CN113479272A - Self-adaptive angle steel clamping assembly with obstacle avoidance function - Google Patents

Abstract

The invention belongs to the technical field of electric power operation climbing robots, and particularly relates to a self-adaptive angle steel clamping assembly with an obstacle avoidance function. The invention comprises a fixed seat, wherein a pressing part and a clamping part are arranged on the fixed seat; the claw rod at the clamping part comprises a rear rod body and a front rod body; a limit elastic sheet is fixedly attached to the swing guide sleeve, and the head end of the limit elastic sheet extends out of the swing guide sleeve and is bent towards the claw rod along the radial direction of the swing guide sleeve until the head end of the limit elastic sheet is tightly abutted against the outer wall of the claw rod; the tail end of the front rod body corresponds to the bending end of the limiting elastic sheet and is concavely provided with a notch, when the vertical shaft is exposed out of the barrel cavity of the swing guide sleeve, the bending end can be clamped into the notch under the action of elastic force of the limiting elastic sheet, and the angle between the front rod body and the rear rod body is larger than 180 degrees at the moment. The power angle steel tower has higher working reliability and stability, and is smaller and more compact in size while further ensuring the force sealing effect and the shape sealing effect of the power angle steel tower in the climbing process.

Description

Self-adaptive angle steel clamping assembly with obstacle avoidance function

Technical Field

The invention belongs to the technical field of electric power operation climbing robots, and particularly relates to a self-adaptive angle steel clamping assembly with an obstacle avoidance function.

Background

The stability and the safety of the electric power are basic guarantees for promoting the development of various industries, and in China, the transmission angle steel towers are large in number and wide in distribution and are exposed in a field environment or even a dusty strong-wind high-humidity severe environment for a long time. Under traditional mode, need bear maintenance equipment by the maintainer and climb the angle-steel tower along the foot nail side, gradually articulate the safety rope and prevent weighing down, lead to patrolling and examining the cycle length, the climbing is dangerous big, and work efficiency is low. Therefore, the climbing robot suitable for the angle steel tower is produced, and climbing types with various morphological structures are gradually derived, such as snake-shaped robots, wheel-type robots, inchworm-type robots and the like. No matter what kind of robot, after loading the work portion, its whole quality is all very big, this has just proposed the serious examination to the climbing reliability of robot. Due to the huge self-mass of the robot, the existing common clamping jaw cannot meet the actual clamping requirement; based on this, whether can develop a neotype clamping jaw structure to make it possess higher operational reliability and stability, and when further guaranteeing to realize its power seal effect and the shape seal effect along the climbing in-process of electric power angle steel tower, the volume is more small and exquisite compacter, in order to satisfy current climbing robot's work demand, for the technological problem that awaits solution in recent years in this field.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a self-adaptive angle steel clamping assembly with an obstacle avoidance function, which has higher working reliability and stability, and is smaller and more compact in size while further ensuring the force sealing effect and the shape sealing effect of the angle steel clamping assembly in the climbing process along an electric angle steel tower.

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

the utility model provides a self-adaptation formula angle steel centre gripping subassembly with keep away barrier function which characterized in that: the angle steel clamping device comprises a fixed seat, wherein a pressing part for pressing against the outer wall or the ridge line of an angle steel main material and a clamping part for generating furling clamping action along the cross section direction of the angle steel main material are arranged on the fixed seat, and the clamping part and the pressing part apply force in opposite directions so as to clamp the angle steel main material;

the clamping part comprises two symmetrical claw rods, the head ends of the claw rods form clamping ends, the tail ends of the claw rods respectively penetrate through a group of swing guide sleeves, so that the corresponding claw rods can do linear reciprocating motion along the axial direction of the matched swing guide sleeves, and the swing guide sleeves are hinged on the fixed seat through the vertical hinge seats; the clamping part also comprises a mounting plate and a push-pull plate which are horizontally arranged above and below the tail end of the claw rod respectively, the adjacent plate surfaces of the mounting plate and the push-pull plate are taken as working surfaces, a directional groove is concavely arranged at the working surface of the mounting plate, the appearance of the directional groove is in a shape of a Chinese character 'ba' gradually expanding from the rear end of the fixed seat to the front port of the fixed seat, a guide groove in a shape of a Chinese character 'yi' is concavely arranged on the working surface of the push-pull plate, a vertical push-pull shaft is arranged at the tail end of the claw rod, and two shaft ends of the vertical push-pull shaft are respectively matched with the directional groove and the guide groove, so that two shaft ends of the vertical push-pull shaft can perform synchronous slide rail guide actions in the directional groove and the guide groove; the push-pull plate is driven by the horizontal driving component to generate horizontal reciprocating motion vertical to the direction of the vertical push-pull shaft, and the groove length direction of the guide groove is intersected with the horizontal motion direction of the push-pull plate;

