Clamping mechanism device and method for robotic automatic wire stripping

Abstract

A kind of clamping mechanism device and method for robot automatic wire stripping, comprising: mobile support mechanism module, three-jaw clamping mechanism module and wire stripper, wherein: a pair of three-jaw clamping mechanism module is respectively arranged at the two ends of mobile support mechanism module, and wire stripper is slidably arranged on mobile support mechanism module.The relative movement of robot and wire stripping device is set in the present application, the adverse effects caused by the robot shaking in the wire stripping process are removed, the wire stripping is more stable and reliable, so as to significantly improve the efficiency and reliability of automatic jointing of drainage wire, avoid the jamming phenomenon of fastening device and wire clamp when wire clamp and clamping clamp are separated, improve the operation efficiency of wire clamp fastening device.Make the operator away from live cable, reduce the risk of electric shock, reduce the labor intensity, improve the operation efficiency, improve the degree of automation and stability of robot in the task of live working drainage wire jointing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of special robot high-voltage live working, in particular to a clamping mechanism device and method for robot automatic wire stripping. BACKGROUND

[0002] The existing high-voltage live working wire stripper is manually operated, and the operator fixes the wire stripper on a long insulating rod in advance, and then hangs the wire stripper on a high-voltage live cable, and operates the wire stripper to clamp the cable and rotate the chuck to strip the wire through a handheld remote controller. In this process, the operator needs to hold the insulating rod all the time to provide stripping force for the wire stripper, and make corresponding following movement along with the axial transverse movement of the wire stripper during the stripping process. However, in the robot automatic operation system, accurate and reliable following movement cannot be made. Due to the large thickness error of the cable insulation layer, the wire stripping speed is inconsistent when the wire stripper strips the same nominal cable, and the robot uses a constant preset wire stripping speed when making following movement, which causes the moving speed of the robot to be inconsistent with the moving speed of the wire stripper during automatic wire stripping, and the wire stripper is stuck on the cable. It is difficult to realize the robot automatic operation function in the robot automatic operation system. How to realize automatic operation in the robot automatic operation system without affecting the normal function of the existing high-voltage live working wire stripper, cooperate with the robot, improve the application effect of the robot, and promote the application range of the robot in the high-voltage live working field. SUMMARY

[0003] The present application is directed to the phenomenon that the robot cannot accurately and reliably follow the movement of the wire stripper in the high-voltage live working automatic wire stripping operation system, and proposes a clamping mechanism device and method for robot automatic wire stripping. By setting the relative movement of the robot and the wire stripping device, the adverse effects caused by the robot shaking during wire stripping are removed, the wire stripping is more stable and reliable, the efficiency and reliability of the automatic jointing of the drain wire are significantly improved, the phenomenon that the fastening device is stuck with the wire clamp when it is separated from the wire clamp and the clamping clamp is avoided, and the operation efficiency of the wire clamp fastening device is improved. The operator is away from the live cable, the risk of electric shock is reduced, the labor intensity is reduced, the operation efficiency is improved, and the automation degree and stability of the robot in the live working drain wire jointing task are improved.

[0004] The present application is realized by the following technical solutions:

[0005] The present application relates to a clamping mechanism device, comprising: a moving support mechanism module, a three-jaw clamping mechanism module, and a wire stripper, wherein: a pair of three-jaw clamping mechanism modules are respectively arranged at both ends of the moving support mechanism module, and the wire stripper is slidably arranged on the moving support mechanism module.

[0006] The movable support mechanism module includes: a support body and a double slide rail drive mechanism disposed thereon, wherein: the wire stripper is disposed on the double slide rail drive mechanism via a wire stripper connecting plate to achieve sliding setting.

[0007] The dual slide rail drive mechanism includes two parallel slide rails and a sliding connecting block slidably mounted thereon, wherein: one end of each slide rail is provided with a moving cylinder, the output end of which is connected to the sliding connecting block.

[0008] The two slide rails are preferably mounted on two quick-change connecting plates to ensure the accuracy of the vertical arrangement of the two slide rails. This allows the three-jaw clamp fixing plate to act as a reinforcing rib, enhancing the rigidity of the mechanism and ensuring the relative position accuracy during the movement of the slider, thus ensuring the smoothness of the slider's movement.

[0009] The three-jaw clamping mechanism module includes a three-jaw clamp and a fixed plate, wherein the fixed plate is fixedly disposed on both sides of the movable support mechanism module, and the three-jaw clamp is disposed on the top of the fixed plate.

