CN110649517A - Cable clamping follow-up system - Google Patents

Abstract

The invention relates to the technical field of electrified ignition, in particular to a cable clamping follow-up system. The system comprises a mounting base, wherein a fixing frame which only generates reciprocating sliding motion along the axial direction of a cable is arranged on the mounting base, and a peeler is fixedly connected to the fixing frame; the clamping pincers are arranged at least at one end of the mounting base so as to clamp the cable in a radial action mode when the stripper works, the axis of a clamping cavity formed by the enclosing of the jaws of the clamping pincers coincides with the axis of the cable, and the arrangement position of the clamping pincers and the action path of the fixing frame are mutually spaced and avoided. The self-centering clamping device has the advantages of simplicity in operation, convenience in adjustment and self-centering clamping, can be self-adaptive to cables with different wire diameters, ensures the working stability of the cables during peeling, and is particularly suitable for the robot working environment.

Description

Cable clamping follow-up system

Technical Field

The invention relates to the technical field of electrified ignition, in particular to a cable clamping follow-up system.

Background

Along with the continuous development and progress of society, the scale of power distribution network construction is also continuously enlarged, and the workload of operation and maintenance of the power distribution network is increased day by day. In order to improve the power supply reliability and reduce the number of households in power failure, the working importance of live working is gradually increased. In the process of line welding construction, the stripping of the sheath of the insulated conductor is an important process in the stripping and connection of the conductor. Because the insulated wire sheath, also known as the insulating sheath, is usually made of high-strength polyethylene material, the thickness and the hardness are very large; when live-line work is carried out by using potential inlet and outlet tools such as an insulating bucket arm vehicle or an insulating platform, operators can directly contact live-line wires, unsafe factors are increased, peeling difficulty is high, operation steps are multiple, efficiency is low, the operation environment is easily affected by the geographical environment, and the operation process cannot be carried out when the arrangement of multi-loop rod-type wires is complex. In view of this, a mechanical peeling method has been developed since then, for example, in a utility model patent with a patent name of "cable peeler" of "CN 201829799U", a cable peeler is disclosed, which is electrically driven to peel off the insulation skin by driving a blade to rotate around a cable through a crank link mechanism by a force output from a reduction motor. Meanwhile, patent documents with publication number "CN 108963888A" and publication number "CN 206432551U" are similarly described. Although the problem that manual peeling labor intensity is large is solved in the technical scheme, the defect of saliency also exists, namely: the conventional mechanical stripping tool is based on a rotary cutting method when stripping is performed, i.e., a cutter needs to spirally surround a cable for one-time stripping operation. On one hand, when the cable is subjected to cutting force, the cable body can naturally generate twisting and vibration phenomena due to the force, and the twisting and vibration phenomena of the cable body can incline the cutting edge cutting angle of the cutter to influence the operation effect. Especially in the field of live-wire connection of robots, the reaction force of cable torsion can directly act on the robots, and extra load is added during operation of the robots. On the other hand, in practical use, the stripped insulating sheath is often wound in a curled shape at the cutter part of a mechanical stripping tool under the influence of factors such as the diameter of a cable, the hardness of the insulating sheath and the stripping length, so that the normal operation of a subsequent stripping process is seriously disturbed. Under ideal operating conditions, an operator hopes that the whole peeling operation can be performed in a segmented manner, namely, after a cutter axially cuts a section of insulation skin with a specified length in a surrounding manner, the cutter rotates around for one circle in the circumferential direction to cut off a peeled line, and then the next axial peeling operation is performed for a plurality of times, so that the influence of the stripped line-shaped insulation skin on the subsequent operation of the mechanical peeling tool is avoided, but no corresponding effective solution is available at present.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provides a cable clamping follow-up system which is reasonable and practical in structure, has the advantages of simplicity in operation, convenience in adjustment and self-centering clamping, can be used for self-adapting to cables with different wire diameters and ensuring the working stability of the cables during peeling, and is particularly suitable for the robot working environment.

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

a cable clamp servo system, characterized by: the system comprises a mounting base, wherein a fixing frame which only generates reciprocating sliding motion along the axial direction of a cable is arranged on the mounting base, and a peeler is fixedly connected to the fixing frame; the clamping pincers are arranged at least at one end of the mounting base so as to clamp the cable in a radial action mode when the stripper works, the axis of a clamping cavity formed by the enclosing of the jaws of the clamping pincers coincides with the axis of the cable, and the arrangement position of the clamping pincers and the action path of the fixing frame are mutually spaced and avoided.