the claw rod comprises a rear rod body and a front rod body which are hinged with each other through a vertical shaft, and the head end of the front rod body forms the clamping end; the head end of the limiting elastic sheet extends out of the swing guide sleeve and is radially bent towards the claw rod along the swing guide sleeve until the limiting elastic sheet is tightly abutted against the outer wall of the claw rod, so that the claw rod is elastically pressed on the wall of the swing guide sleeve; the tail end of the front rod body is concavely provided with a notch corresponding to the bending end of the limiting elastic sheet, when the vertical shaft is exposed out of the barrel cavity of the swing guide sleeve, the bending end can be clamped into the notch under the action of the elastic force of the limiting elastic sheet, and the angle between the front rod body and the rear rod body is larger than 180 degrees; the anchor point is arranged to preceding body of rod inside wall, and extension spring one end rigid coupling that resets is in this anchor point department, and the other end rigid coupling is on plumb's axle.

Preferably, the limiting elastic sheet is in an L-shaped plate shape, and the swing guide sleeve is in a square sleeve shape so as to be matched with a claw rod with a square cross section; the outer wall of the parallel vertical shaft of the swing guide sleeve is used as a matching wall, the horizontal plate section is attached to the matching wall, and the horizontal plate section is provided with a through hole in a penetrating manner; one end of the axial tension spring is fixed at the tail end of the horizontal plate section; the other end of the axial tension spring extends forwards along the length direction of the horizontal plate segment and passes through the through hole to be fixed on the matching wall; the through hole is a waist-shaped hole with the hole type length direction parallel to the horizontal plate length direction; and a group of radial tension springs are respectively arranged on two sides of the horizontal plate section, one end of each radial tension spring is fixed at the corresponding side wall of the vertical shaft on the swing guide sleeve, and the other end of each radial tension spring extends towards the same side of the horizontal plate section and is fixed at the same side.

Preferably, the tail end of the horizontal plate section is upwarped to form a hinge lug, a fixing column penetrating through the through hole is convexly arranged at the matching wall, and two ends of the axial tension spring are respectively fixed on the hinge lug and the fixing column.

Preferably, the two sides of the horizontal plate section are provided with support lugs, and the two side walls of the vertical shaft on the swinging guide sleeve are provided with anchor posts so as to be used for fixing the radial tension spring.

Preferably, the front rod body comprises an inward-bent hook head and a V-shaped rod for connecting the hook head and the vertical shaft, and the V-shaped rod and the hook head are matched together to form an arc rod-shaped structure with an inward notch; the head end of the arc rod and the tail end of the hook head form a detachable thread matching structure; the anchor point is located at the inside of the V-shaped rod.

Preferably, the cushion layer is arranged on the area of the hook head for matching with the main material of the angle steel.

Preferably, the two vertical push-pull shafts are coaxially arranged at the upper part and the lower part of the tail end of the claw rod respectively; rolling bearings which are convenient to form rolling fit with the directional grooves and the guide grooves are arranged at the corresponding shaft ends of the two vertical push-pull shafts; the straight-shaped guide groove is formed by sequentially arranging two groups of horizontal sub-groove bodies along the length direction of the push-pull plate, and each group of horizontal sub-groove bodies is correspondingly matched with a group of vertical push-pull shafts positioned at the tail end of the claw rod.

Preferably, the horizontal driving assembly comprises a push-pull screw rod, the push-pull screw rod is matched with the push-pull plate to form a screw rod sliding block mechanism, and the push-pull screw rod horizontally extends towards the rear of the fixed seat and is in power fit with an output shaft of the push-pull motor.