[0010] The three-jaw clamp includes: a three-jaw fixing plate and a gripping cylinder, a three-link rod, upper and lower jaw rods, and an inner jaw rod disposed thereon, wherein: the three-link rod is rotatably connected to the upper and lower jaw rods and the inner jaw rod respectively, and the output end of the gripping cylinder is connected to the three-link rod and drives its extension and retraction movement, thereby driving the gripping action of the three jaw rods.

[0011] Both the upper and lower claw bars are double-link structures, with one end rotatably connected to a three-link rod and the other end rotatably mounted on a three-claw fixing plate. Specifically, the upper claw bar, the first connecting rod, the upper claw bar rotation shaft, and the upper claw bar connecting shaft constitute a claw assembly. The upper claw bar rotates around the upper claw bar rotation shaft and is connected to the first connecting rod via the upper claw bar connecting shaft to form a rotary pair. The lower claw bar is the same part as the upper claw bar, the third connecting rod is the same part as the first connecting rod, the lower claw bar connecting shaft is the same part as the upper claw bar connecting shaft, and the lower claw bar rotation shaft is the same part as the upper claw bar rotation shaft.

[0012] The wire stripper is further provided with a termination movement structure module, which includes two movable top columns set at different positions, so that the axial force on the wire stripper is uniform when it is held by the top columns. Attached Figure Description

[0013] Figure 1 This is an overall view of the clamping mechanism of the present invention;

[0014] Figure 2 This is a block diagram of the moving support mechanism of the wire stripper of the present invention;

[0015] Figure 3 This is an exploded view of the moving support mechanism module of the wire stripper of the present invention;

[0016] Figure 4 This is a block diagram of the three-jaw clamping mechanism of the present invention;

[0017] Figure 5 This is a diagram of the three-jaw clamp of the present invention;

[0018] Figure 6 This is the first claw assembly of the present invention;

[0019] Figure 7 This is the second claw assembly of the present invention;

[0020] Figure 8 This is the third claw assembly of the present invention;

[0021] Figure 9 This invention relates to a three-jaw clamp assembly.

[0022] Figure 10 This is a schematic diagram of the termination movement structure module of the wire stripper of the present invention;

[0023] Figure 11 This is a diagram showing the pressure regulation and control of the thrust cylinder of the wire stripper of the present invention.

[0024] In the diagram: Wire stripper moving support mechanism module 100, three-jaw clamping mechanism module 200, wire stripper termination moving structure module 300, wire stripper 400, wire stripper connecting plate 101, sliding connecting block 102, cylinder connecting plate 103, first slide rail 104, first quick-change connecting plate 105, quick-change structural component 106, cylinder fixing block 107, L-shaped cylinder fixing plate 108, moving cylinder 109, second quick-change connecting plate 110, second slide rail 111, bottom surface of wire stripper connecting plate 10 11. Inner side of wire stripper connecting plate 1012. Bottom surface of sliding connecting block 1021. Top bottom surface of sliding connecting block 1022. Outer side of sliding connecting block reinforcing rib 1023. Inner side of sliding connecting block 1024. First slide rail guide 1041. First slide rail slider 1042. First positioning bottom surface 1051. First positioning side surface 1052. First threaded hole 1053. Second threaded hole 1054. Second positioning side surface 1055. Second positioning bottom surface 1056. Third positioning bottom surface 11 01. Third positioning side 1102. Fourth positioning side 1103. Fourth positioning bottom surface 1104. Third threaded hole 1105. Second slide rail guide rail 1111. Second slide rail slider 1112. Three-jaw clamp 201. Three-jaw clamp fixing plate 202. Three-jaw clamp fixing plate reinforcing rib 203. Upper jaw rod 20101. First connecting rod 20102. Inner jaw rod 20103. Three-link 20104. Gripping cylinder 20105. Three-jaw fixing plate 20106. Third connecting rod 20 107. Lower jaw lever 20108. Three-jaw connecting slide rail 20109. Upper jaw lever rotating shaft 20110. Upper jaw lever connecting shaft 20111. First connecting rod connecting shaft 20112. Third connecting rod connecting shaft 20113. Lower jaw lever connecting shaft 20114. Lower jaw lever rotating shaft 20115. First jaw assembly 210. Second jaw assembly 220. Third jaw assembly 230. Three-jaw clamp three-jaw assembly 240. First moving top column 301. Second moving top column 302. Reinforcing rib 303. Detailed Implementation

[0025] like Figure 1 As shown, this embodiment relates to a clamping mechanism device for automatic wire stripping by a robot, which includes: a movable support mechanism module 100, a three-jaw clamping mechanism module 200, and a wire stripper 400, wherein: a pair of three-jaw clamping mechanism modules 200 are respectively disposed at both ends of the movable support mechanism module 100, and the wire stripper 400 is slidably disposed on the movable support mechanism module 100.

