A support pole body clamping and moving structure for power grid erection and a construction method thereof

Abstract

The present application belongs to the technical field of electric pole clamping, and specifically discloses a support pole body clamping and moving structure for power grid erection and a construction method thereof, which comprises a support, a support connected with an external mechanical arm, a clamping mechanism, a first clamping part and a second clamping part rotatably installed on the support respectively, a clamping cavity formed between the first clamping part and the second clamping part, the clamping cavity being adapted to the support pole body, a groove formed on the second clamping part, the groove being capable of accommodating at least part of the first clamping part when the first clamping part is butted against the second clamping part along the circumference of the support pole body, and a fastening mechanism, at least part of the fastening mechanism being located in the clamping cavity to divide the clamping cavity. The present application has the following advantages: the groove design and the flexible fastening mechanism provide accurate clamping butt joint, high adaptability and stable clamping environment, effectively prevent clamping errors and material damage, are suitable for various sizes of pole bodies, and particularly protect sensitive surfaces, ensuring construction safety and efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of electric pole clamps, and in particular to a support pole body clamping movable structure for power grid erection and a construction method thereof. Background Art

[0002] In power grid construction, the effective clamping and movement of support poles is crucial for rapid installation and maintenance of power lines. Traditional clamping and movement mechanisms rely primarily on manual operation or simple mechanical devices to clamp and move support poles. While these methods were widely used in the early days of power grid construction, they have gradually become deficient as power networks have grown in complexity and construction efficiency requirements have increased.

[0003] In particular, conventional clamping mechanisms often require different clamping devices for support rods of varying diameters, increasing construction costs and reducing efficiency. Existing clamping solutions struggle to quickly adjust support rods with widely varying diameters, requiring frequent clamping head replacement or manual adjustments, which undoubtedly increases construction complexity and time consumption.

[0004] Therefore, a support rod clamping movable structure for power grid erection and a construction method thereof are proposed to solve the above-mentioned problems. Summary of the Invention

[0005] The present invention aims to provide a support rod clamping movable structure for power grid erection and a construction method thereof, so as to solve or improve at least one of the above-mentioned technical problems.

[0006] In view of this, a first aspect of the present invention is to provide a support rod clamping and moving structure for power grid erection.

[0007] A second aspect of the present invention is to provide a construction method.

[0008] The first aspect of the present invention provides a support rod clamping and moving structure for power grid erection, comprising: a bracket, which is connected to an external robotic arm; a clamping mechanism, comprising a first clamping part and a second clamping part respectively rotatably mounted on the bracket, and a clamping cavity is formed between the first clamping part and the second clamping part; the ends of the first clamping part and the second clamping part away from the bracket can approach or move away from each other so that the clamping cavity adapts to the support rod; a groove is formed on the second clamping part, and when the first clamping part docks with the second clamping part along the circumference of the support rod, the groove can accommodate at least a portion of the first clamping part; a fastening mechanism, at least a portion of the fastening mechanism is located in the clamping cavity to divide the clamping cavity.

[0009] In any of the above technical solutions, at least one clamping mechanism is arranged on the bracket along a preset direction, and the clamping cavity circumferentially fixes the support rod body; the groove is connected to the clamping cavity, and at least part of the first clamping part located in the groove fits the support rod body.

[0010] In any of the above technical solutions, the support rod body is a utility pole, a steel round tube or a steel structure combined iron tower pole.

[0011] In any of the above technical solutions, the first clamping part includes a first clamping knife, and the second clamping part includes a second clamping knife; along the preset direction, at least two of the first clamping knife and the second clamping knife are respectively provided; wherein, the first clamping knives located in the same clamping mechanism are all located between the second clamping knives.

[0012] In any of the above technical solutions, a first arcuate edge is formed on the side of the first clamping tool close to the clamping cavity, and a second arcuate edge is formed on the side of the second clamping tool close to the clamping cavity; along a direction perpendicular to the preset direction, the part of the first arcuate edge corresponding to the second arcuate edge fits the support rod body.

[0013] In any of the above technical solutions, the second clamping portion also includes a first arc-shaped plate for connecting the adjacent second clamping knife, and the inner side wall of the first arc-shaped plate and the side wall of the second clamping knife form the groove; and when at least part of the first clamping portion is located in the groove, the inner side wall of the first arc-shaped plate abuts against the side of the first clamping knife away from the clamping cavity.

[0014] In any of the above technical solutions, the clamping mechanism also includes: a first oil cylinder, installed on the bracket; the output end of the first oil cylinder is connected to the second clamping knife to drive the second clamping knife to rotate; a connecting rod part, connecting the first clamping knife and the second clamping knife, so that the first clamping knife rotates synchronously with the second clamping knife.

[0015] In any of the above technical solutions, the fastening mechanism includes: a tightening belt, one end of which is connected to the output end of the first oil cylinder, and the other end of which is connected to the outer wall of the first arc-shaped plate; wherein the tightening belt divides the clamping cavity along the preset direction.

