CN119500721B

CN119500721B - Snatch mechanism and photovoltaic cleaning system

Info

Publication number: CN119500721B
Application number: CN202510053025.6A
Authority: CN
Inventors: 王茂羽; 王士涛
Original assignee: Shanghai Litian Intelligent Technology Co ltd
Current assignee: Shanghai Litian Intelligent Technology Co ltd
Priority date: 2025-01-13
Filing date: 2025-01-13
Publication date: 2025-06-10
Anticipated expiration: 2045-01-13
Also published as: CN119500721A

Abstract

The invention discloses a grabbing mechanism and a photovoltaic cleaning system, wherein the grabbing mechanism comprises a fixing frame, a driving piece connected to the fixing frame, a driving wheel connected with the driving piece, two driven pieces respectively connected to two sides of the driving wheel and supporting blocks connected with each driven piece, the supporting blocks are used for supporting a bracket of a cleaning machine, the driving piece is used for controlling the driving wheel to rotate, and the driving wheel can drive the two supporting blocks to move in opposite directions through the two driven pieces so as to support or release the bracket. The grabbing mechanism provided by the invention drives the two supporting blocks to move simultaneously through the driving piece, so that the cost is low and the debugging is easy.

Description

Snatch mechanism and photovoltaic cleaning system

Technical Field

The invention relates to a grabbing mechanism and a photovoltaic cleaning system, and belongs to the technical field of photovoltaics.

Background

The problems of fall, uneven height, front-back dislocation and relief are caused among different arrays of a large photovoltaic field. The chassis truck is usually used for dragging the sweeper to move, and when the sweeper runs to the tail end of the array, the chassis truck is used for grabbing the sweeper and carrying the sweeper to another array so as to solve the problem of crossing the array.

In the related art, a mechanical claw is used for grabbing the sweeper, the mechanical claw is connected to a mechanical arm, the mechanical arm is connected to a chassis truck, and the sweeper is grabbed by the chassis truck to walk. Specifically, the two mechanical claws are correspondingly connected with the two motors, the two mechanical claws are controlled by the two motors to grab and place the sweeper, in the use process, the grabbing position is changed due to the influence of various factors such as the position of the sweeper and the fluctuation of the ground topography, so that the control cooperation of the motors and the whole grabbing mechanism is difficult and heavy, and in addition, the two motors are adopted to increase the cost and increase the energy consumption.

Disclosure of Invention

The invention aims to provide a grabbing mechanism and a photovoltaic cleaning system which are low in cost and easy to debug.

In order to achieve the above purpose, the invention adopts the following technical scheme:

The utility model provides a snatch mechanism, includes the mount, connect in the driving piece of mount, with the driving wheel that the driving piece is connected, connect respectively in two followers and with every that the driving wheel both sides are connected the supporting shoe, the supporting shoe is used for supporting the support of scavenging machine, the driving piece is used for controlling the driving wheel is rotatory, the driving wheel can be two the driven piece drives two the supporting shoe is along opposite direction removal, in order to support or release the support.

According to the technical scheme, the driving wheel is a gear, the driven piece is a rack, when the rack is meshed with the gear, the grabbing mechanism further comprises a guide piece, the guide piece is arranged corresponding to the driven piece, the guide piece is fixedly connected with the driving piece, the guide piece is provided with a guide groove, and the driving wheel can drive the driven piece to move in the guide groove.

As a further improved technical scheme of the invention, the grabbing mechanism comprises a ball and a ball seat, wherein the ball is arranged on the ball seat, mounting holes are formed in two sides of the guide piece, the ball and the ball seat are arranged in the mounting holes, and the ball is in contact with the driven piece.

As a further improved technical scheme of the invention, sliding seats are arranged on two sides of the supporting block along the moving direction of the driven piece, the fixing frame is correspondingly provided with sliding rails, the sliding seats on the same side are in sliding connection with the sliding rails, and each supporting block is connected with the corresponding driven piece through a floating joint assembly.

