An adaptive angle steel clamping assembly with obstacle avoidance function

Abstract

The present invention belongs to the technical field of electric power operation climbing robots, and specifically relates to an adaptive angle steel clamping assembly with obstacle avoidance function. The present invention includes a fixed seat, on which a pressing portion and a clamping portion are arranged; the claw rod at the clamping portion includes a rear rod body and a front rod body; a fixed limiting spring sheet attached to the swing guide sleeve, the head end of the limiting spring sheet extends out of the swing guide sleeve and is bent toward the claw rod along the radial direction of the swing guide sleeve until it is pressed against the outer wall of the claw rod; the tail end of the front rod body is concavely provided with a notch corresponding to the bent end of the limiting spring sheet, and when the vertical axis is exposed outside the barrel of the swing guide sleeve, the bent end can be stuck into the notch under the elastic force of the limiting spring sheet, and at this time, the angle between the front rod body and the rear rod body is greater than 180°. The present invention has higher working reliability and stability, and while further ensuring the force sealing effect and shape sealing effect during its climbing process along the electric power angle steel tower, the volume is more compact.

Description

Technical Field

[0001] The invention belongs to the technical field of electric power operation climbing robots, and in particular relates to an adaptive angle steel clamping assembly with an obstacle avoidance function. Background Art

[0002] The stability and safety of electricity are the basic guarantee for promoting the development of all walks of life. In my country, there are many transmission angle steel towers, which are widely distributed and exposed to the harsh outdoor environment, even dusty, windy and humid environment, for a long time. In the traditional way, maintenance personnel need to carry maintenance equipment and climb the angle steel tower along the foot nail side, and gradually hang the safety rope to prevent falling, which leads to long inspection cycle, high climbing risk and low work efficiency. Therefore, climbing robots suitable for angle steel towers came into being, and gradually derived climbing types with various morphological structures, such as snake robots, wheeled robots and inchworm robots. No matter what kind of robot, after loading the working part, its overall mass is extremely large, which puts a severe test on the climbing reliability of the robot. Due to the huge mass of the robot itself, the existing ordinary grippers can no longer meet the actual clamping needs; based on this, whether a new type of gripper structure can be developed to make it have higher working reliability and stability, and further ensure the force sealing effect and shape sealing effect during its climbing process along the power angle steel tower, while being smaller and more compact to meet the working needs of existing climbing robots, has become a technical problem that needs to be urgently solved in this field in recent years. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and provide an adaptive angle steel clamping assembly with obstacle avoidance function, which has higher working reliability and stability, while further ensuring the force sealing effect and shape sealing effect during the climbing process along the power angle steel tower, and has a smaller and more compact size.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] An adaptive angle steel clamping assembly with obstacle avoidance function, characterized in that: it comprises a fixing seat, on which a pressing portion for pressing against an outer wall or edge line of the angle steel main material and a clamping portion for generating a closing and clamping action along a cross-sectional direction of the angle steel main material are arranged, and the clamping portion and the pressing portion exert force toward each other to clamp the angle steel main material;

[0006] The clamping part includes two symmetrical claw rods, the head ends of the claw rods constitute the clamping ends, and the tail ends of the claw rods pass through a set of swing guide sleeves, so that the corresponding claw rods can perform linear reciprocating motion along the axial direction of the matching swing guide sleeves, and the swing guide sleeves are then hinged on the fixed seat through a plumb hinge seat; the clamping part also includes a mounting plate and a push-pull plate horizontally arranged above and below the tail ends of the claw rods, respectively, with the adjacent plate surfaces of the mounting plate and the push-pull plate as the working surface, and a directional groove is concavely provided on the working surface of the mounting plate, and the shape of the directional groove is formed by the rear end of the fixed seat The "eight" shape gradually expands outward toward the front end of the fixed seat, and a "one" shaped guide groove is concavely provided on the working surface of the push-pull plate. The tail end of the claw rod is arranged with a vertical push-pull shaft, and the two shaft ends of the vertical push-pull shaft respectively cooperate with the directional groove and the guide groove, so that the two shaft ends of the vertical push-pull shaft can perform synchronous slide rail guiding actions in the directional groove and the guide groove; the push-pull plate is driven by the horizontal driving assembly to generate a horizontal reciprocating action perpendicular to the direction of the vertical push-pull shaft, and the groove length direction of the guide groove intersects with the horizontal action direction of the push-pull plate;