[0026] like Figure 2 and Figure 3 As shown, the movable support mechanism module includes: a support body and a double slide rail drive mechanism disposed thereon, wherein: the wire stripper 400 is disposed on the double slide rail drive mechanism through the wire stripper connecting plate 101 to achieve sliding setting.

[0027] The supporting body includes two quick-change connecting plates 106 and 110 arranged perpendicularly to each other.

[0028] The support body is provided with a quick-change structural component 106, which is fastened to the first quick-change connecting plate by screws and positioning pins. It works together with the positioning holes on the quick-change connecting plate to realize the quick positioning and gripping of the workpiece.

[0029] The dual slide rail drive mechanism includes two parallel slide rails 104 and 111 and a sliding connecting block 102 slidably disposed thereon, wherein: one end of the slide rail is provided with a moving cylinder 109, the output end of which is connected to the sliding connecting block.

[0030] The two slide rails are preferably mounted on two quick-change connecting plates to ensure the accuracy of the vertical arrangement of the two slide rails. This allows the three-jaw clamp fixing plate to act as a reinforcing rib, enhancing the rigidity of the mechanism and ensuring the relative position accuracy during the movement of the slider, thus ensuring the smoothness of the slider's movement.

[0031] The output end of the cylinder is connected to the sliding connecting block through the cylinder connecting plate 103. The cylinder connecting plate is fixed to the side of the sliding connecting block by screws and has a Φ6mm through hole for connecting the piston rod of the cylinder.

[0032] The movable cylinder 109 is fixedly mounted on one end of the slide rail by a cylinder fixing block 107. The cylinder fixing block is connected to the L-shaped cylinder fixing plate through the threaded hole on the upper fixed surface, and is fixed to the first quick-change connecting plate through the threaded hole on the lower bottom surface of the cylinder fixing block, thus forming a cylinder fixing assembly. The L-shaped cylinder fixing plate is provided with mounting holes for fixing the cylinder body.

[0033] The movable cylinder 109 has a cylinder diameter of Φ10mm and a stroke of 100mm. Its piston rod is connected to the cylinder connecting plate. The cylinder provides the pushing force for the wire stripper during the wire stripping process and the springback force for restoring the original position after the wire stripping is completed. The cylinder inlet pipe and outlet pipe are respectively connected to the connector of the quick-change structure. After the quick-change structure on the robot end and the quick-change structure on the fixture end are docked, the air circuit will automatically connect to form a closed loop.

[0034] like Figure 4 As shown, the three-jaw clamping mechanism module includes a three-jaw clamp 201 and a fixing plate 202, wherein the fixing plate 202 is fixedly disposed on both sides of the movable support mechanism module, and the three-jaw clamp 201 is disposed on the top of the fixing plate 202.

[0035] The fixing plate 202 is further provided with reinforcing ribs 203;

[0036] The three-jaw fixing plate on the three-jaw clamp is fastened together with the upper end of the three-jaw clamp fixing plate by four screws, and the arc opening direction of the three-jaw fixing plate is consistent with the direction of the protruding feature at the upper end of the three-jaw clamp fixing plate.

[0037] like Figure 5 and Figure 9 As shown, the three-jaw gripper includes: a three-jaw fixing plate 20106 and a gripping cylinder 20105, a three-link 20104, upper and lower jaw bars 201101 and 20108, and an inner jaw bar 20103 disposed thereon. The three-link 20104 is rotatably connected to the upper and lower jaw bars 201101 and 20108 and the inner jaw bar 20103, respectively. The output end of the gripping cylinder 20105 is connected to the three-link 20104 and drives its extension and retraction movement, thereby driving the gripping action of the three jaw bars.