According to the technical scheme, the floating joint assembly comprises a floating joint and a joint seat, the floating joint is connected with the driven piece, the joint seat is connected with the supporting block, the joint seat is provided with a containing groove, the floating joint is at least partially arranged in the containing groove, and a first gap and a second gap are formed between the outer peripheral surface of the containing groove and the groove wall surface of the containing groove.

As a further improved technical scheme of the invention, the accommodating groove comprises a first groove and a second groove, the width of the first groove is smaller than that of the second groove along the width direction of the driven piece, a step part is arranged between the first groove and the second groove, the floating joint comprises a base part, a first joint part connected with the base part, a second joint part and a connecting part for connecting the first joint part and the second joint part, and the outer diameter of the connecting part is smaller than that of the first joint part and the second joint part;

The driven piece is provided with a mounting groove, the base part is at least partially arranged in the mounting groove, the connecting part is arranged in the first groove, the second joint part is arranged in the second groove, the second joint part is propped against the inner side of the step part, the first joint part is propped against the outer side of the step part, a first gap exists between the outer peripheral surface of the connecting part and the groove wall surface of the first groove, and a second gap exists between the outer peripheral surface of the second joint part and the groove wall surface of the second groove.

As a further development of the invention, the receiving groove has a slot facing the cleaning machine, which slot serves to mount the floating joint to the receiving groove.

According to the technical scheme of the invention, the support block comprises a guide structure, the support block comprises a top, side parts connected with two sides of the top and inclined parts connected with the top and the side parts, the inclined parts incline towards the other ends of the side parts connected with the top relative to the top, chamfer structures are arranged at the connection parts of the inclined parts and the side parts, and the guide structure comprises the inclined parts and the chamfer structures.

As a further improved technical scheme of the invention, the top is provided with a stop block, and the stop block is used for limiting the support block when the support block supports the support.

In order to achieve the above purpose, the present invention further adopts the following technical scheme:

the utility model provides a photovoltaic cleaning system, includes the chassis car, with the arm that the chassis car is connected, with the mechanism of snatching that the arm is connected and scavenging machine, scavenging machine include scavenging machine main part and with the support that scavenging machine main part is connected, the support is used for supplying snatch the mechanism and snatch.

Compared with the prior art, the grabbing mechanism provided by the invention has the beneficial effects that 1, the grabbing mechanism comprises the driving piece, the driving wheel, the two driven pieces and the two supporting blocks, the driving wheel is controlled by the driving piece to rotate, the driving wheel drives the two driven pieces to move, the two driven pieces drive the two supporting blocks to move in opposite directions, the two supporting blocks support or release the bracket of the cleaning machine, and compared with the two driving pieces, the grabbing mechanism provided by the invention adopts one driving piece to control the two supporting blocks to move simultaneously, thereby being beneficial to reducing cost, saving energy consumption, and being easy to debug and simplifying control program. 2. The supporting block has the inclined planes and the chamfer structures, so that the mechanical arm can be successfully grabbed under the state of larger position deviation, and the grabbing difficulty of the grabbing mechanism is reduced. 3. According to the gear and rack matching transmission structure, the position stability of the rack in the transmission process is further guaranteed through the guide piece, and the ball contacted with the rack is arranged on the guide piece, so that the rack is prevented from being blocked in transmission.

Drawings

FIG. 1 is a schematic perspective view of a photovoltaic cleaning system of the present invention;

FIG. 2 is an enlarged schematic view of area A of FIG. 1;

FIG. 3 is a schematic perspective view of the grasping mechanism, sweeper of FIG. 1;

FIG. 4 is an enlarged schematic view of area B of FIG. 3;

FIG. 5 is an exploded view of the grasping mechanism of FIG. 3;

FIG. 6 is a schematic perspective view of the gripping mechanism of FIG. 3 at another angle;

FIG. 7 is an exploded schematic view of FIG. 6;

FIG. 8 is an enlarged schematic view of region C of FIG. 7;

FIG. 9 is a detailed exploded view of FIG. 5;

FIG. 10 is an exploded view of a portion of the assembly of FIG. 9;

FIG. 11 is a front view of the grasping mechanism of FIG. 3;

FIG. 12 is a cross-sectional view of the follower, spacer and floating link assembly of FIG. 5;

FIG. 13 is an enlarged schematic view of area D of FIG. 12;

FIG. 14 is an exploded schematic view of the floating joint assembly of FIG. 7;

fig. 15 is a top view of the stay block of fig. 9.