[0016] In any of the above technical solutions, the second clamping portion further includes a second oil cylinder, which is installed on the outer side wall of the first arc-shaped plate; the first arc-shaped plate is connected to the other end of the tightening belt through the output end of the second oil cylinder.

[0017] In any of the above technical solutions, the part of the tightening belt that divides the clamping cavity and the first arcuate edge and the second arcuate edge jointly fix the support rod body along a direction perpendicular to the preset direction; the second oil cylinder cooperates with the first oil cylinder to drive the tightening belt to apply prestress to the support rod body.

[0018] The second aspect of the present invention provides a construction method, comprising the following steps: S101, driving the bracket to move by an external robotic arm to drive all clamping mechanisms and allow the support rod body to pass through the clamping cavity; S102, the first clamping part and the second clamping part approach each other to shrink the clamping cavity until the clamping cavity fixes the support rod body; S103, fitting the part of the fastening mechanism located in the clamping cavity to the support rod body to complete the fixation of the support rod body; S104, the external robotic arm drives the bracket and the support rod body to move; the first clamping part and the second clamping part move away from each other to allow the support rod body to detach from the clamping cavity.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The groove allows the first and second clamping parts to form a more precise engagement position when they are docked, helping to ensure stability and repeatability during the clamping process and reducing errors or rod damage caused by improper clamping. The segmented effect of the fastening mechanism divides the clamping cavity, allowing fastening mechanisms such as tightening bands to form a tighter clamping environment around the support rod, further increasing clamping stability, especially when moving or adjusting the support rod into position.

[0021] The grooves and the clamping mechanism work together to provide a high degree of adaptability to support rods of varying diameters. By adjusting the size of the clamping cavity and the tightening force, the clamping mechanism can flexibly adapt to rods of various sizes without having to replace different clamping equipment.

[0022] The flexible design of the fastening mechanism, such as the use of flexible rubber belts, reduces potential damage to the surface of the support rod, especially for support rods with coatings or sensitive materials. The application of prestress ensures a secure fixation, reduces safety risks during construction, and ensures the safety of construction personnel and equipment.

[0023] Additional aspects and advantages of embodiments according to the present invention will become apparent in the following description or may be learned through practice of embodiments according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0025] Figure 1It is a structural schematic diagram of the present invention;

[0026] Figure 2 Schematic diagram of the bracket and its connection structure of the present invention;

[0027] Figure 3 A schematic diagram of the tightening belt and its connection structure of the present invention;

[0028] Figure 4 Flow chart of the method of the present invention.

[0029] in, Figure 1-Figure 4 The corresponding relationship between the reference numerals and component names is as follows:

[0030] 1 bracket, 2 first clamping part, 201 first clamping knife, 202 first curved edge, 203 second curved plate, 3 second clamping part, 301 second clamping knife, 302 second curved edge, 303 first curved plate, 4 fastening mechanism, 5 connecting rod part, 501 first vertical ear, 502 second vertical ear, 503 third vertical ear, 504 transmission rod, 6 rotating motor, 7 horse head structure, 8 groove, 9 first oil cylinder, 10 tightening belt, 11 second oil cylinder, 12 diaphragm, 13 guide roller. DETAILED DESCRIPTION

[0031] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0032] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0033] See also Figure 1-Figure 4 , the following describes a support rod clamping movable structure for power grid erection and a construction method thereof according to some embodiments of the present invention.

[0034] The embodiment of the first aspect of the present invention provides a support rod clamping and moving structure for power grid erection. In some embodiments of the present invention, such as Figure 1-Figure 3 As shown, the supporting rod body clamping movable structure for power grid erection includes:

[0035] Bracket 1 is connected to an external mechanical arm. The external mechanical part can be a mechanical arm on an engineering crawler vehicle, which is used to grab, move, fix and release the electric pole as a supporting pole body on a flat outdoor ground.

[0036] The clamping mechanism includes a first clamping portion 2 and a second clamping portion 3, each rotatably mounted on a bracket 1. A clamping cavity is formed between the first clamping portion 2 and the second clamping portion 3. The ends of the first clamping portion 2 and the second clamping portion 3, which are distal to the bracket 1, can move toward or away from each other to adapt the clamping cavity to the support rod. By moving the ends of the first clamping portion 2 and the second clamping portion 3, which are distal to the bracket 1, toward each other, the clamping cavity can be narrowed, allowing the clamping cavity to gradually approach the support rod passing through the middle, thereby clamping and securing it.

[0037] A groove 8 is formed on the second clamping portion 3. When the first clamping portion 2 abuts against the second clamping portion 3 along the circumference of the support rod, the groove 8 can accommodate at least a portion of the first clamping portion 2. When the first clamping portion 2 and the second clamping portion 3 approach each other and begin to contact on the rotation trajectory, the groove 8 accommodates the first clamping portion 2, allowing the first clamping portion 2 and the second clamping portion 3 to further approach each other, further narrowing the clamping cavity to secure a support rod with a smaller diameter.