[0038] like Figure 6 and Figure 8 As shown, the upper and lower claw rods 201101 and 20108 are both double-link structures. One end of each is rotatably connected to the three-link rod 20104, and the other end is rotatably mounted on the three-jaw fixing plate 20106. Specifically, the upper claw rod, the first connecting rod, the upper claw rod rotation shaft, and the upper claw rod connecting shaft constitute a claw assembly. The upper claw rod rotates around the upper claw rod rotation shaft and is connected to the first connecting rod through the upper claw rod connecting shaft to form a rotary pair. The lower claw rod is the same part as the upper claw rod, the third connecting rod is the same part as the first connecting rod, the lower claw rod connecting shaft is the same part as the upper claw rod connecting shaft, and the lower claw rod rotation shaft is the same part as the upper claw rod rotation shaft.

[0039] like Figure 7 As shown, the inner claw rod 20103 is slidably mounted on the three-jaw fixing plate 20106 via the three-jaw connecting slide rail 20109. Specifically, the inner claw rod is connected to the slider of the three-jaw connecting slide rail via four M3 screws at the front end, and moves in translational motion.

[0040] The upper jaw bar, i.e. the lower jaw bar, has a triangular protrusion at its end, and the inner jaw bar has a V-shaped structure at its end, with a matching triangular protrusion on the V-shaped plane. When the three-jaw clamp clamps the cable, the triangular protrusion can be embedded 0.2mm into the cable insulation layer, which increases the friction between the jaws and the cable in the axial direction, thereby increasing the clamping force of the overall clamping mechanism.

[0041] The gripping cylinder has a diameter of Φ16mm and a stroke of 15mm. The resulting three-jaw clamp can hold cables with a diameter range of 15 to 29mm, and the clamping force can withstand the axial force of 70N on the cable when the wire stripper is stripping the cable.

[0042] The wire stripper 400 is a remote-controlled automatic wire stripper, capable of stripping cables with a diameter range of 50–240 mm. 2When stripping cables of different diameters, the position of the blades on the wire stripper head needs to be manually adjusted to accurately peel off the insulation layer without damaging the cable's metal body. It is fixed to the connecting plate on the moving support mechanism module by screws, and the connection between the two features interlocking trapezoidal teeth. Once the screws are tightened, the wire stripper will move translationally along with the connecting plate, without rotational movement.

[0043] The wire stripper 400 is further provided with a termination movement structure module 300, which includes two movable top posts 301 and 302 set at different positions, so that the axial force on the wire stripper is uniform when it is held by the top posts.

[0044] The wire stripper 400 is further provided with a reinforcing rib 303, which is connected to the second quick-change connecting plate and the three-jaw clamp fixing plate by screws respectively, and is used to resist the bending deformation of the three-jaw clamp fixing plate under the axial force of the cable when the wire stripper breaks the insulation layer.

[0045] This embodiment is based on the automatic wire stripping method of the above-mentioned device, including:

[0046] Step 1) The robot, equipped with a binocular camera and the aforementioned clamping mechanism, measures the relative position of the cable and the robot using the binocular camera. The robot then plans its motion based on the cable's position information. The clamping mechanism is then placed on the cable. The three-jaw grippers at both ends of the clamping mechanism are open, and the piston rod of the clamping cylinder is extended. The V-shaped jaws of the wire stripper are open, and the transmission rotary gear is open. The wire stripper is at the wire stripping origin position, and the piston rod of the wire stripping thrust cylinder is retracted.

[0047] Step 2) After the robot confirms that the signals at each status point are correct, the robot issues a three-jaw clamping signal command, and the three-jaw grippers at both ends of the clamping mechanism execute the clamping command to clamp the cable.

[0048] Step 3) After the robot confirms that the clamping signal of the three-jaw chuck is correct, the robot issues a wire stripping signal command. The wire stripper 400 executes the wire stripping command, clamps the V-shaped clamp to close and clamp the cable, and then rotates the cutter head to strip the wire. At the same time, the wire stripping thrust cylinder receives the wire stripping command and pushes out the piston rod to provide wire stripping thrust.

[0049] Step 4) When the wire stripper reaches the end point of the stripping process along the preset path, the wire stripper will be stopped by the termination moving pin. At the same time, the thrust cylinder will also reach the end of its stroke and will no longer provide stripping thrust. The wire stripper head will continue to rotate to complete the insulation layer cutting task. The insulation layer will be automatically guided into the insulation layer recycling box under the action of the recycling box. After the insulation layer is cut, the wire stripper will automatically reset, straighten the head, open the V-shaped clamp, and issue a wire stripping completion signal command.