Detailed Description

Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. If there are several specific embodiments, the features in these embodiments can be combined with each other without conflict. When the description refers to the accompanying drawings, the same numbers in different drawings denote the same or similar elements, unless otherwise specified. What is described in the following exemplary embodiments does not represent all embodiments consistent with the invention, but rather is merely an example of an apparatus, article, and/or method consistent with some aspects of the invention as set forth in the claims.

The terminology used in the present invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present invention. As used in the specification and claims of the present invention, the singular forms "a," "an," or "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be understood that words such as "first," "second," and the like, used in the description and in the claims of the present invention, do not denote any order, quantity, or importance, but rather are names used to distinguish one feature from another. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. Unless otherwise indicated, the terms "front," "rear," "upper," "lower," and the like are used herein for convenience of description and are not limited to a particular location or to a spatial orientation. The word "comprising" or "comprises", and the like, is an open-ended expression, meaning that elements appearing before "comprising" or "including", encompass the elements appearing after "comprising" or "including", and equivalents thereof, and not exclude that elements appearing before "comprising" or "including", may also include other elements. In the present invention, if a plurality of the above-mentioned components are present, the meaning of the above-mentioned components is two or more.

Referring to fig. 1 to 15, the present invention discloses a photovoltaic cleaning system, which comprises a cleaning machine 10, a chassis 20, a mechanical arm 30 connected with the chassis 20, and a grabbing mechanism connected with the mechanical arm 30, wherein the cleaning machine 10 comprises a cleaning machine main body 101 and a bracket 102 connected with the cleaning machine main body 101, and the grabbing mechanism grabs the cleaning machine 10 through the grabbing bracket 102.

Referring to fig. 4, the bracket 102 includes a pad 1021 and a U-shaped plate 1022, the pad 1021 is connected to the cleaner body 101, the inverted U-shaped plate 1022 is connected to the pad 1021, and a space for the gripping mechanism to extend is defined between the U-shaped plate 1022 and the pad 1021.

With continued reference to fig. 4,U, the U-shaped plate 1022 is formed as a unitary piece, and the U-shaped plate 1022 includes two riser portions 10221, a cross plate portion 10222 connecting the two riser portions, and a bent portion 10223 extending from the cross plate portion 10222 in a direction away from the base 1021, the bent portion 10223 being used to limit the gripping mechanism.

Referring to fig. 1, the mechanical arm 30 includes a base 301, a first arm 302 connected to the base 301, a second arm 303 connected to the first arm 302, a first cylinder 304, a second cylinder 305, a third cylinder 306, a connecting member 307, and a link assembly 308, the base 301 is connected to the chassis 20, two ends of the first cylinder 304 are connected to one side of the base 301 and one side of the first arm 302, two ends of the second cylinder 305 are connected to a first connection portion of the connecting member 307 and the other side of the first arm 302, two ends of the third cylinder 306 are connected to a second connection portion of the connecting member 307 and the link assembly 308, and a third connection portion of the connecting member 307 is connected to the first arm 302 and the second arm 303.

Referring to fig. 2, the mechanical arm 30 is connected to the gripping mechanism through the connecting base 50, the link assembly 308 includes a first link 3081, a second link 3082, and a connecting shaft 3083, one end of the first link 3081 is connected to the second arm 303, one end of the second link 3082 is connected to the first connecting portion of the connecting base 50, the other end of the first link 3081, the other end of the second link 3082 is connected to the connecting shaft 3083, and both ends of the third cylinder 306 are connected to the second connecting portion of the connecting member 307 and the connecting shaft 3083, respectively, and the second connecting portion of the connecting base 50 is connected to the second arm 303. The angle of the first arm 302 is controlled by the first cylinder 304, the angle of the second arm 303 is controlled by the second cylinder 305, and the angles of the connecting seat 50 and the grabbing mechanism are controlled by the third cylinder 306.

