support member (120a) and the second support member (120b). The rotation of the swing arm (130) relative to the mounting body (110) drives the telescopic rod (140) to extend and retract.

3. The gripping device (100) as described in claim 2, characterized in that, The swing arm (130) has a groove (131), and the end of the telescopic rod (140) has a sliding protrusion (143); the sliding protrusion (143) protrudes towards the groove (131) along the extension direction of the rotation axis, and is embedded or locked on the groove (131) and slides along the groove (131).

4. The gripping device (100) as described in claim 2, characterized in that, The mounting body (110) is provided with a first driving member (151) and a worm (153); the gripping device (100) further includes a worm wheel (152), which is rotatably connected to the mounting body (110) and fixedly connected to the swing arm (130). The first driving member (151) drives the worm (153) to rotate, and the worm wheel (152) meshes with the worm (153) for transmission.

5. The gripping device (100) as described in claim 2, characterized in that, The gripping device (100) further includes an adsorber (160) mounted on the mounting body (110), the adsorber (160) being disposed in the accommodating space, the adsorber (160) being used to adsorb the cleaning robot, the first support member (120a) and the second support member (120b) having a support surface for supporting the cleaning robot, the support surface being located below the adsorption surface of the adsorber (160), and a gap being between the support surface and the adsorption surface of the adsorber (160).

6. The gripping device (100) as described in claim 5, characterized in that, Both the first support member (120a) and the second support member (120b) include a connecting portion (121) and a supporting portion (122) connected to each other. The first support member (120a) and the second support member (120b) are connected to different telescopic rods (140) through their respective connecting portions (121). The connecting portions (121) of the first support member (120a) and the second support member (120b) extend in parallel and spaced apart. The supporting portions (122) of the first support member (120a) and the second support member (120b) extend toward each other. The supporting surface is formed on the upper side of the supporting portion (122).

7. The gripping device (100) as described in claim 1, characterized in that, The gripping device (100) further includes a mounting frame (171), a lifting member (180), and a second driving member (172). One end of the lifting member (180) is fixedly connected to the mounting body (110), and the other end of the lifting member (180) extends away from the mounting body (110) and is movably disposed on the mounting frame (171). The second driving member (172) is drivenly connected to the lifting member (180) to drive the mounting body (110) to move closer to or away from the mounting frame (171).

8. The gripping device (100) as described in claim 7, characterized in that, The lifting component (180) includes a lifting slider (181) and a first connecting rod (182). One end of the first connecting rod (182) is connected to the lifting slider (181), and the other end is connected to the mounting body (110). The mounting bracket (171) is provided with a lead screw (173) extending axially along the first connecting rod (182). The second driving component (172) drives the lead screw (173). The lead screw (173) passes through the lifting slider (181) and is screwed to the lifting slider (181).

9. The gripping device (100) as described in claim 8, characterized in that, The mounting bracket (171) has a mounting cavity (1711), the lifting slider (181) is disposed in the mounting cavity (1711), the lead screw (173) is disposed on the outside of the mounting bracket (171), the lifting slider (181) is provided with a connecting protrusion (1811) that is screwed to the lead screw (173), and the mounting bracket (171) has a clearance groove (174) on one side facing the lead screw (173) for the connecting protrusion (1811) to pass through.

10. The gripping device (100) as claimed in claim 8, characterized in that, The mounting body (110) is detachably connected to the lifting slider (181).

11. The gripping device (100) as claimed in claim 10, characterized in that, The gripping device (100) further includes a first connecting rod (182) and a second connecting rod (183). One end of the first connecting rod (182) is connected to the lifting slider (181), and the other end is provided with a mounting groove (1821). The groove wall (18211) of the mounting groove is formed with a screw hole (18212). One end of the second connecting rod (183) is connected to the mounting body (110), and the other end is inserted into the mounting groove (1821). A connecting hole (1831) is provided corresponding to the screw hole (18212). The screw hole (18212) and the connecting hole (1831) are connected by a fastener (184).

12. A cleaning system, characterized in that, It includes a cleaning robot, an aircraft (200), and a gripping device (100) as described in any one of claims 1 to 11, wherein the aircraft (200) is connected to the gripping device (100).

13. The cleaning system as claimed in claim 12, characterized in that, The cleaning robot includes a robot body and a fixed plate (300) connected together. When the gripping device (100) grips the cleaning robot, the fixed plate (300) is accommodated in the accommodating space.

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