Preferably, the clamping pincers comprise an installation plate with a vertically arranged plate surface, and the bottom end of the inner side plate surface of the installation plate is fixedly connected with the end part of the installation base; an axial telescopic rod is arranged on the outer side plate surface of the mounting plate, and a telescopic path of a working end of the axial telescopic rod is vertical to the axis of the cable; the working end of the axial telescopic rod is fixedly connected with a push block, and the two ends of the push block are fixedly connected with a left slide block and a right slide block in an axisymmetric manner along the axial line of the axial telescopic rod; the cable axis at the top end of the outer plate surface of the mounting plate is taken as a symmetry axis, and a left guide block and a right guide block which are vertical to the plate surface are arranged in an axisymmetric manner, and the left guide block and the right guide block are matched at the mounting plate through horizontal guide rails; positioning pin shafts are convexly arranged on the outer side plate surfaces of the left guide block and the right guide block, positioning pin holes for the positioning pin shafts to penetrate into are correspondingly arranged on the left sliding block and the right sliding block, the length direction of the hole patterns of the positioning pin holes is arranged in an extending manner along the corresponding plate surface of the sliding block from bottom to top, and the horizontal distance between the two groups of positioning pin holes is gradually increased from bottom to top; a group of C-shaped bayonets are respectively arranged on the adjacent end faces of the left guide block and the right guide block, and the groove cavities of the two groups of C-shaped bayonets are matched with each other to form the cylindrical clamping cavity for closing and clamping the cable body.

The mounting panel appearance is vertical square plate form, and mounting panel top department is concave to be equipped with the spacing arc groove of the U type trough-shaped of the biggest descending distance of limited cable to C type bayonet socket is to closing centre gripping cable.

Preferably, two sets of extension plates extend upwards in an inclined mode from two groove walls of the limiting arc groove, the extension plates and the mounting plate are located on the same vertical plane, and the horizontal distance between the two sets of extension plates is gradually increased from bottom to top.

Preferably, the axial telescopic rod is an electric push rod with a vertical axis.

Preferably, an axial push rod is further arranged on the mounting base, and the thrust direction of the axial push rod is parallel to the axial direction of the cable; a top end stop block is arranged at the top end of the axial push rod, an induction surface is arranged on the top end stop block, a sensing head used for being matched with the induction surface is arranged on the fixing frame, and the induction end of the sensing head points to the direction of the induction surface; the system also comprises a tension spring, one end of the tension spring is fixedly connected to the top end stop block, and the other end of the tension spring extends along the axial direction of the cable and is fixedly connected and matched with the fixing frame.

Preferably, a group of sliding optical axes are arranged on the upper side and the lower side of the axial push rod, and the two groups of sliding optical axes are arranged in an axisymmetric manner along the axis of the axial push rod; two sets of axial mounting holes of the axial parallel cable are arranged on the fixing frame, and the sliding optical axis and the mounting holes are in one-to-one correspondence to form hole axis sliding fit.

Preferably, the shape of the fixing frame is a square plate with a vertically arranged plate surface, the top end of the fixing frame extends upwards to form an extension arm for directly matching with a peeler, and the fixing frame is provided with an avoidance hole which is superposed with the axial line of the axial push rod and is used for the axial push rod to pass through; and a linear bearing is arranged in the mounting hole, and the sliding optical axis penetrates through the inner ring of the linear bearing to form a bearing fit relation with the mounting hole.

Preferably, the sensing head is a travel switch, the fixing frame extends to the direction of the top end stop block to form a sliding stop block, the sensing head is arranged on the sliding stop block, one surface of the top end stop block facing the direction of the sliding stop block forms the sensing surface, and the sensing head is located on an action path of the sensing surface.

Preferably, the axial push rod is an electric push rod with a horizontal axis.