Referring to fig. 5 and 6, the grasping mechanism includes a fixing frame 1, a driving member 2 connected to the fixing frame 1, a driving wheel 3 connected to the driving member 2, two driven members 4 respectively connected to both sides of the driving wheel 3, and a stay 5 connected to each driven member 4, the stay 5 being used for supporting a bracket 102 of the sweeper 10. When the support frame is in operation, the driving piece 2 controls the driving wheel 3 to rotate, the driving wheel 3 drives the two driven pieces 4 to move along the length direction of the driving wheel, and the two driven pieces 4 drive the two supporting blocks 5 to move along the opposite directions so as to support or release the support frame 102. In the grabbing process, the driving piece 2 controls the two supporting blocks 5 to be away from each other, the supporting blocks 5 extend into a space enclosed between the U-shaped plate 1022 and the base plate 1021, after the supporting blocks 5 are propped against the bending parts 10223, the grabbing of the sweeper 10 is achieved, in the releasing process, the driving piece 2 controls the two supporting blocks 5 to be close to each other, and the supporting blocks 5 are separated from the space enclosed between the U-shaped plate 1022 and the base plate 1021, so that the sweeper 10 is released.

Compared with the adoption of two driving parts, the invention adopts one driving part 2 to control the two supporting blocks 5 to move simultaneously, thereby being beneficial to reducing the cost and saving the energy consumption, and in addition, the invention is easy to debug and simplifies the control program. In addition, by adopting one driving piece 2, a large allowance can be reserved for the mechanical arm 30, and the automatic correction and clamping can be realized to ensure smooth clamping.

Referring to fig. 5, the fixing frame 1 includes a frame 11, a fixing plate 12 connected to the frame 11, and side plates 13 connected to both sides of the fixing plate 12, a connection base 50 connected to the frame 11, and a driving member 2 connected to the fixing plate 12. At least two side plates 13 are arranged on two sides of the fixed plate 12, a space is arranged between the at least two side plates 13 on the same side, and the driving piece 2 at least partially extends out of the fixed frame 1 through the space.

Specifically, referring to fig. 9, two side plates 13 are disposed on two sides of the fixing plate 12, the fixing plate 12 includes a first fixing plate 121, a second fixing plate 122 and a third fixing plate 123, two opposite side plates 13 are disposed on two sides of the first fixing plate 121, two opposite side plates 13 are disposed on two sides of the third fixing plate 123, and the driving member 2 is connected with the second fixing plate 122.

Referring to fig. 5 and 9, the grabbing mechanism further includes a sliding rail assembly, the sliding rail assembly includes a sliding rail 82 and a sliding seat 81, the sliding seats 81 are disposed on two sides of the supporting block 5 along the moving direction of the driven member 4, the sliding rails 82 are correspondingly disposed on the side plates 13 of the fixing frame 1, the sliding seats 81 on the same side are slidably connected with the sliding rails 82, so that the supporting block 5 is connected to the fixing frame 1, and the movement of the supporting block 5 is guided. The end of each side plate 13 of the fixed plate 12 far away from the driving member 2 is connected with a baffle plate 14, and the baffle plate 14 is used for limiting the sliding seat 81, so that the sliding seat 81 is prevented from falling out of the sliding rail 82.

The driving element 2 and the driving wheel 3 may be connected directly or indirectly. As shown in fig. 7, the direct connection means that the driving wheel 3 is mounted on the output shaft of the driving element 2, and the indirect connection means that the driving element 2 is connected to the speed reducer 2a, and the driving wheel 3 is mounted on the output shaft of the speed reducer 2 a. Optionally, the driving member 2 is a motor, and the motor is controlled to be far away from or close to each other by the forward and reverse rotation of the supporting block 5.

The driving wheel 3 is a gear, the driven piece 4 is a rack, the two racks are respectively meshed with the upper side and the lower side of the gear, the two racks are vertically arranged at intervals, the teeth of the two racks are at least partially opposite, the two supporting blocks 5 are positioned at the same horizontal height, and the two racks are connected with the positions of the two supporting blocks 5 at different heights.