[0007] The claw rod comprises a rear rod body and a front rod body hinged to each other by a vertical axis, and the head end of the front rod body constitutes the clamping end; a fixed limiting spring sheet attached to the swing guide sleeve, the head end of the limiting spring sheet extends out of the swing guide sleeve and is bent toward the claw rod along the radial direction of the swing guide sleeve until it is pressed against the outer wall of the claw rod, thereby elastically pressing the claw rod against the wall of the swing guide sleeve; a notch is concavely provided at the tail end of the front rod body corresponding to the bent end of the limiting spring sheet, and when the vertical axis is exposed outside the barrel of the swing guide sleeve, the bent end can be stuck in the notch under the elastic force of the limiting spring sheet, and at this time the angle between the front rod body and the rear rod body is greater than 180°; an anchor point is arranged on the inner side wall of the front rod body, one end of the reset spring is fixedly connected to the anchor point, and the other end is fixedly connected to the vertical axis.

[0008] Preferably, the limiting spring piece has an L-shaped plate shape, and the swing guide sleeve has a square sleeve shape, so as to match the claw rod with a square cross-section; the outer wall of the swing guide sleeve parallel to the vertical axis is the matching wall, the horizontal plate section is abutted against the matching wall, and a through hole is arranged through the horizontal plate section; 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 forward along the length direction of the horizontal plate section, and is fixed to the matching wall after passing through the through hole; the through hole is a waist-shaped hole whose length direction is parallel to the length direction of the horizontal plate section; a group of radial tension springs are arranged on both sides of the horizontal plate section, one end of the radial tension spring is fixed to the corresponding side wall of the vertical axis on the swing guide sleeve, and the other end extends to the same side of the horizontal plate section and is fixed on that side.

[0009] Preferably, the tail end of the horizontal plate section is upturned to form a hinged ear, a fixing column passing through the through hole is protruded from the matching wall, and both ends of the axial tension spring are respectively fixed on the hinged ear and the fixing column.

[0010] Preferably, support ears are arranged on both sides of the horizontal plate section, and anchor columns are arranged on both side walls of the vertical plumb axis on the swing guide sleeve, so as to fix the radial tension spring.

[0011] Preferably, the front rod body includes an inward-curved hook head and a V-shaped rod connecting the hook head and the plumb axis, the V-shaped rod and the hook head cooperate to form an arc rod-shaped structure with the notch facing inward; the head end of the arc rod and the tail end of the hook head form a detachable threaded matching structure; the anchor point is located on the inner side of the V-shaped rod.

[0012] Preferably, a cushion layer is arranged in the area of ​​the hook head used to cooperate with the main material of the angle steel.

[0013] Preferably, there are two vertical push-pull shafts that are coaxially disposed at the upper and lower parts of the tail end of the claw rod; the corresponding shaft ends of the two vertical push-pull shafts are arranged with rolling bearings that are convenient for forming a rolling fit with the directional groove and the guide groove; the "I"-shaped guide groove is formed by two groups of horizontal sub-grooves arranged in sequence along the length direction of the push-pull plate, and each group of horizontal sub-grooves corresponds to a group of vertical push-pull shafts located at the tail end of the claw rod.

[0014] Preferably, the horizontal drive assembly includes a push-pull screw rod, which cooperates with the push-pull plate to form a screw slider mechanism. The push-pull screw rod extends horizontally to the rear of the fixed seat and forms a power match with the output shaft of the push-pull motor.