The invention has the beneficial effects that:

1) the invention provides an external hanging piece on the basis of the structure of the existing barker, thereby achieving the purposes of reliable installation and function amplification of the barker. When the peeler is arranged on the wire stripper, on one hand, the direct clamping function of the cable can be realized through the clamping pincers, so that the integrated fixing purpose of the cable, the clamping pincers, the mounting base and the peeler is guaranteed. On the other hand, through the sliding action of the fixing frame relative to the mounting base, the peeler can naturally realize the effect of convoluteing and peeling relative to the cable insulating skin by the fixing frame and the axial action of the peeler during peeling of the peeler while the cable is clamped and fixed by the clamping clamp. Therefore, when the peeler starts to perform peeling along the axial direction of the cable, the reaction force exerted by the cable in the reverse direction on the peeler is fed back to the mounting base and the clamping pincers, and is reliably clamped and offset by the clamping pincers relative to the cable, and the reaction force does not directly act on the robot, so that the reliability of the outdoor continuous work of the robot is ensured. Meanwhile, the self-centering clamping function of cables with different wire diameters is realized by utilizing the inherent operation that two groups of jaws of the clamping pliers are oppositely closed and are oppositely opened. Therefore, the self-centering clamping device has the advantages of being simple in operation, convenient to adjust and capable of self-centering clamping, can be self-adaptive to cables with different wire diameters, ensures working stability of the cables during peeling, and is particularly suitable for the robot working environment.

2) Furthermore, for the specific structure of the clamping pincers, the electric pincers and the like which are available on the market can be directly used actually, and the purpose of integrally fixing the clamping pincers on the mounting base and ensuring the reliable clamping of the cable is only needed. As a further preferable scheme of the scheme, the invention adopts a unique axial telescopic rod to push the double sliding blocks to act, and drives the double guide blocks to generate the approaching and separating operation along the horizontal guide rail, thereby finally realizing the purposes of clasping, fastening and loosening the cable by the C-shaped bayonet. An axial telescopic rod structure is adopted, and the aim is to convert the vertical upward thrust of the axial telescopic rod into the similar action force of the two groups of guide blocks through positioning pin holes which are arranged in an inverted V shape; in addition, this kind of cooperation structure also possesses good auto-lock nature, consequently in case to closing and hugging closely the cable, can effectively avoid the cable not hard up situation to take place, simple structure is compact simultaneously, and the centre gripping is reliable and stable. The two groups of guide blocks are connected with the opposite movement of the C-shaped bayonets, so that the cable clamp can adapt to cables with different diameters, and the circle centers of the cables with different diameters are all at the same position after the cables are clamped.

3) In consideration of the requirement of convenience in use, the invention is also designed with the limiting arc groove, so that the lowest point of cable descending is formed through the groove bottom surface of the limiting arc groove with the upward opening, and the maximum descending distance of the cable is limited. In other words, when the limiting arc groove is clamped into the cable body from bottom to top, the clamping pincers are folded, and the two groups of C-shaped bayonets of the clamping pincers can just hold the cable tightly.

4) And further, the arrangement of the extension plate is similar to an internal chamfer structure which is necessary at the notch of the traditional guide clamping groove so as to play a role in guiding the cable.

5) For the axial telescopic rod, the same as the axial push rod, multiple specific implementation structures can be selected during actual operation: if a pneumatic push rod, a threaded screw rod structure or even a gear and rack structure is adopted, only the axial telescopic rod and the working end of the axial push rod can produce reciprocating displacement motion relative to the axial direction of the cable when needed. The present invention preferably uses the power putter in consideration of the compactness and compactness of the structure of the power putter itself. Particularly, the electric push rod does not need an additional auxiliary structure, the purpose of driving the peeler is achieved by using the electric power needed by the peeler, and the use is more convenient. On the other hand, the push rod current is monitored on line even when the electric push rod acts, so that the function of monitoring the clamping force of the electric push rod can be achieved, and the purposes of stopping and holding the cables with different diameters in an adaptive mode by the two groups of C-shaped bayonets are guaranteed.

6) On the basis of the structure that the clamping pincers and the fixing frame are arranged on the mounting base, the axial follow-up mechanism is additionally arranged. Specifically, the axial follow-up structure enables the present invention to be practically operated by placing the existing peeler on the fixing frame, and at this time, the relative distance between the sensing surface at the axial push rod and the sensing end of the sensing head, that is, the maximum traveling distance of the peeler when peeling for the first time. After the cable is reliably clamped by the clamping pincers, when the first peeling is finished, the fixing frame cannot move forward continuously due to limitation of the top end stop block, and the cutter at the position of the peeler is in an idle running state, so that the stripped insulating skin is cut off before the peeling is finished. Then, the axial push rod continues to the next process so as to enable the sensing surface to generate an axial distance with the sensing end of the sensing head again, the axial distance is the distance which needs to be traveled when the skin is peeled for the second time, and the fixing frame can continue to move forwards without the obstruction of the top end stop block. Meanwhile, due to the existence of the tension spring, when the axial push rod moves to the next progress point, the tension spring is subjected to tension force, so that the fixing frame generates axial force tending to the direction of the top end stop block, the cutting edge of the cutter at the auxiliary peeler is axially cut into the end face of the insulated wire sheath with hard texture, then the next section of peeling operation is started, and the operation automation degree is extremely high.