The supporting block 5 is provided with an inner cavity, the opening of the inner cavity faces the cleaning machine 10, and the supporting block 5 is of a hollow structure, so that the weight is reduced. Referring to fig. 9, the stay block 5 includes a top 51, side portions 52 connected to both sides of the top 51, and inclined portions 53 connected to both the top 51 and the side portions 52, the inclined portions 53 being inclined with respect to the top 51 toward the other ends of the side portions 52 connected to the top 51, the inclined portions 53 being provided with chamfer structures 532 at the junctions of the side portions 52 and the side portions 52, the stay block 5 including a guide structure including the inclined portions 53 and the chamfer structures 532. When the support block 5 and the support 102 are mutually matched, the inclined part 53 allows the height direction deviation between the support block 5 and the support 102, the chamfer structure 532 allows the width direction deviation between the support block 5 and the support 102, and the support block 5 can successfully grasp the support 102 under the condition that the position deviation of the mechanical arm 30 is large.

Referring to fig. 9, the top 51 is provided with a stopper 54, and the stopper 54 serves to limit the stay 5 when the stay 5 supports the bracket 102. In the grabbing process, the driving piece 2 controls the supporting block 5 to extend into a space enclosed between the U-shaped plate 1022 and the base plate 1021 of the bracket 102, and after the stop block 54 abuts against the bending part 10223, the supporting block 5 moves to the position, so that the sweeper 10 is grabbed.

The top 51, the side 52 and the inclined portion 53 are all plate structures, and referring to fig. 9, the stay 5 includes an end plate 55 facing the driving member 2, the end plate 55 is connected to the top 51 and the side 52 at the same time, and the driven member 4 is connected to the end plate 55. The top 51, side 52, angled portion 53 and end plate 55 enclose an interior cavity.

In this embodiment, referring to fig. 11, a first space H1 is between the bottom end of the supporting block 5 and the frame 11 of the fixing frame 1, a second space H2 is between the bottom end of the driving member 2 and the frame 11 of the fixing frame 1, and the second space H2 is larger than the first space H1, that is, the bottom end of the driving member 2 is lower than the bottom end of the supporting block 5, the supporting block 5 is lifted upwards relative to the driving member 2, when the cleaning machine 10 is grabbed, the mechanical arm 30 controls the grabbing mechanism to move downwards until the bottom end of the driving member 2 stops moving after the cleaning machine 10 contacts, and a space exists between the supporting block 5 and the cleaning machine 10, and when the driving member 2 controls the supporting block 5 to move, the supporting block 5 is not contacted with the cleaning machine 10, that is, no friction exists.

Referring to fig. 6, the grabbing mechanism includes a guide member 6, where the guide member 6 is disposed corresponding to the driven member 4, and the guide member 6 is directly fixedly connected with the driving member 2 or indirectly fixedly connected with the driving member 2, and the indirectly fixedly connected refers to the fixedly connected between the guide member 6 and the speed reducer 2 a. Referring to fig. 10, the guide member 6 has a guide groove 63, and the driving wheel 3 can drive the driven member 4 to move in the guide groove 63, so as to guide the driven member 4.

Referring to fig. 10, the guide 6 includes an upper guide and a lower guide each including two opposite guide side plates 61 and a base plate 62 connecting the two guide side plates 61, the two guide side plates 61 and the corresponding base plate 62 enclosing a guide groove 63. The guide side plate 61 of the upper guide member located on the outer side is provided with a first abutting part 611 extending vertically to the guide groove 63, the guide side plate 61 of the lower guide member located on the outer side is provided with a second abutting part 612 extending vertically to the guide groove 63, the driven member 4 is provided with the matching groove 42, the first abutting part 611 and the second abutting part 612 are correspondingly arranged in the respective matching grooves 42 and abut against the groove wall surface of the matching groove 42, the height direction of the driven member 4 is limited through the base plate 62 and the abutting part, and the width direction of the driven member 4 is limited through the guide side plate 61.