Preferably, the pressing part comprises a V-shaped block which is vertically arranged in the groove length direction and has a groove opening facing the direction of the ridge line of the main angle steel material, the groove bottom line of the V-shaped block forms a matching line for matching the ridge line of the main angle steel material, and two groove surfaces of the V-shaped block form matching surfaces for matching the two groove surfaces of the main angle steel material; the V-shaped block is arranged in an area formed by enclosing of the claw rod; the pressing part also comprises a driving mechanism for driving the V-shaped block to generate advancing and separating actions relative to the main angle steel material, the driving mechanism comprises two groups of screw sleeves horizontally arranged at the groove back of the V-shaped block, each screw sleeve is internally provided with a group of coaxial screw rods in a threaded fit manner, and the two groups of screw rods are sequentially arranged along the length direction of the main angle iron material and are positioned on the same vertical plane; the power ends of the two groups of screw rods are matched on the same synchronous motor through a synchronous belt.

The invention has the beneficial effects that:

1) the climbing robot can directly replace the traditional walking part on climbing robots such as inchworm robots and the like, so that the climbing robot has higher working reliability and stability while ensuring the inherent climbing performance of the climbing robot, ensures the force sealing effect and the shape sealing effect in the climbing process along the electric angle steel tower, and is smaller and more compact in size.

According to the conventional thinking, when the clamping jaw is used for clamping the angle steel main material in practice, if the angle steel main material with larger size is encountered, in order to avoid roadblocks such as foot nails and the like, the jaw rod is required to be subjected to parallel displacement with larger amplitude along the direction perpendicular to the angle steel main material, namely, the clamping jaw is required to have larger foot lifting height, and the parallel displacement of the part can increase the thickness of the main machine or the clamping jaw, so that the size is huge. As the core part of the invention, the invention adopts an articulated claw rod matched with a limit elastic sheet, thereby having the following functions:

first, the claw bar has a larger opening area when it is opened. When the push-pull plate pushes the two groups of claw rods to move forward, the two groups of claw rods are opened under the action of the swing guide sleeve until the vertical shaft is exposed out of the cylinder opening of the swing guide sleeve; at the moment, under the action of the reset tension spring, the whole front rod body is bent backwards around the vertical shaft, namely the angle between the front rod body and the rear rod body is changed from 180 degrees originally to be larger than 180 degrees, so that the maximum opening amplitude of the claw rod is improved.

Second, the claw bar has more reliable force sealing property and shape sealing property when clamped. When the push-pull plate retracts to drive the two groups of claw rods to generate clamping action, the limiting elastic sheet firstly breaks away from the notch, and then under the retracting action of the claw rods relative to the swinging guide sleeve, the front rod body is pushed to reset to be in a state of 180 degrees with the rear rod body, so that the front rod body is retracted into the cylinder cavity of the swinging guide sleeve. And then, the tail end of the front rod body is fixed in the barrel cavity of the swing guide sleeve and is elastically compressed on the barrel wall of the swing guide sleeve by a limiting elastic sheet, so that the positioning reliability is ensured, and the problems of possible loose matching and inaccurate action caused by mutual sliding fit of the claw rod and the swing guide sleeve are avoided. The head end of the front rod body is hooked at the corresponding groove edge of the main material of the angle steel, and the pressing part is matched, so that reliable force sealing performance and shape sealing performance can be realized.

Obviously, through the scheme, the front rod body has the high-reliability claw rod clamping effect and has great flexibility in action due to the special structures of the limiting elastic sheets and the joint type claw rods, so that the thick and clumsy clamping jaw can be designed to be thinner and lighter without losing the inherent working performance, and multiple purposes are achieved.

2) As the further preferred scheme of above-mentioned scheme, spacing shell fragment passes through the axial extension spring and realizes the fixed function based on the cooperation wall of swing uide bushing, and the rethread radial extension spring guarantees that the end of buckling of spacing shell fragment compresses tightly all the time in claw pole department, finally ensures its working effect.