[0038] The fastening mechanism 4 is at least partially located within the clamping cavity, thereby dividing the clamping cavity. Since the support rod generally has a circular cross-section, the clamping cavity cannot accommodate it well. Therefore, based on the contribution of the groove 8 to the reduction of the clamping cavity, the fastening mechanism 4 further directly divides the clamping cavity and further reduces the portion of the clamping cavity accommodating the support rod away from the rotating portion of the first clamping portion 2 and the second clamping portion 3, thereby ensuring better fixation of the support rod.

[0039] The present invention provides a structure for clamping and moving support poles for power grid erection. The bracket 1 connects the structural components of a robotic arm and a tracked construction vehicle, providing a stable foundation and ensuring stability and accuracy during robotic arm operation. The external robotic arm, mounted on the tracked vehicle, possesses high flexibility and sufficient strength to grasp, move, secure, and release poles. The control system controls the movement of the robotic arm, including an electronic system with a driver, sensors, and control software, enabling precise control of the robotic arm's operations. Using a clamping mechanism or gripper, the robotic arm, guided by the control system, moves to the pole location and grasps the pole through precise manipulation. The clamping mechanism is designed to accommodate the size and weight of the pole, ensuring stable grasping. After grasping the pole, the robotic arm moves the pole to a designated installation or storage location according to a predetermined path or operator control. The robotic arm's design allows for operation at various angles and heights to meet specific construction site requirements. Once the pole reaches the predetermined location, the robotic arm precisely positions the pole on the ground or a pre-prepared foundation. This process may require additional mechanical or manual assistance to ensure the verticality and stability of the pole. After the pole is secured, the robot arm releases the clamping mechanism or gripper via a control system command, completing the release of the pole. The robot arm then moves back to its initial position, ready for the next operation.

[0040] Modern control systems and robotic arm design enable highly flexible and precise operation, enabling precise manipulation of poles in complex environments. The support and crawler provide robust support and stability, ensuring safety and reliability during operation. Compared to traditional manual operations, this system significantly improves the efficiency of pole installation and movement, reducing labor and time required.

[0041] The bracket 1 serves as the foundation of the clamping mechanism. It is securely attached to an external robotic arm or other support, providing support for the clamped components. The first and second clamping sections 2 and 3 are key to the clamping mechanism. They are rotatably mounted on the bracket 1 and can move toward or away from each other along a predetermined trajectory. A clamping cavity, located between the first and second clamping sections 2 and 3, varies in shape and size to accommodate support rods of varying diameters. At the beginning of operation, the first and second clamping sections 2 and 3 are separated, and the clamping cavity is at its maximum size, allowing the support rod to pass smoothly through. Depending on the diameter of the support rod, the first and second clamping sections 2 and 3 are moved toward each other along a predetermined trajectory, gradually reducing the clamping cavity. Once the clamping cavity is adjusted to roughly match the diameter of the support rod, the positions of the clamping sections are further fine-tuned until the cavity closely matches the outer diameter of the support rod. At this point, the clamping mechanism exerts a sufficient clamping force on the support rod to secure it securely and prevent it from slipping during movement or operation. Once the support rod needs to be released or repositioned, the control system again instructs the first clamping portion 2 and the second clamping portion 3 to move away from each other, causing the clamping cavity to expand again, thereby reducing the clamping force on the support rod. When the clamping cavity is large enough to allow the support rod to move freely, the support rod can be safely removed or repositioned.

[0042] By adjusting the size of the clamping cavity, this clamping mechanism can accommodate a range of support rod diameters, providing flexible operational options. Precisely controlled movement of the clamping section ensures a secure grip on the support rod, increasing operational safety. Whether through automated control or manual adjustment, this mechanism's design allows for quick and easy adaptation and securing of various support rods, improving operational efficiency.

[0043] The design of the groove 8 allows the clamping mechanism to accommodate a wider range of support rod diameters, including very thin rods, enhancing its versatility. When the first clamping portion 2 is partially embedded in the groove 8 of the second clamping portion 3, a tighter clamping is achieved, further reducing movement or rotation of the rod during operation and increasing operational stability and safety. This structure allows the clamping cavity to be more precisely adjusted to the desired size, ensuring a more secure fixation for support rods with small diameters.

[0044] At the start of the operation, the first clamping part 2 and the second clamping part 3 are at their farthest distance from each other to facilitate the placement of the support rod. Once the support rod is placed in the clamping cavity, the control system initiates the clamping operation. Depending on the diameter of the support rod, the first clamping part 2 and the second clamping part 3 approach each other. When their movement trajectories bring the first clamping part 2 close to the groove 8 on the second clamping part 3, fine adjustments begin to ensure that the first clamping part 2 is at least partially embedded in the groove 8. As the first clamping part 2 further embeds in the groove 8, the size of the clamping cavity continues to decrease until it closely fits the diameter of the support rod. At this stage, by precisely controlling the movement of the clamping parts, stable fixation of very small diameter rods can be achieved. After the support rod is fixed, subsequent movement or installation operations can be performed. When the rod needs to be released, the control system will instruct the first clamping part 2 and the second clamping part 3 to move away from each other until the first clamping part 2 is completely out of the groove 8 and the clamping cavity returns to its maximum size, thereby releasing the support rod.