[0015] Preferably, the pressing portion includes a V-shaped block which is arranged vertically in the groove length direction and the groove opening is facing the direction of the edge of the main material of the angle steel, the groove bottom line of the V-shaped block constitutes a matching line for matching the edge of the main material of the angle steel, and the two groove surfaces of the V-shaped block constitute matching surfaces for matching the two groove surfaces of the main material of the angle steel; the V-shaped block is arranged in the area enclosed by the claw rod; the pressing portion also includes a driving mechanism for driving the V-shaped block to produce a moving and separating action relative to the main material of the angle steel, the driving mechanism includes two groups of screw sleeves horizontally arranged at the back of the V-shaped block groove, each screw sleeve has a coaxial thread matched with a group of screw rods, the two groups of screw rods are arranged in sequence along the length direction of the main material of the angle iron and are located on the same vertical plane; the power ends of the two groups of screw rods are matched on the same synchronous motor through synchronous belts.

[0016] The beneficial effects of the present invention are:

[0017] 1) The present invention can directly replace the traditional walking parts of existing climbing robots such as inchworm robots, thereby ensuring the inherent climbing performance of the climbing robot while having higher working reliability and stability, and ensuring the force sealing effect and shape sealing effect during the climbing process along the power angle steel tower, and the volume is also more compact.

[0018] According to conventional thinking, when the clamp is actually used to clamp the main angle steel material, if a larger-sized main angle steel material is encountered, in order to avoid obstacles such as foot nails, it is usually necessary to make a larger parallel displacement of the claw rod in the direction perpendicular to the main angle steel material, that is, the clamp needs to have a larger foot lift height. This part of the parallel displacement will increase the thickness of the main machine or the clamp, which will lead to a larger volume. As the core part of the present invention, the present invention adopts an articulated claw rod, matched with a limit spring, so as to have the following functions:

[0019] First, when the claw rod is opened, it has a larger opening area. When the push-pull plate pushes the two sets of claw rods to move forward, the two sets of claw rods open under the action of the swing guide sleeve until the vertical axis is exposed from the tube mouth of the swing guide sleeve; at this time, under the action of the reset spring, the entire front rod body bends backward around the vertical axis, that is, the angle between the front rod body and the rear rod body changes from the original 180° to greater than 180°, so that the maximum opening range of the claw rod is increased.

[0020] Secondly, when the claw rod is clamped, it has more reliable force sealing and shape sealing. When the push-pull plate retracts and drives the two sets of claw rods to produce a clamping action, the limiting spring sheet first disengages from the notch, and then under the retraction action of the claw rod relative to the swing guide sleeve, it pushes the front rod body to return to a 180° state with the rear rod body, so that the front rod body can be retracted into the barrel of the swing guide sleeve. Afterwards, the tail end of the front rod body is fixed in the barrel of the swing guide sleeve, and is elastically pressed tightly against the barrel wall of the swing guide sleeve by the limiting spring sheet, ensuring the reliability of positioning and avoiding the loose fit and inaccurate movement problems that may occur due to the sliding fit between the claw rod and the swing guide sleeve. The head end of the front rod body is hooked on the corresponding groove edge of the main material of the angle steel, and combined with the pressing part, it can achieve reliable force sealing and shape sealing.

[0021] Obviously, through the above scheme, the present invention allows the front rod body to retain its own high-reliability claw rod clamping effect, and due to the special structure of the limiting spring plate and the articulated claw rod, the front rod body has great flexibility in movement, which makes the originally thick and clumsy clamping claws can be designed to be thinner and lighter without losing their inherent working performance, thus achieving multiple goals at one stroke.

[0022] 2) As a further preferred solution of the above solution, the limiting spring piece realizes the fixing function based on the matching wall of the swing guide sleeve through an axial tension spring, and then uses a radial tension spring to ensure that the bent end of the limiting spring piece is always pressed against the claw rod, ultimately ensuring its working effect.