7) As a further preferable mode of the above, the present invention preferably employs a double-row optical axis guide structure for the axial displacement operation of the mount. The purpose of stable guiding of the fixing frame can be ensured through the matching of the bearings between the double-row optical axis and the mounting holes at the fixing frame. In addition, in consideration of correct matching of the sensing surface and the sensing end at the sensing head, the fixing frame should be close to the axial push rod as much as possible, so that the fixing frame is arranged to be in a hole plate shape, and the axial push rod can directly penetrate through the fixing frame through the avoiding hole, so that the accuracy of subsequent matching action of the fixing frame and the axial push rod is ensured.

8) For the sensing head, the invention preferably uses a travel switch and is matched with the action of the sliding stop block to realize the function of axially limiting the fixed frame by the top end stop block. During actual operation, once the axial push rod acts until the travel switch touches the induction surface, the fixing frame stops acting at the moment, so that the peeler positioned on the fixing frame stops the axial displacement action relative to the cable. Once the peeler stops moving axially, the cutter on the peeler still rotates, and the insulation skin generated by cutting can be cut off quickly.

Drawings

FIG. 1 is a perspective view of the present invention in an assembled state;

FIG. 2 is a schematic view of the working state of FIG. 1;

FIG. 3 is an exploded view of the structure of FIG. 1;

FIG. 4 is a perspective view of the structure of the present invention with the peeler removed;

FIG. 5 is an enlarged view of the structure of part I of FIG. 4;

FIG. 6 is a perspective view of the structure of the pliers;

FIG. 7 is an exploded view of the structure of FIG. 6;

FIG. 8 is a front view of a holding clamp;

FIG. 9 is a view showing the working state of the clamping jaw;

fig. 10 and 12 are schematic perspective views of the mounting base and the fixing frame after the tension spring is removed;

FIGS. 11 and 13 are front views of the mounting base mated with the mounting bracket;

fig. 14 is a perspective view of the fixing frame.

The actual correspondence between each label and the part name of the invention is as follows:

a-stripper b-cable

10-mounting base 11-mounting flange

21-fixed frame 21 a-mounting hole 21 b-avoiding hole 21 c-extension arm

22-axial push rod 23-top end stop block 24-tension spring

25-sliding optical axis 26-linear bearing 27-sliding block 27 a-sensor head

30-holding clamp 31-mounting plate 32-axial telescopic rod 33-push block

34 a-left slide block 34 b-right slide block 34 c-positioning pin hole

35 a-left guide block 35 b-right guide block 35 c-positioning pin shaft

36-horizontal guide rail 37-C-shaped bayonet 38-limiting arc groove 39-extension plate

Detailed Description

To facilitate understanding, the construction and operation of specific embodiments of the invention are described further herein:

the detailed implementation structure of the invention can be seen in fig. 1-14, and the main structure thereof comprises three major parts, namely a clamping jaw 30, a mounting base 10 and an axial driving assembly for a stripper a to generate an axial follow-up function, wherein:

the specific structure of the clamping jaw 30 can be seen in fig. 1-9: each set of gripping pliers 30 includes a set of mounting plate 31, a set of axial extension rod 32, a set of push block 33, two sets of slide blocks, two sets of guide blocks, two sets of horizontal guide rails 36, two sets of C-shaped bayonets 37, and two sets of extension plates 39. In actual operation, the above components except the extension plate 39 are disposed on the outer plate surface of the mounting plate 31, and the bottom end of the inner plate surface of the mounting plate 31 is screwed and fixed to the end surface of the mounting base 10 according to the assembling direction shown in fig. 3. Specifically, as shown in fig. 4-8, the axial expansion link 32 of the electric putter structure is vertically fixed to the outer plate surface of the mounting plate 31, and the working end of the axial expansion link 32 is fixed to the push block 33. The left end and the right end of the pushing block 33 are respectively and fixedly connected with a left slide block 34a and a right slide block 34 b. The left slider 34a and the right slider 34b are both provided with a positioning pin hole 34c in a horizontal penetrating manner, and the required left guide block 35a and the right guide block 35b are provided with a positioning pin shaft 35c which can penetrate into the positioning pin hole 34c in a horizontal and outward protruding manner. Referring to fig. 5 and 8, the two sets of positioning pin holes 34c extend from bottom to top and gradually increase in horizontal distance from each other, and finally assume an inverted "eight" shape layout. The guide blocks are in sliding fit in the positioning pin holes 34c through the positioning pin shafts 35 c; and on the other hand, is mounted at the outer panel surface of the mounting plate 31 by means of horizontal guide rails 36. The horizontal guide rail 36 has a horizontal guiding direction, so that the C-shaped bayonets 37 on the two sets of guide blocks can be controlled to move close to and away from each other.

The mounting base 10 is configured in the form of a transversely extending upright, as shown in fig. 1-4 and 10-13, to serve as a load-bearing base for secure positioning of the clamping jaw 30 and the axial drive assembly.

The structure of the axial driving assembly is shown in fig. 1-3 and fig. 10-13, and includes a set of axial push rods 22, a set of fixing frames 21 for fixing the barker a, two sets of sliding optical axes 25 arranged in parallel for generating axial reciprocating directional motion to the fixing frames 21, and a set of tension springs 24. The axial line of the axial push rod 22 of the electric push rod structure is horizontally fixed on one side of the mounting base 10, and the two sets of sliding optical axes 25 are synchronously fixed on the mounting base 10 in a simply supported beam shape through the fixing seats at the two ends, and the two sets of sliding optical axes 25 are arranged in an axisymmetric manner relative to the axial line of the axial push rod 22. The shape of the fixing frame 21 is a square plate with a vertical plate surface and vertical to the axis of the cable. As shown in fig. 14, three sets of through holes are sequentially arranged on the fixing frame 21 from top to bottom according to the sequence of the set of mounting holes 21a, the set of avoiding holes 21b, and the set of mounting holes 21 a. Linear bearings 26 are disposed in the two sets of mounting holes 21a to match the sliding optical axis 25, and one set of relief holes 21b is used for the piston cylinder of the axial push rod 22 to pass through. A sliding stop 27 is arranged on the frame body of the fixing frame 21 beside the avoiding hole 21b, and a top stop 23 is arranged at the action end, namely the piston rod end, of the corresponding axial push rod 22. In practical operation, once the axial push rod 22 is operated until the sensing surface at the top end stop 23 touches the sensing head 27a at the sliding stop 27, i.e. the travel switch, at this time, the fixed frame 21 stops operating, so that the peeler a on the fixed frame 21 stops moving axially relative to the cable. Once the stripper a stops moving axially, the knife on the stripper a still rotates, and the knife cuts the insulating skin produced before cutting rapidly. The arrangement position of the tension spring 24 is, as shown in fig. 11 and 13, used to connect the top end stopper 23 and the slide stopper 27, and the axis of the tension spring 24 is also parallel to the axis of the cable, specifically, which position the two ends of the tension spring 24 are fixed to the top end stopper 23 and the slide stopper 27, may be selected as appropriate according to the field conditions, as long as the normal operation of other inherent structures is not interfered.

To facilitate understanding of the present invention, a handheld semi-automatic dehider a is taken as an example, and a specific working flow of the present invention is given below with reference to fig. 1 to 14:

when the present invention is in an idle state, the structural state thereof is shown in fig. 1.

When the invention is used, the mounting flange 11 at the bottom of the mounting base 10 is fixedly connected with the matching flange at the top end of the handheld rod, so as to ensure that an operator can hold the handheld rod to perform specified operation during operation.

The operator needs to initiate the present invention, that is, to ensure that the holding clamp 30 is in the open state, and at the same time, the axial push rod 22 at the axial follow-up assembly generates the contraction action, such as driving the top end stop 23 fixedly connected to the end of the axial push rod 22 to move to the right as shown in fig. 10-13. The top end stop 23 moves to the right until the sensing surface contacts the sensing end of the sensing head 27a, so that the fixing frame 21 moves to the right along the sliding optical axis 25 to the initial position, and the initialization is completed.