[0045] The design of groove 8 enables the clamping mechanism to precisely adapt to a wide range of support rods, from very thin to larger diameters. The interlocking groove 8 and the clamping components significantly enhance stability during operation and reduce safety risks associated with unstable clamping. This simplifies the securing of support rods of varying sizes, improving work efficiency and convenience.

[0046] By directly dividing the clamping cavity through the fastening mechanism 4, the size of the clamping cavity can be more precisely adjusted to better adapt to the diameter of the support rod, especially for smaller diameter support rods. The segmentation effect of the fastening mechanism 4 allows the clamping cavity to be further reduced in the area away from the rotating parts of the first clamping part 2 and the second clamping part 3, thereby forming a tighter fixing environment around the support rod. This mechanism allows the clamping system to more flexibly adapt to support rods of different sizes, maintaining efficient and stable operation even with a wide range of rod sizes.

[0047] The support rod is placed in the clamping cavity, at which point the first clamping part 2 and the second clamping part 3 are in their farthest open state to receive the rod. When the first clamping part 2 and the second clamping part 3 begin to approach each other and partially achieve preliminary fixation of the rod through the groove 8, the fastening mechanism 4 is activated, and at least a portion thereof moves inward to divide the clamping cavity. The fastening mechanism 4 further divides the clamping cavity into smaller spaces, especially in the area where the rod is away from the rotating part of the clamping part, to achieve tight fixation of the rod. This dividing action enables the clamping cavity to more accurately match the diameter of the support rod, and is particularly suitable for rods with smaller diameters. After the adjustment of the fastening mechanism 4 is completed, the support rod is stably fixed in the desired position, ready for subsequent operations (such as moving or installation). After the operation is completed, the fastening mechanism 4 is withdrawn, the first clamping part 2 and the second clamping part 3 move away from each other, the clamping cavity is expanded again, and the support rod is subsequently released.

[0048] The fastening mechanism 4 provides precise control over the size of the clamping cavity, enabling more accurate fixation, particularly for smaller diameter support rods. By creating smaller spaces within the clamping cavity, the fastening mechanism 4 significantly improves the stability of the support rod's fixation and reduces the risks associated with improper fixation. The design of the fastening mechanism 4 allows the clamping system to flexibly adapt to support rods of various sizes, increasing both operational versatility and efficiency.

[0049] Furthermore, a rotating motor 6 is installed on the bracket 1 to drive the bracket 1 to rotate relative to the external robotic arm. The rotating motor 6 is assembled with the external robotic arm through a horse-pulling head structure 7.

[0050] As can be seen from the above, the rotary motor 6 provides precise rotational control of the bracket 1, allowing the bracket 1 and the devices mounted thereon (such as the clamping mechanism) to rotate precisely in a fixed axial direction. Controlled by the rotary motor 6, the operational flexibility of the entire system is greatly enhanced, making it easier to adjust the position and orientation of the support rod or other workpiece. In automated operations, the use of the rotary motor 6 can significantly improve operational efficiency and precision, reduce the need for manual adjustments, and optimize operational processes. The rotary motor 6 is electrically powered, converting electrical energy into mechanical energy to generate rotational motion. The motor's output shaft is connected to the bracket 1, directly controlling its rotation. The horse-drawn pulley structure 7 is a mechanical interface for connecting and transmitting force, typically designed to efficiently and accurately transmit the rotational motion of the rotary motor 6 to the bracket 1. In this system, the horse-drawn pulley structure 7 not only connects the rotary motor 6 and the bracket 1 but also ensures stability during the transmission process, reduces mechanical backlash, and ensures rotational accuracy. The operation of the rotary motor 6 is controlled by a control system (such as a microcontroller, PLC, or computer system), allowing precise speed and rotation angle adjustment as needed. When performing clamping, positioning or other operations, the control system controls the start, stop, rotation speed and direction of the rotary motor 6 according to a preset program or the operator's instructions to achieve the desired working position.

[0051] The rotary motor 6, combined with the precise pulley mechanism 7, enables high-precision position control and excellent repeatability. The control of the rotary motor 6 can be programmed, enabling easy automation and adapting to complex and ever-changing workloads. The compact design of the motor and pulley mechanism 7 not only saves space but also improves overall system efficiency through efficient energy conversion and transfer.

[0052] In any of the above embodiments, at least one clamping mechanism is provided on the bracket 1 along a predetermined direction, and the clamping cavity circumferentially secures the support rod. The predetermined direction is a linear, uniaxial direction. To facilitate the movement of the support rod in the uniaxial direction, two clamping mechanisms are provided, providing two fixed points in the predetermined direction to ensure stable fixation of the support rod. The clamping cavity adheres to the side wall of the support rod perpendicular to the predetermined direction, thereby providing circumferential clamping and securing.

[0053] The groove 8 is connected to the clamping cavity, and at least a portion of the first clamping portion 2 located in the groove 8 is in contact with the support rod. By setting the groove 8 to be connected to the clamping cavity, the first clamping portion 2 can be accommodated by the groove 8 and fixedly support the support rod during rotation.