[0023] The axial tension spring is the key to the instantaneous action of the limit spring: if only the radial tension spring is set, the limit spring can also gradually slide into the gap when the claw rod is unfolded. However, practice has proved that this kind of snap-in action is delayed rather than instantaneous, which is not allowed in the field of high-altitude remote control operations with extremely high alignment requirements, and may even cause loose clamping and cause safety accidents. The present invention adds an axial tension spring. When the claw rod is opened, the front rod body of the claw rod continuously extends out of the swing guide sleeve. Since the bent end of the limit spring is tightly pressed against the front rod body, under the action of friction, the limit spring begins to overcome the elastic force of the axial tension spring and produces a follow-up forward action along the length direction of the through hole. By presetting the elastic force value of the axial tension spring, when the front rod body moves forward to the notch to expose the swing guide sleeve, the elastic restoring force of the axial tension spring just overcomes the above friction force, so that the limit spring piece instantly retracts under the common elastic restoring force of the radial tension spring and the axial tension spring, and is stuck in the notch that just exposes the swing guide sleeve, thereby achieving the purpose of instantaneous insertion. Obviously, the instantaneous insertion action greatly improves the action accuracy and precision of the present invention, and significantly improves the stability and reliability of the claw rod action.

[0024] 3) Furthermore, the purpose of setting the hinged ears, fixed columns, support ears and anchor columns is to further specifically describe the matching state of each tension spring, which will not be described in detail here. For the front rod body, the present invention preferably adopts a detachable hook head, so that the clamping effect of different types of angle steel main materials can be improved by replacing the hook head according to the on-site conditions.

[0025] 4) For the V-block, its function is that when the two groups of claw rods are tightened inward and clamp the two groove edges of the angle steel, the groove cavity of the V-block can fit tightly against the ridgeline of the angle steel, thereby cooperating with the claw rods to achieve a clamping effect in opposite directions, so as to significantly improve the clamping reliability of the main material of the angle steel. In actual design, the present invention controls the movement of the V-block through two groups of screw nut mechanisms, and uses a synchronous motor as a power source, and uses a synchronous belt to ensure the synchronization of the movement of the two groups of screw nut mechanisms, which ensures the compactness of the volume while effectively ensuring the working reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 and Figure 2 It is an assembly state diagram of the present invention;

[0027] Figure 3 It is a schematic diagram of the three-dimensional structure of the present invention;

[0028] Figure 4 for Figure 3 Exploded diagram of the structure;

[0029] Figure 5 for Figure 4Exploded diagram of the structure;

[0030] Figure 6 for Figure 3 A cross-sectional view of

[0031] Figure 7 It is a structural schematic diagram of the present invention when the claw rod is in an open state;

[0032] Figure 8 for Figure 7 A cross-sectional view of

[0033] Fig. 9 for Figure 7 In the state shown, the coordination state of the limit spring piece and the front rod body;

[0034] Fig.10 It is a schematic diagram of the three-dimensional structure of the limiting spring piece;

[0035] Fig.11 It is a structural schematic diagram of the claw rod in the clamping process;

[0036] Fig.12 It is a structural schematic diagram of the claw rod in the clamping state.

[0037] The actual correspondence between the reference numerals and component names of the present invention is as follows:

[0038] 30-main machine 31-sliding track 32-sliding block 33-sliding screw rod 34-sliding sleeve

[0039] 35-Slip motor

[0040] 40-Angle Steel Clamp Assembly

[0041] 41-fixed seat 42-pressing part

[0042] 421-V-block 422-screw sleeve 423-screw 424-synchronous belt 425-synchronous motor

[0043] 43-clamping part 431-claw rod

[0044] 431a-vertical push-pull shaft 431b-rear rod 431c-front rod 431d-vertical shaft

[0045] 431f-Gap

[0046] 432-swing guide sleeve 432a-matching wall

[0047] 433- plumb hinge seat 434- mounting plate 434a- orientation slot

[0048] 435- push-pull plate 435a- guide groove

[0049] 436-limiting spring piece 436a-horizontal plate section 436b-bending end 436c-hinged ear

[0050] 437a-reset tension spring 437b-radial tension spring 437c-axial tension spring

[0051] 438a-push-pull screw rod 438b-push-pull motor DETAILED DESCRIPTION

[0052] For the sake of overall understanding, the structure and working mode of the specific embodiment of the entire climbing robot applied by the present invention are described as follows:

[0053] Climbing robot, here as Figure 1-2 Take the inchworm structure shown as an example: its specific structure includes a long frame-shaped main machine 30, a walking part is arranged on the main machine 30 to achieve the climbing function relative to the main angle steel material, and a working kit is arranged on the main machine 30 to achieve the purpose of maintenance of the specified function. In actual work, the length direction of the main machine 30 should be parallel to the length direction of the main angle steel material.