The axial tension spring is the key point that the limit elastic sheet can achieve instantaneous action: if only the radial tension spring is arranged, the limiting elastic sheet can also gradually slide into the notch when the claw rod performs the unfolding action, but practice proves that the clamping action is delayed rather than instantaneous, which is not allowed in the high-altitude remote control operation field with extremely high alignment requirement, and even the clamping is not firm, thereby causing safety accidents. According to the invention, the axial tension spring is additionally arranged, when the claw rod is opened, the front rod body of the claw rod continuously extends out of the swing guide sleeve, and the bending end of the limiting elastic sheet is tightly pressed on the front rod body, so that under the action of friction force, the limiting elastic sheet starts to overcome the elastic force of the axial tension spring and generates follow-up forward motion along the length direction of the hole pattern of the through hole. Through the elasticity value of presetting the axial extension spring, when the preceding body of rod moved ahead to the breach and exposes the swing uide bushing, the elastic restoring force of axial extension spring just overcome above-mentioned frictional force this moment for spacing shell fragment contracts under the common elastic restoring force of radial extension spring and axial extension spring in the twinkling of an eye, and the card goes into and just exposes in the breach of swing uide bushing, and then realizes the purpose of instantaneous card income. Obviously, the instantaneous clamping action greatly improves the action accuracy and precision of the invention, and obviously improves the stability and reliability of the action of the claw rod.

3) And furthermore, the arrangement of the hinged lug, the fixed column, the support lug and the anchor column aims to further specifically express the matching state of each tension spring, and the details are not repeated here. For the front rod body, the detachable hook head is preferably adopted, so that the clamping effect on the main materials of the angle steels of different types can be improved by replacing the hook head as appropriate according to the field situation.

4) The V-shaped block has the functions that when two groups of claw rods are inwards tightened and used for clamping two groove edges of the angle steel, the groove cavities of the V-shaped block can be matched with the ridge lines of the angle steel tightly, and therefore the opposite clamping effect is achieved by matching the claw rods, and the clamping reliability of the main materials of the angle steel is remarkably improved. During actual design, the two groups of screw rod and nut mechanisms are used for controlling the action of the V-shaped block, the synchronous motor is used as a power source, the action synchronism of the two groups of screw rod and nut mechanisms is ensured by the synchronous belt, and the working reliability can be effectively ensured while the size is ensured to be small and exquisite.

Drawings

FIGS. 1 and 2 are assembled views of the present invention;

FIG. 3 is a schematic perspective view of the present invention;

FIG. 4 is an exploded view of the structure of FIG. 3;

FIG. 5 is an exploded view of the structure of FIG. 4;

FIG. 6 is a cross-sectional view of FIG. 3;

FIG. 7 is a schematic view of the invention in the open position of the claw bars;

FIG. 8 is a cross-sectional view of FIG. 7;

FIG. 9 is a view showing the state of the position-limiting resilient tab engaged with the front rod body in the state shown in FIG. 7;

fig. 10 is a schematic perspective view of a limiting spring plate;

FIG. 11 is a schematic view of the claw rod during clamping;

fig. 12 is a schematic structural view of the claw bar in a clamping state.

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

30-main engine 31-sliding track 32-sliding block 33-sliding screw rod 34-sliding sleeve

35-slip motor

40-angle steel clamping assembly

41-fixed seat 42-pressing part

421-V-shaped block 422-screw sleeve 423-screw 424-synchronous belt 425-synchronous motor

43-grip 431-claw rod

431 a-vertical push-pull shaft 431 b-rear rod 431 c-front rod 431 d-vertical shaft

431 f-notch

432-swinging guide housing 432 a-mating wall

433-vertical hinged base 434-mounting plate 434 a-orientation groove

435-push-pull plate 435 a-guide groove

436-position limiting spring 436 a-horizontal plate segment 436 b-bending end 436 c-hinge lug

437 a-reset tension spring 437 b-radial tension spring 437 c-axial tension spring

438 a-push-pull screw rod 438 b-push-pull motor

Detailed Description

For the sake of general understanding, the construction and operation of a particular embodiment of the climbing robot to which the invention applies are described herein below:

climbing robots, here exemplified by inchworm-like structures as shown in fig. 1-2: the specific structure of the angle steel main body comprises a long-strip-shaped frame-shaped main body 30, a walking part is arranged at the position of the main body 30, so that the climbing function of the angle steel main body relative to the angle steel main body is realized, and a working kit is arranged on the main body 30, so that the maintenance purpose of a specified function is realized. In actual operation, the length direction of the main frame 30 should be parallel to the length direction of the main material of the angle steel.