Referring to fig. 10, the gripping mechanism includes a ball 71 and a ball seat 72, the ball 71 is mounted on the ball seat 72, the guide side plates 61 of the guide member 6 are provided with mounting holes 610, the ball 71 and the ball seat 72 are provided in the mounting holes 610, and the ball 71 contacts the driven member 4, so that the driven member 4 moves smoothly in the guide groove 63, and jamming is prevented.

In this embodiment, each strut 5 is connected to a corresponding follower 4 by a floating joint assembly 9. Referring to fig. 8, the floating joint assembly 9 includes a floating joint 91 and a joint seat 92, the floating joint 91 is connected with the driven member 4, the joint seat 92 is connected with the end plate 55 of the supporting block 5, the joint seat 92 is provided with a receiving groove 920, the floating joint 91 is at least partially arranged in the receiving groove 920, the driven member 4 drives the supporting block 5 to move along the axial direction of the floating joint 91 through the floating joint 91, a first gap 901 and a second gap 902 are formed between the outer peripheral surface of the receiving groove 920 of the floating joint 91 and the wall surface of the receiving groove 920, so that the floating joint 91 is not stressed in the circumferential direction, namely, the driven member 4 is not stressed, and the driven member 4 is protected.

Specifically, referring to fig. 13 and 14, the receiving groove 920 includes a first groove 9201 and a second groove 9202 communicating with each other, the first groove 9201 having a width smaller than that of the second groove 9202 in the width direction of the follower 4, and a stepped portion 921 is provided between the first groove 9201 and the second groove 9202. The floating joint 91 includes a base portion 911, a first joint portion 912 connected to the base portion 911, a second joint portion 913, and a connecting portion 914 connecting the first joint portion 912 and the second joint portion 913, wherein an outer diameter of the connecting portion 914 is smaller than outer diameters of the first joint portion 912 and the second joint portion 913.

Accordingly, referring to fig. 13, the follower 4 is provided with the mounting groove 41, the base portion 911 is at least partially provided in the mounting groove 41, the connecting portion 914 is provided in the first groove 9201, the second joint portion 913 is provided in the second groove 9202, the second joint portion 913 is abutted against the inner side of the step portion 921, the first joint portion 912 is abutted against the outer side of the step portion 921, the first gap 901 is provided between the outer peripheral surface of the connecting portion 914 and the groove wall surface of the first groove 9201, and the second gap 902 is provided between the outer peripheral surface of the second joint portion 913 and the groove wall surface of the second groove 9202, so that the outer peripheral surfaces of the connecting portion 914 and the second joint portion 913 are not in contact with the groove wall surface of the second groove 9202, and are not stressed in the circumferential direction of the floating joint 91. Further, the outer end surface of the second joint portion 913 is not in contact with the groove wall surface of the second groove 9202, so that the outer end surface of the second joint portion 913 is not subjected to force.

The two sliding rails 82 on both sides of the supporting block 5 are arranged at intervals along the width direction of the driven member 4.

In some embodiments, the mounting groove 41 has internal threads and the base 911 has external threads, with the base 911 threadably engaging the mounting groove 41.

In this embodiment, referring to fig. 8, the first slot 9201 and the second slot 9202 are both inverted U-shaped slots such that the receiving slot 920 has a notch 9203 facing the sweeper 10, the notch 9203 being for mounting the floating connector 91 to the receiving slot 920.

The above embodiments are only for illustrating the present invention and not for limiting the technical solutions described in the present invention, and it should be understood that the present invention should be based on those skilled in the art, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the present invention without departing from the spirit and scope of the present invention and modifications thereof should be covered by the scope of the appended claims.