[0054] When further designing, the inchworm structure is still taken as an example: a sliding track 31 is arranged on the side of the main machine 30 facing the main material of the angle steel, and a sliding block 32 that can generate a straight reciprocating motion along the sliding track 31 is arranged on the sliding track 31; a walking part is arranged on the sliding block 32 accordingly, so that the walking part can be controlled to generate a reciprocating motion along the length direction of the main machine 30 according to the action of the control unit. At the same time, a sliding motor 35 can also be arranged on the main machine 30, so that the sliding screw 33 coaxial with the output shaft of the sliding motor 35 can drive the sliding sleeve 34 located on the walking part to generate a screw nut action, so that the sliding block 32 can generate a guiding action relative to the sliding track 31. When working, one or both of the two groups of angle steel clamping assemblies 40 can generate an up and down sliding motion on the sliding track 31 along the length direction of the main machine 30 through the sliding block 32, thereby realizing an action function similar to that of an inchworm. When the main machine 30 moves along the angle steel main material to a designated point and stops, the designated action can be achieved by a working kit pre-assembled at the head end or other parts of the main machine 30.

[0055] When the working kit is a mechanical head with a torque wrench, the above mechanism can realize the tightening action of the mounting screws assembled on the main material of the angle steel. If the working kit is a welding head with a mechanical arm, the welding operation of the designated point on the main material of the angle steel can be realized. Of course, when the present invention is applied to a non-inchworm-type robot, such as acting as a walking part on a multi-legged robot, its inherent clamping function can also be realized. Even when necessary, the present invention can be used on the safety rope fixing claws of maintenance personnel, thereby utilizing the clamping reliability of the present invention relative to the main material of the angle steel and even the side auxiliary materials to ensure its safe operation purpose.

[0056] Back to the inchworm structure, the walking part, i.e., the angle steel clamping assembly 40, is provided to directly realize the clamping, holding and loosening functions relative to the main angle steel material. Figure 3-12 As shown, it includes a fixing seat 41 and a clamping portion 43 and a pressing portion 42 arranged in front of the fixing seat 41. When working, the clamping portion 43 and the pressing portion 42 cooperate with each other, so that the present invention can be clamped on the main material of the angle steel in an embracing manner.

[0057] The structure of the fixing seat 41 is as follows: Figure 3-6 As shown, it serves as a mounting carrier for the clamping portion 43 and the pressing portion 42, and functions to connect the clamping portion 43, the pressing portion 42 and the host 30. The aforementioned sliding block 32 can be set on the back of the fixing seat 41, so as to form a guide rail matching relationship with the sliding track 31 on the host 30.

[0058] During actual assembly, the pressing portion 42 includes a V-shaped block 421. The V-shaped block 421 is as shown in FIG. Figure 3-6 The shown one side of the V-shaped block is in the shape of a rectangular block with a V-shaped groove. Two sets of threaded sleeves 422 arranged in parallel are convexly provided on the back of the V-shaped block 421. Each set of threaded sleeves 422 is matched with a set of screw rods 423 in a one-to-one corresponding thread. The screw rods 423 are rotatably matched on the fixed seat 41, and rely on the synchronous motor 425 and the synchronous belt 424 to realize the online rotation of the screw rods 423. When the synchronous motor 425 is in operation, the synchronous motor 425 drives the screw rods 423 to rotate through the synchronous belt 424. The rotation of the screw rods 423 drives the threaded sleeves 422 to produce axial reciprocating motion, which can drive the V-shaped block 421 fixed to the threaded sleeves 422 to produce the movement of approaching and separating relative to the ridgeline of the main material of the angle steel.