When further designing, the inchworm type structure is taken as an example: a sliding track 31 is arranged on one surface of the main machine 30 facing the main material of the angle steel, and a sliding block 32 capable of generating linear reciprocating motion along the sliding track 31 is arranged on the sliding track 31; the sliding blocks 32 are respectively provided with a traveling part, so that the traveling parts can be controlled to generate reciprocating traveling motion along the length direction of the main machine 30 according to the motion of the control unit. Meanwhile, the host 30 can also be provided with a sliding motor 35, so that a sliding sleeve 34 on the walking part is driven to generate screw nut motion through a sliding screw 33 coaxial with an output shaft of the sliding motor 35, and the sliding block 32 can generate guiding motion relative to the sliding track 31. During operation, one or both of the two groups of angle steel clamping assemblies 40 can slide up and down on the sliding track 31 along the length direction of the main machine 30 through the sliding block 32, so that an action function similar to inchworm is realized. When the main machine 30 travels to a designated point along the main material of the angle steel and stops, the designated action can be realized by a work kit which is pre-assembled at the head end or other parts of the main machine 30.

When the working kit is a mechanical head with a torque wrench, the mechanism can realize the tightening action of the mounting screw assembled on the main diagonal steel material. If the working suite is a welding head with a mechanical arm, the welding operation of the appointed point of the main diagonal steel material can be realized. Of course, when the invention is applied to a non-inchworm robot, such as a walking part on a multi-legged robot, the inherent clamping function can be realized. Even if necessary, the angle iron fixing device can be used on a safety rope fixing claw of an overhaul worker, so that the safety operation purpose of the angle iron fixing device is guaranteed by utilizing the clamping reliability of the angle iron fixing device relative to main materials of angle iron and even side auxiliary materials.

Returning to the inchworm type structure, the walking part, namely the angle clamping component 40, is arranged to directly realize the clamping and fastening functions of the main material of the relative angle. On the basis of the above structure, the angle iron clamping assembly 40, that is, the structure of the present invention, can be shown in fig. 3 to 12, that is, it includes a fixed seat 41, and a clamping portion 43 and a pressing portion 42 arranged in front of the fixed seat 41. In operation, the clamping portion 43 and the pressing portion 42 are matched with each other, so that the angle iron main material can be clamped on the angle iron main material in a wrapping manner.

The fixing base 41 is configured as shown in fig. 3-6, and functions as a mounting carrier for the clamping portion 43 and the pressing portion 42, and as a joint for the clamping portion 43, the pressing portion 42 and the host 30. The sliding block 32 can be disposed on the back of the fixing base 41, so as to form a rail-fitting relationship with the sliding rail 31 on the main body 30.

In actual assembly, the pressing portion 42 includes a V-shaped block 421. The V-shaped block 421 is a rectangular block with a V-shaped groove formed on one side as shown in fig. 3-6. Two sets of threaded sleeves 422 arranged in parallel are convexly arranged on the back surface of the V-shaped block 421, a set of screw rods 423 are respectively in threaded fit with the threaded sleeves 422 correspondingly one by one, the screw rods 423 are in rotary fit with the fixed seat 41, and the on-line rotary motion of the screw rods 423 is realized by a synchronous motor 425 and a synchronous belt 424. When the synchronous motor 425 acts, the synchronous motor 425 drives the screw 423 to rotate through the synchronous belt 424, and the rotation of the screw 423 pushes the screw sleeve 422 to axially reciprocate, so that the V-shaped block 421 fixedly connected with the screw sleeve 422 can be driven to move close to and away from the edge line of the main material of the angle steel.

The specific configuration of the clamping portion 43 is shown in fig. 3-12, and includes two sets of symmetrical claw rods 431, the two sets of claw rods 431 are inserted into the swing guide sleeve 432, and the swing guide sleeve 432 is fixed on the fixed base 41 through the vertical hinge base 433. During assembly, it is required to ensure that the upper shaft end of the vertical push-pull shaft 431a at the rear end of the claw rod 431 is accurately fitted in the orientation groove 434a, that is, the rolling bearing at the vertical push-pull shaft 431a is accurately in rolling fit with the groove wall of the orientation groove 434 a. Then, the guide groove 435a at the push-pull block is clamped into the lower shaft end of the vertical push-pull shaft 431a, and the push-pull lead screw 438b is inserted into the hole of the push-pull block. Finally, the push-pull screw rod 438b is driven to rotate by the rotation of the push-pull motor 438c, so that the push-pull block can be driven to generate reciprocating linear advancing motion relative to the push-pull screw rod 438 b. The linear motion of the push-pull plate 435 drives the motion of the claw rod 431 due to the existence of the vertical push-pull shaft 431a, and the motion track of the claw rod 431 is determined by the splay-shaped orientation slot 434a on the mounting plate 434. In particular, as shown in fig. 7-12, it can be seen that the claw bar 431 can perform the opening and clamping actions with respect to the main angle steel member.