[0054] In this embodiment, two clamping mechanisms are arranged in a predetermined direction, providing two fixed points, significantly enhancing the stability of the support rod. Each clamping mechanism can adhere to and secure the sidewall of the support rod perpendicular to the predetermined direction, achieving circumferential clamping and securing, ensuring the stability of the support rod during operation and preventing rotation. This configuration of the clamping mechanisms allows the support rod to be precisely moved along a predetermined linear, uniaxial direction, making it suitable for various operations requiring linear movement of the support rod. Before operation begins, both clamping mechanisms are in an open position to allow the support rod to be positioned in the predetermined position. Once the support rod is in place, the two clamping mechanisms are activated simultaneously or sequentially, tightly adhering to the sidewall of the support rod perpendicular to the predetermined direction. A built-in drive mechanism (such as an electric, pneumatic, or hydraulic system) achieves circumferential clamping and securing. Once the support rod is stably secured by the two clamping points, it can be precisely moved along the predetermined linear, uniaxial direction using external control (such as a robotic arm or mobile platform). During this movement, the position and direction of the support rod are strictly controlled, ensuring high precision and repeatability. After completing the required operation, the two clamping mechanisms will be controlled to evacuate, reducing the circumferential pressure on the support rod body, thereby safely releasing the support rod body and preparing for the next operation or removing the support rod body from the system.

[0055] The double-point clamping provides additional stability, reduces vibration and displacement during processing or handling, and ensures high-precision operation. It can be flexibly adjusted according to the diameter and length of the support rod to adapt to rods of different sizes and materials.

[0056] The design of the groove 8 enables the first clamping portion 2 to automatically adjust to the diameter of the support rod during rotation, achieving precise fixation for support rods of varying sizes. The groove 8 is arranged to communicate with the clamping cavity, allowing the first clamping portion 2 to be simultaneously accommodated by the groove 8 and secure the support rod during rotation, thereby improving operational efficiency and stability. By accommodating the first clamping portion 2 with the groove 8, the clamping mechanism provides more stable support, ensuring the stable position of the support rod during processing, movement, or testing. At the beginning of operation, the first clamping portion 2 and the second clamping portion 3 of the clamping mechanism are in their most open positions to facilitate placement of the support rod. After the support rod is placed in the clamping cavity, the control system instructs the first clamping portion 2 to begin rotating, causing it to at least partially enter the groove 8. During this rotation, the communication between the groove 8 and the clamping cavity allows the first clamping portion 2 to automatically adjust to the size of the support rod. As the first clamping portion 2 further rotates and adjusts, the portion within the groove 8 closely fits the sidewall of the support rod, achieving stable fixation of the support rod. The second clamping portion 3 is also adjusted accordingly to ensure uniform pressure around the clamping cavity, providing comprehensive support. Once the support rod is securely fixed, the clamping mechanism can be used for subsequent processing, movement, or testing as needed. After the operation is completed, the clamping mechanism reopens, releasing the support rod.

[0057] The design of groove 8 communicating with the clamping cavity, combined with the automatic adjustment function of the first clamping portion 2, effectively accommodates support rods of varying diameters without the need for manual adjustment. This not only improves clamping efficiency but also ensures the stability of the support rod throughout the entire operation, reducing errors or damage caused by improper fixing. The entire clamping and release process is highly automated, simplifying the operation steps, reducing the operator's skill requirements, and improving operational safety and convenience.

[0058] Specifically, the supporting pole body is a power pole, a steel round tube or a steel structure combined iron tower pole.

[0059] In any of the above embodiments, the first clamping portion 2 includes a first clamping blade 201, and the second clamping portion 3 includes a second clamping blade 301. At least two first clamping blades 201 and at least two second clamping blades 301 are provided along a predetermined direction. Two first clamping blades 201 are provided on each first clamping portion 2, and two second clamping blades 301 are provided on each second clamping portion 3.

[0060] The first clamping blades 201 in the same clamping mechanism are all located between the second clamping blades 301. By arranging the two first clamping blades 201 of the first clamping portion 2 between the two second clamping blades 301 of the second clamping portion 3, interference between the first clamping blades 201 and the second clamping blades 301 can be avoided when the first clamping portion 2 enters the groove 8.

[0061] In this embodiment, two clamping blades are provided on each clamping section. This configuration ensures uniform clamping force on both sides of the support rod. This layout helps prevent the rod from rotating or slipping during handling, improving operational stability and safety. Since each clamping section is equipped with two clamping blades, the clamping mechanism can automatically or manually adjust to accommodate support rods of varying diameters. Whether the rod is thin or thick, the clamping blades can be appropriately adjusted to achieve a secure grip.

[0062] When the operation starts, each clamp starts to move from the farthest open position and gradually moves closer to the support rod. Through precise control, the four clamps (two first clamps 201 and two second clamps 301) close synchronously to form a stable gripping frame around the support rod. During this process, the distance between the clamps and the clamping force can be adjusted according to the actual size of the support rod to ensure that the rod is clamped evenly and tightly. This configuration is usually equipped with a set of automatic adjustment mechanisms that can sense the diameter of the support rod, which can guide the clamps to make appropriate position adjustments. When the support rod is placed in the clamping cavity, the clamps automatically adjust their closed position according to the diameter of the rod, thereby achieving stable clamping of small or thick rods. By carefully designing the layout and movement trajectory of the clamps, the system ensures that the clamps will not interfere or collide with each other during the clamping process, which is critical to maintaining smooth operation and reducing accidents during the clamping process.