[0059] The specific structure of the clamping portion 43 is shown in Figure 3-12As shown, it includes two groups of claw rods 431 symmetrical to each other, and both groups of claw rods 431 are inserted in the swing guide sleeve 432, and the swing guide sleeve 432 is fixed on the fixed seat 41 through the vertical hinge seat 433. During assembly, it is necessary to ensure that the upper shaft end of the vertical push-pull shaft 431a located at the tail end of the claw rod 431 should be accurately matched in the directional groove 434a, that is, the rolling bearing at the vertical push-pull shaft 431a can accurately form a rolling match with the groove wall of the directional groove 434a. Afterwards, the guide groove 435a at the push-pull block is inserted into the lower shaft end of the vertical push-pull shaft 431a, and the push-pull screw rod 438b is inserted into the hole of the push-pull block. Finally, the push-pull screw rod 438b is driven to rotate by the rotary action of the push-pull motor 438c, so that the push-pull block can be driven to produce a reciprocating linear movement relative to the push-pull screw rod 438b. The linear motion of the push-pull plate 435 will drive the claw rod 431 to move due to the existence of the vertical push-pull shaft 431a, and the motion trajectory of the claw rod 431 is determined by the "eight" shaped directional groove 434a on the mounting plate 434. Figure 7-12 In the middle, it can be seen that the claw rod 431 can produce an opening and clamping action relative to the main angle steel material.

[0060] In fact, the "I"-shaped guide groove 435a can also be formed by two groups of "I"-shaped horizontal sub-grooves that are sequentially combined along the length direction of the push-pull plate 435, and each group of horizontal sub-grooves corresponds to a group of vertical push-pull shafts 431a located at the tail end of the claw rod 431. Figure 5 and Figure 8 The two groups of "I"-shaped horizontal sub-troughs can be completely on the same straight line, or they can be Figure 5 and Figure 8 As shown, there is a certain angle, which only needs to be able to drive the claw rod 431 to move along the directional groove 434a when the push-pull plate moves.

[0061] On the basis of the above structure, the claw rod 431 of the present invention includes a rear rod body 431b and a front rod body 431c, and the front rod body 431c includes a V-shaped rod and a hook head. When working, the tail end of the rear rod body 431b is arranged with the vertical push-pull shaft 431a, the head end of the rear rod body 431b and the tail end of the V-shaped rod are hinged to each other through the vertical shaft 431d, and the head end of the V-shaped rod forms a detachable threaded fit with the hook head. At the same time, through the arrangement of the reset tension spring 437a, under the premise of no other constraints, the front rod body 431c and the rear rod body 431b produce a backward movement, that is, the angle between the front rod body 431c and the rear rod body 431b is formed as shown in the figure. Figure 7-8The state shown is greater than 180°. When dealing with different types of angle steel main materials, the hook head at the head end of the claw rod 431 can be removed and replaced with a hook head of a new size to adapt to the current type of angle steel main material, which is obviously more flexible in operation. At the same time, since the replacement part is only the hook head, the rear rod body 431b and even the V-shaped rod that need to cooperate with the swing guide sleeve 432, the push-pull plate 435 and the limit spring 436 do not need to be replaced, which effectively ensures the efficiency and convenience of on-site replacement, achieving multiple goals at one stroke.

[0062] Under the premise that the front rod body 431c and the rear rod body 431b can form the above state, the present invention provides a notch 431f at the tail end of the front rod body 431c, and arranges a limit spring 436 at the matching wall of the swing guide sleeve 432, which can produce a compound action under the action of the radial tension spring 437b and the axial tension spring 437c. The shape of the limit spring 436 is as follows: Fig.10 As shown, and the assembly state is as Fig. 9 As shown. By adding 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. At this time, because the bent end 436b of the limiting spring 436 is tightly pressed on the front rod body 431c, under the action of friction, the limiting spring 436 begins to overcome the elastic force of the axial tension spring 437c and produces a follow-up forward action along the hole length direction of the through hole. By presetting the elastic force value of the axial tension spring 437c, when the front rod body 431c moves forward to the notch 431f to expose the swing guide sleeve 432, the elastic restoring force of the axial tension spring 437c just overcomes the above-mentioned friction, so that the limiting spring 436 instantly retracts under the common elastic restoring force of the radial tension spring 437b and the axial tension spring 437c, and is inserted into the notch 431f that has just exposed the swing guide sleeve 432, thereby achieving the purpose of instant insertion. Obviously, the instantaneous snap-in action greatly improves the action accuracy and precision of the present invention, and significantly improves the stability and reliability of the action of the claw rod 431.