After the initialization of the invention is finished, the next step can be carried out, namely, the cable clamping process:

first, the jaws of the pliers 30 of the present invention are aligned with the cable b, and the cable b is slid down the extension plate 39 and finally placed in the cavity of the arc-limiting groove 38, as shown in particular in fig. 1. Then, the clamping pliers 30 are actuated, that is, the axial expansion rod 32 drives the left slider 34a and the right slider 34b to move upwards through the push block 33. The upward movement of the left slider 34a and the right slider 34b can drive the left guide block 35a and the right guide block 35b to generate opposite actions along the horizontal guide rail 36 through the matching of the positioning pin hole 34C and the positioning pin shaft 35C, so that the two sets of C-shaped bayonets 37 generate clasping actions relative to the cable b under the action of the guide blocks. The operation of the present invention is now described with reference to fig. 2.

After the cable b clamping process is completed, the following cable b peeling process is started:

1) before the stripping rotation, the axial push rod 22 needs to be extended by a designated distance as shown in fig. 11, and the designated distance is the axial stripping length of the cable b required to be stripped once. Since the cable b is clamped by the clamping jaw 30, when the axial push rod 22 is extended, the top end stop 23 is separated from the sliding stop 27, i.e. the sensing surface starts to disengage from the sensing end of the sensing head 27 a.

2) And the peeler a starts to work and performs a peeling rotation action. At this time, the peeler a moves to the left under the action of the spiral motion of the cutting edge of the cutter, and drives the whole fixing frame 21 to move to the left along the sliding optical axis 25. When the fixed frame 21 moves to the position where the sensing end of the sensing head 27a at the slide block 27 contacts with the sensing surface at the top block 23, the sensing head 27a at the slide block 27 is triggered. By monitoring the trigger signal of the sensor head 27a, i.e. the travel switch, it is known whether the stripper a has moved a corresponding distance, i.e. whether the cable b is currently stripped to a specified stripping length.

3) Due to the limit of the top end stop block 23, the fixing frame 21 cannot move forward continuously, and the stripper a can only rotate in situ, so that the insulation skin stripped in the single operation is cut off.

4) The axial push rod 22 is again extended by a designated distance. The top end stop 23 is again disengaged from the slide stop 27, although the tension spring 24 is also stretched. The elastic restoring force of the tension spring 24 applies a certain axial tension to the fixing frame 21, so that the cutting edge of the cutter of the peeler a on the fixing frame 21 smoothly and axially cuts into the exposed end surface of the insulation sheath on the cable b, so as to start the next peeling operation.

5) The axial push rod 22 is extended again by a predetermined distance each time the peeling operation is completed at each stage, thereby being reciprocated. When the total elongation of the axial push rod 22 reaches the set axial peeling length of the cable b, the axial push rod 22 stops moving as shown in fig. 10 and fig. 12-13, and then the peeler a cuts off the insulation skin, thereby completing the peeling operation.

After the peeling operation is completed, the present invention is reinitialized, i.e., the peeler a is reset, the axial follower assembly is reset, and the clamping jaws 30 are opened again. The invention is taken down from the cable b, so that the inner core of the stripped cable b can be exposed, and then the subsequent conductive connection operation can be carried out.

Claims (10)

1. A cable clamp servo system, characterized by: the system comprises a mounting base (10), wherein a fixing frame (21) which only generates reciprocating sliding motion along the axial direction of a cable is arranged on the mounting base (10), and a peeler is fixedly connected to the fixing frame (21); the clamping pincers (30) are arranged at least at one end of the mounting base (10) so as to clamp the cable in a radial action mode when the stripper works, the axis of a clamping cavity formed by enclosing the jaws of the clamping pincers (30) is coincident with the axis of the cable, and the arrangement position of the clamping pincers (30) and the action path of the fixing frame (21) are mutually in space avoidance.