[0050] Step 5) When the robot receives the wire stripper's wire stripping completion instruction, it will issue a three-jaw release signal instruction. The three-jaw grippers at both ends of the clamping mechanism will execute the release instruction to release the cable.

[0051] Step 6) After the robot confirms that the three-jaw gripper release signal is correct, the robot moves the clamping mechanism with the wire stripper out of the cable position. After confirming that the clamping mechanism has completely exited the cable position through robot vision technology, the robot sends a signal command to retract the wire stripper thrust cylinder to restore the wire stripper position to the original stripping position.

[0052] When stripping cables of different diameters, the robot can automatically adjust the thrust of the stripping cylinder according to the cable diameter to adapt to the different axial forces of different cable diameters. Specifically, the pressure regulating valve model is ITV2050-312L, and it communicates with the robot using the RS232 / UART protocol. It receives pressure regulation commands from the robot and automatically adjusts the pressure delivered by the air compressor.

[0053] The communication described herein employs data communication formats including:

[0054]

[0055] Start bit: A logic "0" signal is sent first to indicate the start of character transmission. Data bits: Can be 5 to 8 logic "0"s or "1"s. Parity bit: Adding this bit to the data bits ensures that the number of "1"s is either even (even parity) or odd (odd parity). Stop bit: It marks the end of a character data. It can be 1, 1.5, or 2 high-level bits. Idle bit: A logic "1" indicates that there is no data being transmitted on the line.

[0056] Through specific practical experiments, during 10kV uninterrupted power operation, the robot, at a height of 13 meters above the ground, automatically grasped the wire stripping device and smoothly stripped 100mm of the cable insulation layer.

[0057] Compared with the prior art, the wire stripper moving support mechanism module of the present invention is used to fix the wire stripper and is provided with a movable mechanism, so that the wire stripper can move relative to the clamping mechanism during the wire stripping process. During the wire stripping process, the robot and the clamping mechanism are relatively fixed, realizing the decoupling between the robot and the wire stripper, thereby solving the problem of jamming caused by the mismatch between the wire stripping speed of the robot and the wire stripper during the wire stripping process; the three-jaw clamping mechanism module of the present invention is used to position and clamp the cable, so that the center point of the V-shaped clamp of the wire stripper and the center points of the three-jaw clamps at both ends are on the same straight line. Online, this invention ensures smooth wire stripping and prevents the cable from rotating circumferentially during the stripping process, improving the stripping efficiency and reliability. The wire stripper termination movement structure module of this invention, acting as a top post to stop the wire stripper's movement, automatically cuts the insulation layer after the stripper reaches the stripping completion point. This is achieved by the wire stripper's blade assembly continuing to rotate at the insulation break point, while the termination movement top post holds the side of the wire stripper stationary, allowing the blade to rotate two full rotations in its original position to achieve the insulation cut, thus improving the stability of the wire stripper's insulation cutting. In summary, the application of this invention improves the automation and stability of robotic high-voltage live-line wire stripping operations.

[0058] The above-described specific implementations can be partially adjusted by those skilled in the art in different ways without departing from the principles and purpose of the present invention. The scope of protection of the present invention is defined by the claims and is not limited to the above-described specific implementations. All implementation schemes within the scope of the claims are bound by the present invention.