[0063] To ensure the assembly stability of the radial tension spring 437b and the axial tension spring 437c, as shown in FIG. Fig. 9 As shown, the tail end of the horizontal plate segment 436a is upturned to form a hinged ear 436c, and a fixing column passing through the through hole is protruding from the matching wall, and the two ends of the axial tension spring 437c are respectively fixed on the hinged ear 436c and the fixing column. At the same time, support ears are arranged on both sides of the horizontal plate segment 436a, and anchor columns are arranged on both side walls of the vertical shaft 431d on the swing guide sleeve 432, so as to fix the radial tension spring 437b.

[0064] Of course, it is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, but also includes the same or similar structures that can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any reference numerals in the claims should not be regarded as limiting the claims involved.

[0065] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0066] The techniques, shapes, and structural parts not described in detail in the present invention are all well-known techniques.

Claims

1. An adaptive angle steel clamping assembly with obstacle avoidance function, characterized in that: The fixing seat (41) comprises a pressing portion (42) for pressing against the outer wall or edge line of the angle steel main material and a clamping portion (43) for generating a closing and clamping action along the cross-sectional direction of the angle steel main material. The clamping portion (43) and the pressing portion (42) exert force towards each other to clamp the angle steel main material. The clamping part (43) includes two symmetrical claw rods (431), the head ends of the claw rods (431) constitute the clamping ends, and the tail ends of the claw rods (431) respectively pass through a group of swing guide sleeves (432), so that the corresponding claw rods (431) can perform linear reciprocating motion along the axial direction of the matching swing guide sleeves (432), and the swing guide sleeves (432) are hinged on the fixed seat (41) through a vertical hinge seat (433); the clamping part also includes a mounting plate (434) and a push-pull plate (435) which are horizontally arranged above and below the tail ends of the claw rods (431), respectively, with the adjacent plate surfaces of the mounting plate (434) and the push-pull plate (435) as working surfaces, and a directional groove (434a) is recessed on the working surface of the mounting plate (434), and the directional groove (434a) is shaped like a fixed seat ( The rear end of the push-pull plate (435) is gradually expanded outward in an "eight" shape toward the front end of the fixed seat (41), and a "one"-shaped guide groove (435a) is concavely provided 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), and the two shaft ends of the vertical push-pull shaft (431a) respectively cooperate 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 slide rail guiding action in the directional groove (434a) and the guide groove (435a); the push-pull plate (435) is driven by the horizontal driving component to generate a horizontal reciprocating action in the direction perpendicular to the vertical push-pull shaft (431a), and the groove length direction of the guide groove (435a) intersects with the horizontal action 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 to each other via a vertical axis (431d), and the head end of the front rod body (431c) constitutes the clamping end; a fixed limiting spring sheet (436) is attached to the swing guide sleeve (432), and the head end of the limiting spring sheet (436) extends out of the swing guide sleeve (432) and is bent toward the claw rod (431) along the radial direction of the swing guide sleeve (432) until it is pressed against the outer wall of the claw rod (431), thereby elastically pressing the claw rod (431) against the cylinder wall of the swing guide sleeve (432); The tail end of the front rod body (431c) is concavely provided with a notch (431f) corresponding to the bent end (436b) of the limiting spring sheet (436); when the vertical shaft (431d) is exposed outside the barrel of the swing guide sleeve (432), the bent end (436b) can be inserted into the notch (431f) under the elastic force of the limiting spring sheet (436), and at this time, the angle between the front rod body (431c) and the rear rod body (431b) is greater than 180°; an anchor point is arranged on the inner side wall of the front rod body (431c), one end of the reset tension spring (437a) is fixedly connected to the anchor point, and the other end is fixedly connected to the vertical shaft; The limiting spring piece (436) is in the shape of an L-shaped plate, and the swing guide sleeve (432) is in the shape of a square sleeve, so as to match the claw rod (431) with a square cross-section; the outer wall of the swing guide sleeve (432) parallel to the vertical axis (431d) is used as the matching wall (432a), the horizontal plate section (436a) is abutted against the matching wall (432a), and the horizontal plate section (436a) is penetrated by a through hole; one end of the axial tension spring (437c) is fixed at the tail end of the horizontal plate section (436a); the other end of the axial tension spring (437c) is connected along the water The flat plate segment (436a) extends forward in the length direction and passes through the through hole to be fixed on the matching wall (432a); the through hole is a waist-shaped hole whose length direction is parallel to the length direction of the horizontal plate segment (436a); a group of radial tension springs (437b) are arranged on both sides of the horizontal plate segment (436a), one end of the radial tension spring (437b) is fixed to the corresponding side wall of the vertical shaft (431d) on the swing guide sleeve (432), and the other end extends to the same side of the horizontal plate segment (436a) and is fixed on the same side of the horizontal plate segment (436a); The tail end of the horizontal plate section (436a) is tilted upward to form a hinged ear (436c), and a fixing column passing through the through hole is protruded from the matching wall (432a), and two ends of the axial tension spring (437c) are respectively fixed on the hinged ear (436c) and the fixing column; Support ears are arranged on both sides of the horizontal plate section (436a), and anchor columns are arranged on both side walls of the vertical plumb axis (431d) on the swing guide sleeve (432) to fix the radial tension spring (437b).