[0063] A specific arrangement of the clamping blades (the first clamping blade 201 is positioned between two second clamping blades 301) achieves uniform and stable clamping of the support rod. This arrangement helps distribute the clamping force across the entire clamping area, reducing distortion or damage to the rod caused by uneven forces. The carefully designed clamping blade arrangement ensures that the clamping blades do not collide or interfere with each other when closing the clamp or adjusting the clamping size, thus ensuring smooth operation and a durable clamping mechanism.

[0064] When the clamping mechanism receives a clamping command, the two sets of clamping knives (the clamping knives of the first clamping part 2 and the clamping knives of the second clamping part 3) move toward each other according to a predetermined trajectory. Since the first clamping knife 201 is arranged between the two second clamping knives 301, this configuration allows the clamping knives to tightly surround the support rod in a predetermined manner, while ensuring that there is no conflict between the clamping knives during the clamping action. During the clamping process, the system may automatically adjust the position of the clamping knife according to the diameter of the support rod to ensure that the clamping knife can provide appropriate clamping force. Due to the layout design of the first clamping knife 201 and the second clamping knife 301, the clamping mechanism can flexibly adapt to rods of different sizes while ensuring the stability and efficiency of the clamping process. This arrangement of clamping knives also helps to reduce clamping errors caused by improper contact between the clamping knives. The relative position of the clamping knives optimizes the distribution of the clamping points, thereby improving the accuracy and repeatability of the clamping process.

[0065] In any of the above embodiments, the first clamping blade 201 has a first curved edge 202 formed on its side near the clamping cavity, and the second clamping blade 301 has a second curved edge 302 formed on its side near the clamping cavity. The first curved edge 202 and the second curved edge 302 allow for better adaptation to the support rod, and ensure a consistent point of contact with the support rod during rotation.

[0066] In a direction perpendicular to the preset direction, the portion of the first arcuate edge 202 corresponding to the second arcuate edge 302 abuts against the support rod. Specifically, the arc radius of the second arcuate edge is smaller than that of the first arcuate edge, so that the portion of the first arcuate edge 202 can contact the side wall of the support rod before the second arcuate edge 302 after entering the groove 8.

[0067] In this embodiment, the design of the first curved edge 202 and the second curved edge 302 allows the clamping knife to better adapt to the shape of the support rod body. Regardless of the diameter of the support rod body, the curved edge can provide a closer contact point with the surface of the rod body, thereby enhancing the stability of the clamping. During the rotation of the clamping knife, the curved edge ensures that there is always a part that fits tightly with the support rod body. This means that no matter how the position or angle of the clamping knife is adjusted, it can ensure effective clamping of the rod body, avoiding slippage or errors caused by unstable clamping. The curved edge helps to disperse the clamping pressure between the clamping knife and the support rod body by providing a larger contact area. This avoids applying excessive pressure on a single point and reduces potential damage to the surface of the rod body.

[0068] When the clamping mechanism receives the clamping command, the clamping knife begins to move toward the support rod body. Due to the design of the first arc-shaped edge 202 and the second arc-shaped edge 302 of the clamping knife, they can automatically adjust the clamping angle in the process of approaching the rod body to ensure that the arc-shaped edge is in close contact with the surface of the rod body. This dynamic adaptation process makes the clamping force more uniform and effective. As the clamping knife is fixed to the support rod body, even if the clamping knife needs to adjust its position to meet the needs of different operation stages, the design of the arc-shaped edge can ensure that at least a part of it always maintains close contact with the rod body. This ensures that the clamping stability will not be affected during rotation or adjustment. Through the contact between the arc-shaped edge and the support rod body, the clamping pressure is effectively dispersed over the contact area. This distribution helps to reduce stress concentration on the surface of the rod body, especially when dealing with small or surface-sensitive rods, to avoid scratches or deformation.

[0069] By designing the arc radius of the first arcuate edge 202 to be larger than that of the second arcuate edge 302, the first arcuate edge 202 can contact the side wall of the support rod body before the second arcuate edge 302 during the clamping action. This staged contact method helps to preliminarily position the rod body and provides a reference for subsequent tight clamping. After the first arcuate edge 202 contacts the support rod body first, the second arcuate edge 302 contacts it later. This contact sequence and method helps to effectively fix the support rod body before the clamping mechanism is fully closed, reducing the instability caused by position adjustment. Since the arc radius of the second arcuate edge 302 is smaller, when it also contacts the support rod body, it can form more contact areas at different points, which helps to disperse the clamping force and further increase the stability of the clamping.