In fact, the "one" -shaped guiding groove 435a may also be formed by two sets of "one" -shaped horizontal sub-groove bodies sequentially combined along the length direction of the push-pull plate 435, and each set of horizontal sub-groove bodies is correspondingly matched with a set of vertical push-pull shafts 431a at the tail end of the claw rod 431, as shown in fig. 5 and 8. The two groups of horizontal sub-groove bodies in the shape of a straight line may be completely in the same straight line, or may have a certain included angle as shown in fig. 5 and 8, and only the operation of pushing and pulling the plate is required to drive the claw rod 431 to move along the directional groove 434 a.

Based on the above structure, the claw bar 431 of the present invention further includes a rear bar body 431b and a front bar body 431c, and the front bar body 431c includes a V-shaped bar and a hook head. During operation, the tail end of the rear rod body 431b is provided with the vertical push-pull shaft 431a, the head end of the rear rod body 431b is hinged with the tail end of the V-shaped rod through the vertical shaft 431d, and the head end of the V-shaped rod is in detachable threaded fit with the hook head. Meanwhile, due to the arrangement of the return tension spring 437a, the front rod 431c and the opposite rear rod 431b generate a backward tilting action on the premise of no other constraint, that is, an included angle between the front rod 431c and the rear rod 431b is greater than 180 degrees as shown in fig. 7-8. And when aiming at the angle steel main material of different models, the gib head that the accessible was located the position of claw pole 431 head end is dismantled and the gib head of new size is changed to the angle steel main material of adaptation current model, the flexibility ratio is obviously higher in the operation. Meanwhile, the replacement part is only a hook head, and the rear rod body 431b and even the V-shaped rod which are matched with the movable parts such as the swing guide sleeve 432, the push-pull plate 435, the limiting elastic sheet 436 and the like do not need to be replaced, so that the efficiency and convenience of field replacement are effectively ensured, and multiple purposes are achieved.

On the premise that the front rod 431c and the rear rod 431b can be in the above state, the invention is provided with a notch 431f at the tail end of the front rod 431c, and a limit elastic sheet 436 which can generate compound action under the action of a radial tension spring 437b and an axial tension spring 437c is arranged at the matching wall of the swing guide sleeve 432. The shape of the position-limiting elastic piece 436 is as shown in fig. 10, and the assembled state is as shown in fig. 9. By additionally arranging the axial tension spring 437c, when the claw rod 431 is opened, the front rod body 431c of the claw rod 431 continuously extends out of the swing guide sleeve 432, and at this time, because the bent end 436b of the limiting elastic piece 436 is tightly pressed on the front rod body 431c, under the action of friction force, the limiting elastic piece 436 starts to move forward along the length direction of the hole pattern of the through hole by overcoming the elastic force of the axial tension spring 437 c. By presetting the elastic force value of the axial tension spring 437c, when the front rod body 431c moves forward to the notch 431f and exposes out of the swing guide sleeve 432, the elastic restoring force of the axial tension spring 437c just overcomes the friction force, so that the limiting elastic sheet 436 instantaneously retracts under the common elastic restoring force of the radial tension spring 437b and the axial tension spring 437c and is clamped into the notch 431f just exposing out of the swing guide sleeve 432, and the purpose of instantaneous clamping is further achieved. Obviously, the instantaneous snapping action greatly improves the action accuracy and precision of the invention, and obviously improves the stability and reliability of the action of the claw rod 431.

In order to ensure the assembly stability of the radial tension spring 437b and the axial tension spring 437c, as shown in fig. 9, the rear end of the horizontal plate section 436a is raised to form a hinge lug 436c, a fixing post penetrating through the through hole is protruded at the matching wall, and two ends of the axial tension spring 437c are respectively fixed on the hinge lug 436c and the fixing post. Meanwhile, lugs are disposed on both sides of the horizontal plate section 436a, and anchor posts are disposed on both side walls of the vertical shaft 431d of the swing guide 432, so as to fix the radial tension spring 437 b.