Claims

1. A clamping mechanism for automatic wire stripping in robots, characterized in that, include: The moving support mechanism module, the three-jaw clamping mechanism module, and the wire stripper are provided, wherein: a pair of three-jaw clamping mechanism modules are respectively disposed at both ends of the moving support mechanism module, and the wire stripper is slidably disposed on the moving support mechanism module; The mobile support mechanism module includes: a support body and a double slide rail drive mechanism disposed thereon, wherein: the wire stripper is disposed on the double slide rail drive mechanism through a wire stripper connecting plate to achieve sliding setting; The automatic wire stripping refers to: a robot equipped with a binocular camera and a clamping mechanism performs motion planning; then the clamping mechanism is placed on the cable; after the three-jaw clamping mechanism module clamps the cable, the wire stripper strips the cable; when the end of the stripping is reached, the three-jaw clamping mechanism module releases the cable and the wire stripper resets. The dual slide rail drive mechanism includes: two parallel slide rails and a sliding connecting block slidably disposed thereon, wherein: one end of the slide rail is provided with a moving cylinder, the output end of which is connected to the sliding connecting block; The three-jaw clamping mechanism module includes: a three-jaw clamp and a fixing plate, wherein: the fixing plate is fixedly disposed on both sides of the movable support mechanism module, and the three-jaw clamp is disposed on the top of the fixing plate; The three-jaw clamp includes: a three-jaw fixing plate and a gripping cylinder, a three-link rod, upper and lower jaw rods, and an inner jaw rod disposed thereon, wherein: the three-link rod is rotatably connected to the upper and lower jaw rods and the inner jaw rod respectively, and the output end of the gripping cylinder is connected to the three-link rod and drives its extension and retraction movement, thereby driving the gripping action of the three jaw rods; The automatic wire stripping includes: Step 1) The robot, equipped with a binocular camera and the aforementioned clamping mechanism, measures the relative position of the cable and the robot using the binocular camera. The robot then plans its motion based on the cable's position information. The clamping mechanism is then placed on the cable. The three-jaw grippers at both ends of the clamping mechanism are open, and the piston rod of the clamping cylinder is extended. The V-shaped grippers of the wire stripper are open, and the transmission rotary gear is in the open position. The wire stripper is at the wire stripping origin position, and the piston rod of the wire stripping thrust cylinder is retracted. Step 2) After the robot confirms that the signals at each status point are correct, the robot issues a three-jaw clamping signal command, and the three-jaw grippers at both ends of the clamping mechanism execute the clamping command to clamp the cable. Step 3) After the robot confirms that the clamping signal of the three-jaw gripper is correct, the robot issues a wire stripping signal command. The wire stripper executes the wire stripping command, clamps the V-shaped clamp to close and clamp the cable, and then rotates the cutter head to strip the wire. At the same time, the wire stripping thrust cylinder receives the wire stripping command and pushes out the piston rod to provide wire stripping thrust. Step 4) When the wire stripper reaches the end of the stripping process along the preset path, the wire stripper will be stopped by the termination moving top column. At the same time, the thrust cylinder will also reach the end of its stroke and will no longer provide stripping thrust. The wire stripper head will continue to rotate to complete the task of cutting the insulation layer. The insulation layer will be automatically guided into the insulation layer recycling box under the action of the recycling box. After the insulation layer is cut, the wire stripper will automatically reset, straighten the head, open the V-shaped clamp, and issue a stripping completion signal command. Step 5) When the robot receives the wire stripper's wire stripping completion instruction, it will issue a three-jaw release signal instruction. The three-jaw grippers at both ends of the clamping mechanism will execute the release instruction to release the cable. Step 6) After the robot confirms that the three-jaw gripper release signal is correct, the robot moves the clamping mechanism with the wire stripper out of the cable position. After confirming that the clamping mechanism has completely exited the cable position through robot vision technology, the robot sends a signal command to retract the wire stripper thrust cylinder to restore the wire stripper position to the original stripping position.

2. The clamping mechanism device for automatic wire stripping by a robot according to claim 1, characterized in that, The two slide rails are respectively set on two quick-change connecting plates to ensure the accuracy of the vertical arrangement of the two slide rails. This makes the three-jaw clamp fixing plate act as a reinforcing rib, enhancing the rigidity of the mechanism and ensuring the relative position accuracy during the movement of the slider, thus ensuring the smoothness of the slider movement.

3. The clamping mechanism device for automatic wire stripping by a robot according to claim 1, characterized in that, Both the upper and lower claw bars are double-link structures, with one end rotatably connected to a three-link rod and the other end rotatably mounted on a three-claw fixing plate. Specifically, the upper claw bar, the first connecting rod, the upper claw bar rotation shaft, and the upper claw bar connecting shaft constitute a claw assembly. The upper claw bar rotates around the upper claw bar rotation shaft and is connected to the first connecting rod via the upper claw bar connecting shaft to form a rotary pair. The lower claw bar is the same part as the upper claw bar, the third connecting rod is the same part as the first connecting rod, the lower claw bar connecting shaft is the same part as the upper claw bar connecting shaft, and the lower claw bar rotation shaft is the same part as the upper claw bar rotation shaft.

4. The clamping mechanism device for automatic wire stripping by a robot according to claim 1, characterized in that, The wire stripper is further provided with a termination movement structure module, which includes two movable top columns set at different positions, so that the axial force on the wire stripper is uniform when it is held by the top columns.

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