2. The adaptive angle steel clamping assembly with obstacle avoidance function according to claim 1, characterized in that: The front rod body (431c) includes an inwardly curved hook head and a V-shaped rod connecting the hook head and the vertical axis (431d); the V-shaped rod and the hook head cooperate to form an arc rod-shaped structure with the notch facing inward; the head end of the arc rod and the tail end of the hook head form a detachable threaded matching structure; the anchor point is located on the inner side of the V-shaped rod.

3. The adaptive angle steel clamping assembly with obstacle avoidance function according to claim 2, characterized in that: The hook head is used to arrange a cushion layer in the area where the angle steel main material is matched.

4. The adaptive angle steel clamping assembly with obstacle avoidance function according to claim 1, characterized in that: The two vertical push-pull shafts (431a) are coaxially disposed at the upper and lower parts of the tail end of the claw rod (431); the corresponding shaft ends of the two vertical push-pull shafts (431a) are arranged with rolling bearings that are convenient for forming a rolling fit with the directional groove (434a) and the guide groove (435a); the "I"-shaped guide groove (435a) is formed by two groups of horizontal sub-grooves arranged in sequence along the length direction of the push-pull plate (435), and each group of horizontal sub-grooves corresponds to a group of vertical push-pull shafts (431a) located at the tail end of the claw rod (431).

5. The adaptive angle steel clamping assembly with obstacle avoidance function according to claim 4, characterized in that: The horizontal driving assembly includes a push-pull screw rod (438a), which cooperates with the push-pull plate (435) to form a screw slider mechanism. The push-pull screw rod (438a) extends horizontally to the rear of the fixed seat (41) and forms a power match with the output shaft of the push-pull motor (438b).

6. The adaptive angle steel clamping assembly with obstacle avoidance function according to claim 1, characterized in that: The pressing portion (42) comprises a V-shaped block (421) arranged vertically in the groove length direction and with the groove opening facing the direction of the ridgeline of the angle steel main material, the groove bottom line of the V-shaped block (421) constitutes a matching line for matching the ridgeline of the angle steel main material, and the two groove surfaces of the V-shaped block (421) constitute matching surfaces for matching the two groove surfaces of the angle steel main material; the V-shaped block (421) is arranged in the area enclosed by the claw rod (431); the pressing portion (42) also comprises a driving mechanism for driving the V-shaped block (431) 21) A driving mechanism for generating a movement of movement relative to the main angle steel material, the driving mechanism comprising two sets of screw sleeves (422) arranged horizontally at the back of the groove of the V-shaped block (421), each screw sleeve (422) having a coaxial thread matched with a set of screw rods (423), the two sets of screw rods (423) being arranged in sequence along the length direction of the main angle steel material and being located on the same vertical plane; the power ends of the two sets of screw rods (423) are matched with the same synchronous motor (425) through a synchronous belt (424).

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