It will, of course, be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but rather includes the same or similar structures that may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.

Claims (9)

1. The utility model provides a self-adaptation formula angle steel centre gripping subassembly with keep away barrier function which characterized in that: the angle steel clamping device comprises a fixed seat (41), wherein a pressing part (42) for pressing against the outer wall or the ridge line of an angle steel main material and a clamping part (43) for furling and clamping along the cross section direction of the angle steel main material are arranged on the fixed seat (41), and the clamping part (43) and the pressing part (42) apply force in opposite directions so as to clamp the angle steel main material;

the clamping part (43) comprises two symmetrical claw rods (431), the head ends of the claw rods (431) form clamping ends, the tail end of each claw rod (431) respectively penetrates through a group of swing guide sleeves (432), so that the corresponding claw rod (431) can do linear reciprocating motion along the axial direction of the matched swing guide sleeves (432), and the swing guide sleeves (432) are hinged on the fixed base (41) through the vertical hinge base (433); the clamping part also comprises a mounting plate (434) and a push-pull plate (435) which are respectively and horizontally arranged above and below the tail end of the claw rod (431), the adjacent plate surfaces of the mounting plate (434) and the push-pull plate (435) are taken as working surfaces, a directional groove (434a) is concavely arranged on the working surface of the mounting plate (434), the shape of the directional groove (434a) is in a splayed shape gradually expanding from the rear end of the fixed seat (41) to the front port of the fixed seat (41), a linear guide groove (435a) is concavely arranged on the working surface of the push-pull plate (435), a vertical push-pull shaft (431a) is arranged at the tail end of the claw rod (431), two shaft ends of the vertical push-pull shaft (431a) are respectively matched with the directional groove (434a) and the guide groove (435a), so that the two shaft ends of the vertical push-pull shaft (431a) can perform synchronous sliding rail guide action in the orientation groove (434a) and the guide groove (435 a); the push-pull plate (435) is driven by the horizontal driving assembly to generate horizontal reciprocating motion perpendicular to the direction of the vertical push-pull shaft (431a), and the groove length direction of the guide groove (435a) is crossed with the horizontal motion direction of the push-pull plate (435);

the claw rod (431) comprises a rear rod body (431b) and a front rod body (431c) which are hinged with each other through a vertical shaft (431d), and the head end of the front rod body (431c) forms the clamping end; a limiting elastic sheet (436) is fixedly attached to the swing guide sleeve (432), the head end of the limiting elastic sheet (436) extends out of the swing guide sleeve (432) and is bent towards the claw rod (431) along the radial direction of the swing guide sleeve (432) until the head end of the limiting elastic sheet abuts against the outer wall of the claw rod (431), so that the claw rod (431) is elastically pressed on the wall of the swing guide sleeve (432); the tail end of the front rod body (431c) corresponds to the bending end (436b) of the limiting elastic sheet (436) and is concavely provided with a notch (431f), when the vertical shaft (431d) is exposed out of the cylinder cavity of the swinging guide sleeve (432), the bending end (436b) can be clamped into the notch (431f) under the action of the elastic force of the limiting elastic sheet (436), and the angle between the front rod body (431c) and the rear rod body (431b) is larger than 180 degrees at the moment; an anchor point is arranged on the inner side wall of the front rod body (431c), one end of a reset tension spring (437a) is fixedly connected to the anchor point, and the other end of the reset tension spring is fixedly connected to the vertical shaft.

2. The self-adaptive angle steel clamping assembly with the obstacle avoidance function as claimed in claim 1, wherein: the limiting elastic sheet (436) is L-shaped plate-shaped, and the swing guide sleeve (432) is square sleeve-shaped, so that the limiting elastic sheet is matched with a claw rod (431) with a square cross section; an outer wall of the swing guide sleeve (432) parallel to a vertical shaft (431d) is used as a matching wall (432a), a horizontal plate section (436a) is attached to the matching wall (432a), and a through hole is arranged on the horizontal plate section (436a) in a penetrating way; one end of an axial tension spring (437c) is fixed at the tail end of the horizontal plate section (436 a); the other end of the axial tension spring (437c) extends forwards along the length direction of the horizontal plate section (436a) and passes through the through hole to be fixed on the matching wall (432 a); the through hole is a waist-shaped hole with the hole type length direction parallel to the length direction of the horizontal plate section (436 a); and a group of radial tension springs (437b) are respectively arranged on two sides of the horizontal plate section (436a), one end of each radial tension spring (437b) is fixed at the corresponding side wall of the vertical shaft (431d) on the swinging guide sleeve (432), and the other end of each radial tension spring (437b) extends towards the same side of the horizontal plate section (436a) and is fixed at the side.