[0070] When the clamping mechanism starts to operate, the clamping knife moves toward the support rod body, and due to the geometric design of the first arcuate edge 202, it will first contact the side wall of the rod body. This early contact point provides the clamping mechanism with precise position information of the rod body, so that the subsequent clamping action can be adjusted more accurately around the support rod body. As the clamping mechanism closes further, the second arcuate edge 302 eventually contacts the support rod body due to its smaller arc radius. This sequential contact mechanism ensures that the entire process from initial contact to final clamping is gradual, which improves the precision and controllability of the operation. When the clamping mechanism is fully closed, the first and second arcuate edges 302 form an optimized contact pattern on the side wall of the support rod body according to their different radii. This adaptive clamping method not only ensures the uniform distribution of clamping force, but also minimizes potential damage to the rod body.

[0071] Furthermore, the two first clamping knives 201 are fixedly connected by a second arc-shaped plate 203 on one side close to the clamping cavity and on the other side away from the clamping cavity.

[0072] As can be seen from the above, the two first clamping knives 201 are fixedly connected by the second curved plate 203. This configuration increases the structural stability of the clamping mechanism. The fixed connection reduces the relative movement between the clamping knives during clamping, ensuring stable clamping of the support rod body. It helps to evenly distribute force during the clamping process. When the two first clamping knives 201 apply pressure to the support rod body, the second curved plate 203 ensures that the force distribution is more balanced, avoiding excessive local pressure, thereby protecting the support rod body from damage. The addition of the second curved plate 203 helps to maintain the relative position of the first clamping knife 201 during the clamping process, which is critical for improving the accuracy of the clamping process. It ensures that the contact between the clamping knife and the support rod body is more stable and reliable during the entire operation.

[0073] When the clamping mechanism receives a clamping command and begins moving toward the support rod, the two first clamping blades 201 are constrained by the second curved plate 203, moving toward or away from the rod in a stable and coordinated manner. During this dynamic adjustment process, the presence of the second curved plate 203 ensures that the clamping blades do not experience unstable displacement due to external forces, thereby improving the consistency and repeatability of the clamping action. During the clamping process, the two first clamping blades 201 press inward against the support rod. The design of the fixed connection through the second curved plate 203 makes the force transmission from the clamping blade to the plate and then to the other clamping blade smoother and more balanced. This design reduces local stress concentration and helps avoid potential damage to the rod. Although the two first clamping blades 201 are fixedly connected by the second curved plate 203, this structural design allows the clamping blades to be appropriately adjusted according to the size of the support rod, maintaining effective clamping of rods of different diameters. The second curved plate 203 provides a stable foundation without hindering the clamping blades' adaptability to the shape and size of the rod.

[0074] In any of the above embodiments, the second clamping portion 3 further includes a first arc-shaped plate 303 for connecting adjacent second clamping blades 301 , and the inner side wall of the first arc-shaped plate 303 and the side wall of the second clamping blade 301 form a groove 8 .

[0075] When at least a portion of the first clamping portion 2 is located in the groove 8 , the inner sidewall of the first arc-shaped plate 303 abuts against a side of the first clamping blade 201 away from the clamping cavity.

[0076] In this embodiment, the groove 8 formed by the side wall of the first curved plate 303 and the second clamping knife 301 provides a clear guiding path for the support rod body. This groove 8 not only helps to initially position the support rod body, but also reduces the lateral movement of the rod body during the clamping process, thereby enhancing the stability of the clamping. The design of the groove 8 increases the contact area with the support rod body, which helps to distribute the clamping force more evenly and reduce the pressure on the surface of the support rod body, especially for small or fragile materials, which can effectively prevent damage. The presence of the groove 8 allows the clamping force to act more concentratedly on a specific area of ​​the support rod body. This concentrated clamping method allows the clamping mechanism to maintain a good clamping effect even when dealing with heavier or smooth-surfaced rods.

[0077] When the support rod body is placed in the clamping mechanism, the groove 8 formed by the first curved plate 303 and the second clamping knife 301 naturally guides the rod body to its clamping position. This design allows the clamping mechanism to automatically adjust the clamping point during the clamping process to accommodate rod bodies of different sizes and shapes. As the clamping mechanism closes, the second clamping knife 301 moves inward, and the support rod body is stably clamped in the groove 8. During this process, the shape and size of the groove 8 ensure that the clamping force is evenly distributed on the surface of the support rod body, optimizing the clamping effect and reducing possible deformation or damage. Through the groove 8 jointly enclosed by the first curved plate 303 and the second clamping knife 301, the force generated by the clamping mechanism when clamping the support rod body can be more effectively transmitted and evenly dispersed over the contact area. Such a force distribution helps to maintain the stability and integrity of the support rod body during the clamping process.

[0078] When a portion of the first clamping portion 2 enters the groove 8, the inner sidewall of the first curved plate 303 forms stable contact with the first clamping blade 201. This contact point provides a fixed reference for the first clamping blade 201, ensuring its stability and correct positioning during the clamping process. The inner sidewall of the first curved plate 303 abuts the side of the first clamping blade 201 away from the clamping cavity, effectively limiting excessive outward movement of the first clamping blade 201, thereby preventing potential deviation or loosening during the clamping process. This structural arrangement helps to more evenly distribute the clamping force during the clamping process, avoiding uneven stress points on the support rod or clamping blade, and reducing potential damage to the support rod.