2. A cable clamp servo of claim 1, wherein: the clamping pincers (30) comprise mounting plates (31) with vertically arranged plate surfaces, and the bottom ends of the inner side plate surfaces of the mounting plates (31) are fixedly connected with the end parts of the mounting bases (10); an axial telescopic rod (32) is arranged on the outer side plate surface of the mounting plate (31), and the telescopic path of the working end of the axial telescopic rod (32) is vertical to the axis of the cable; the working end of the axial telescopic rod (32) is fixedly connected with a push block (33), and two ends of the push block (33) are fixedly connected with a left slide block (34a) and a right slide block (34b) in an axisymmetric manner along the axial line of the axial telescopic rod; a left guide block (35a) and a right guide block (35b) with vertical plate surfaces are arranged at the top end of the outer plate surface of the mounting plate (31) in an axisymmetric manner by taking a cable axis as a symmetry axis, and the left guide block (35a) and the right guide block (35b) are matched at the mounting plate (31) through a horizontal guide rail (36); positioning pin shafts (35c) are convexly arranged on the outer side plate surfaces of the left guide block (35a) and the right guide block (35b), the left sliding block (34a) and the right sliding block (34b) are correspondingly provided with positioning pin holes (34c) for the positioning pin shafts (35c) to penetrate, the length direction of the hole patterns of the positioning pin holes (34c) is arranged in an extending mode from bottom to top along the corresponding sliding block plate surface, and the horizontal distance between the two groups of positioning pin holes (34c) is gradually increased from bottom to top; and a group of C-shaped bayonets (37) are respectively arranged on the adjacent end faces of the left guide block (35a) and the right guide block (35b), and the groove cavities of the two groups of C-shaped bayonets (37) are matched with each other to form the cylindrical clamping cavity for involuting and clamping the cable body.

3. A cable clamp servo of claim 2, wherein: the mounting plate (31) appearance is vertical square plate form, and mounting plate (31) top department is concave to be equipped with the spacing arc groove of the U type trough-shaped (38) of the biggest descending distance of limited cable to C type bayonet socket (37) are to closing centre gripping cable.

4. A cable clamp servo of claim 3, wherein: the two groove walls of the limiting arc groove (38) extend upwards in an inclined mode to form two groups of extension plates (39), the extension plates (39) and the mounting plate (31) are located on the same vertical plane, and the horizontal distance between the two groups of extension plates (39) is gradually increased from bottom to top.

5. A cable clamp follower system as defined in claim 1 or 2 or 3 or 4, wherein: the axial telescopic rod (32) is an electric push rod with the axis vertically arranged.

6. A cable clamp follower system as defined in claim 1 or 2 or 3 or 4, wherein: an axial push rod (22) is further arranged on the mounting base (10), and the thrust direction of the axial push rod (22) is parallel to the axial direction of the cable; a top end stop block (23) is arranged at the top end of the axial push rod (22), a sensing surface is arranged on the top end stop block (23), a sensing head (27a) used for being matched with the sensing surface is arranged on the fixing frame (21), and the sensing end of the sensing head (27a) points to the direction of the sensing surface; the system also comprises a tension spring (24), one end of the tension spring (24) is fixedly connected to the top end stop block (23), and the other end of the tension spring extends along the axial direction of the cable and is fixedly connected and matched with the fixed frame (21).

7. A cable clamp servo of claim 6, wherein: a group of sliding optical axes (25) are respectively arranged on the upper side and the lower side of the axial push rod (22), and the two groups of sliding optical axes (25) are arranged in an axisymmetric manner along the axis of the axial push rod (22); two sets of axial mounting holes (21a) of the cable with the axis parallel to the axial direction are arranged on the fixing frame (21), and the sliding optical axis (25) and the mounting holes (21a) are in one-to-one correspondence to form hole-axis sliding fit.

8. A cable clamp servo of claim 7, wherein: the shape of the fixing frame (21) is a square plate with the plate surface vertically arranged, the top end of the fixing frame (21) extends upwards to form an extension arm (21c) which is directly matched with a peeler, and the fixing frame (21) is provided with an avoidance hole (21b) which is superposed with the axial line of the axial push rod (22) and through which the axial push rod (22) passes; a linear bearing (26) is arranged in the mounting hole (21a), and the sliding optical axis (25) penetrates through the inner ring of the linear bearing (26) to form a bearing fit relation with the mounting hole (21 a).

9. A cable clamp servo of claim 6, wherein: the sensing head is a travel switch, a sliding block (27) extends from the fixed frame (21) to the direction of the top end block (23), the sensing head (27a) is arranged on the sliding block (27), one surface of the top end block (23) facing to the direction of the sliding block (27) forms the sensing surface, and the sensing head (27a) is located on an action path of the sensing surface.

10. A cable clamp servo of claim 6, wherein: the axial push rod (22) is an electric push rod with the axis horizontally arranged.

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