Claims

1. A gripping mechanism, characterized in that it comprises a fixed frame (1), a driving member (2) connected to the fixed frame (1), a driving wheel (3) connected to the driving member (2), two driven members (4) respectively connected to both sides of the driving wheel (3), and a support block (5) connected to each of the driven members (4), the support block (5) being used to support a bracket (102) of a sweeper (10), the driving member (2) being used to control the rotation of the driving wheel (3), the driving wheel (3) being able to drive the two supporting blocks (5) to move in opposite directions through the two driven members (4) to support or release the bracket (102), each supporting block (5) being connected to the corresponding driven member (4) via a floating joint assembly (9), the floating joint assembly (9) comprising a floating joint (91) and a joint seat (92), the floating joint The head (91) is connected to the follower (4), the joint seat (92) is connected to the support block (5), the joint seat (92) is provided with a receiving groove (920), the receiving groove (920) comprises a first groove (9201) and a second groove (9202), along the width direction of the follower (4), the width of the first groove (9201) is smaller than the width of the second groove (9202), a step portion (921) is provided between the first groove (9201) and the second groove (9202), the floating joint (91) comprises a first joint portion (912), a second joint portion (913), and a connecting portion (914) connecting the first joint portion (912) and the second joint portion (913), the outer diameter of the connecting portion (914) is smaller than the outer diameters of the first joint portion (912) and the second joint portion (913);

The connecting portion (914) is arranged in the first groove (9201), and the second joint portion (913) is arranged in the second groove (9202). The second joint portion (913) abuts against the inner side of the step portion (921), and the first joint portion (912) abuts against the outer side of the step portion (921). A first gap (901) exists between the outer peripheral surface of the connecting portion (914) and the groove wall surface of the first groove (9201), and a second gap (902) exists between the outer peripheral surface of the second joint portion (913) and the groove wall surface of the second groove (9202).

2. The gripping mechanism according to claim 1 is characterized in that the driving wheel (3) is a gear, and the driven member (4) is a rack. When the rack is meshed with the gear, the gripping mechanism further comprises a guide member (6), the guide member (6) is arranged corresponding to the driven member (4), the guide member (6) is fixedly connected to the driving member (2), the guide member (6) has a guide groove (63), and the driving wheel (3) can drive the driven member (4) to move in the guide groove (63).

3. The gripping mechanism according to claim 2, characterized in that the gripping mechanism comprises a ball (71) and a ball seat (72), the ball (71) is mounted on the ball seat (72), mounting holes (610) are provided on both sides of the guide member (6), the ball (71) and the ball seat (72) are arranged in the mounting holes (610), and the ball (71) is in contact with the follower (4).

4. The gripping mechanism according to claim 1 is characterized in that, along the moving direction of the follower (4), slide seats (81) are provided on both sides of the support block (5), and the fixed frame (1) is correspondingly provided with slide rails (82), and the slide seats (81) on the same side are slidably connected to the slide rails (82).

5. The gripping mechanism according to claim 4, characterized in that the floating joint (91) comprises a base (911) and the first joint portion (912) connected to the base (911);

The driven member (4) is provided with a mounting groove (41), and the base (911) is at least partially disposed in the mounting groove (41).

6. The gripping mechanism according to claim 1, characterized in that the accommodating groove (920) has a notch (9203) facing the sweeper (10), and the notch (9203) is used to install the floating joint (91) in the accommodating groove (920).

7. The gripping mechanism according to claim 1 is characterized in that the support block (5) includes a guiding structure, the support block (5) includes a top (51), a side portion (52) connected to both sides of the top (51), and an inclined portion (53) connected to both the top (51) and the side portion (52), the inclined portion (53) is inclined relative to the top (51) toward the other end of the side portion (52) connected to the top (51), a chamfered structure (532) is provided at the connection between the inclined portion (53) and the side portion (52), and the guiding structure includes the inclined portion (53) and the chamfered structure (532).

8. The gripping mechanism according to claim 7, characterized in that the top portion (51) is provided with a stopper (54), and when the support block (5) supports the bracket (102), the stopper (54) is used to limit the position of the support block (5).

9. A photovoltaic cleaning system, characterized in that it comprises a chassis vehicle (20), a mechanical arm (30) connected to the chassis vehicle (20), a grasping mechanism connected to the mechanical arm (30), and a cleaning machine (10), wherein the grasping mechanism is a grasping mechanism as described in any one of claims 1 to 8, and the cleaning machine (10) comprises a cleaning machine body (101) and a bracket (102) connected to the cleaning machine body (101), and the bracket (102) is used for being grasped by the grasping mechanism.