3. The self-adaptive angle steel clamping assembly with the obstacle avoidance function as claimed in claim 2, wherein: the tail end of the horizontal plate section (436a) is tilted upwards to form a hinge lug (436c), a fixing column penetrating through the through hole is convexly arranged at the matching wall (432a), and two ends of an axial tension spring (437c) are respectively fixed on the hinge lug (436c) and the fixing column.

4. The self-adaptive angle steel clamping assembly with the obstacle avoidance function as claimed in claim 2, wherein: lugs are arranged on two sides of the horizontal plate section (436a), and anchor posts are arranged on two side walls of a vertical shaft (431d) on the swing guide sleeve (432) so as to fix the radial tension spring (437 b).

5. The adaptive angle iron clamping assembly with obstacle avoidance function according to claim 1, 2, 3 or 4, wherein: the front rod body (431c) comprises an inward-bent hook head and a V-shaped rod which is connected with the hook head and the vertical shaft (431d), and the V-shaped rod and the hook head are matched together to form an arc-rod-shaped structure with an inward notch; the head end of the arc rod and the tail end of the hook head form a detachable thread matching structure; the anchor point is located at the inside of the V-shaped rod.

6. The adaptive angle iron clamping assembly with the obstacle avoidance function according to claim 5, wherein: and a cushion layer is arranged in the area of the hook head for matching with the main material of the angle steel.

7. The adaptive angle iron clamping assembly with obstacle avoidance function according to claim 1, 2, 3 or 4, wherein: the two vertical push-pull shafts (431a) are coaxially arranged at the upper part and the lower part of the tail end of the claw rod (431); rolling bearings which are convenient to form rolling fit with the directional grooves (434a) and the guide grooves (435a) are arranged at the corresponding shaft ends of the two vertical push-pull shafts (431 a); the straight-line-shaped guide groove (435a) is formed by two groups of horizontal sub-groove bodies which are sequentially arranged along the length direction of the push-pull plate (435), and each group of horizontal sub-groove bodies is correspondingly matched with a group of vertical push-pull shafts (431a) positioned at the tail end of the claw rod (431).

8. The adaptive angle iron clamping assembly with the obstacle avoidance function according to claim 7, wherein: the horizontal driving assembly comprises a push-pull screw rod (438a), the push-pull screw rod (438a) is matched with a push-pull plate (435) to form a screw rod sliding block mechanism, and the push-pull screw rod (438a) horizontally extends towards the rear of the fixed seat (41) and is in power fit with an output shaft of a push-pull motor (438 b).

9. The adaptive angle iron clamping assembly with obstacle avoidance function according to claim 1, 2, 3 or 4, wherein: the pressing part (42) comprises a V-shaped block (421) which is vertically arranged in the groove length direction and the groove opening of which faces to the direction of the ridge line of the main angle steel material, the groove bottom line of the V-shaped block (421) forms a matching line used for matching the ridge line of the main angle steel material, and two groove surfaces of the V-shaped block (421) form matching surfaces used for matching the two groove surfaces of the main angle steel material; the V-shaped block (421) is arranged in an area formed by enclosing of the claw rod (431); the pressing part (42) further comprises a driving mechanism for driving the V-shaped block (421) to generate advancing and separating actions relative to the angle iron main material, the driving mechanism comprises two sets of threaded sleeves (422) horizontally arranged at the groove back of the V-shaped block (421), each threaded sleeve (422) is internally provided with a coaxial threaded matching set of screw rods (423), and the two sets of screw rods (423) are sequentially arranged along the length direction of the angle iron main material and are positioned on the same vertical plane; the power ends of the two groups of screws (423) are matched on the same synchronous motor (425) through a synchronous belt (424).

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