[0079] At the beginning of the clamping operation, the first clamping part 2 moves into the groove 8. The contact between the inner side wall of the first curved plate 303 and the side of the first clamping knife 201 away from the clamping cavity provides immediate position feedback, ensuring that the clamping knife can be accurately adjusted according to the actual position of the support rod. As the clamping action proceeds, the first curved plate 303 not only serves as a stable support, but also guides the first clamping knife 201 to close correctly, ensuring that the clamping knife moves stably along the predetermined path, thereby improving the accuracy and reliability of the clamping operation. When the first clamping part 2 enters the groove 8 and is supported by the inner side wall of the first curved plate 303, the design takes into account the reduction of friction and wear caused by direct contact between components. By optimizing the material and shape of the contact surface, the service life of the clamping mechanism can be extended while maintaining smooth operation.

[0080] In any of the above embodiments, the clamping mechanism further comprises:

[0081] The first oil cylinder 9 is mounted on the bracket 1 ; the output end of the first oil cylinder 9 is connected to the second clamping knife 301 to drive the second clamping knife 301 to rotate.

[0082] The connecting rod 5 connects the first clamping blade 201 and the second clamping blade 301, so that the first clamping blade 201 rotates synchronously with the second clamping blade 301. Through the joint movement of the connecting rod 5, the first oil cylinder 9 can synchronously drive the first clamping blade 201 and the second clamping blade 301 to rotate in opposite directions to move them closer to or farther away from each other.

[0083] In this embodiment, the first oil cylinder 9 is powered by a hydraulic system, which enables precise control of the rotation of the second clamping cutter 301. Compared to electric or manual drive methods, the hydraulic system can provide more stable power output and more precise speed adjustment. The hydraulic system has a fast response speed and can quickly drive the second clamping cutter 301 to perform the required rotation after receiving the control command, which is crucial to improving the operational efficiency of the entire clamping mechanism. Driven by the first oil cylinder 9, the second clamping cutter 301 can clamp the support rod body with a constant and uniform force, which helps maintain stability during the clamping process and reduces damage to the support rod body.

[0084] When the operation instruction is issued, the hydraulic oil is compressed in the first cylinder 9 to generate a driving force. This force is directly transmitted to the second clamping knife 301 through the output end of the cylinder, causing it to rotate along a predetermined trajectory. The rotation of the second clamping knife 301 is converted through the linear motion of the cylinder. When the first cylinder 9 extends or contracts, the second clamping knife 301 connected thereto opens and closes or rotates according to the movement of the cylinder to clamp or release the support rod. During the clamping process, according to the size and position of the support rod, the control system can adjust the pressure of the hydraulic oil, thereby adjusting the clamping force and clamping position of the second clamping knife 301 to ensure the accuracy and effect of the clamping. During the operation of the clamping mechanism, the working state of the cylinder may be adjusted according to the data fed back by the sensor to adapt to the actual situation of the support rod during the clamping process, so as to ensure the flexibility and reliability of the operation.

[0085] Through the design of the connecting rod portion 5, the first clamping knife 201 and the second clamping knife 301 can be driven synchronously, ensuring that the two clamping knifes rotate in opposite directions in a coordinated manner when clamping or releasing the support rod body. The connecting rod portion 5 not only drives the two clamping knifes synchronously, but also realizes their reverse rotation. This reverse rotation mechanism allows the clamping knifes to move closer to or farther away from each other, thereby adapting to support rod bodies of different sizes and effectively clamping. By controlling the two clamping knifes simultaneously through a power source (such as the first oil cylinder 9), the design of the clamping mechanism is simplified, energy consumption is reduced, and the efficiency and response speed of the operation process are improved.

[0086] When the first oil cylinder 9 is activated, its power is transmitted through the connecting rod part 5. Due to the structural design of the connecting rod, this transmission not only transfers power from one clamp to another, but also realizes the reverse rotation of the clamp. This means that when one clamp rotates inward to clamp the support rod body, the other clamp rotates outward accordingly, ready to greet or release the rod body. The design of the connecting rod ensures that the first clamp 201 and the second clamp 301 are in a synchronized state at all times. This synchronization not only involves the start and stop of rotation, but also includes the adjustment of the rotation speed and angle to adapt to different operational requirements and the characteristics of the support rod body. Through the transmission of the connecting rod part 5, the force generated by the first oil cylinder 9 is evenly distributed to the two clamps, which helps to maintain a balance of force when clamping the support rod body and avoid damage or instability to the rod body due to uneven force.

[0087] Furthermore, the two first clamping blades 201 are rotatably mounted on the bracket 1 via a rotating shaft, and the two second clamping blades 301 are rotatably mounted on the bracket 1 via a rotating shaft. The connecting rod portion 5 includes a first upright ear 501, a second upright ear 502, a third upright ear 503, and a transmission rod 504. The first upright ear 501 and the second upright ear 502 are mounted on the rotating shaft of the first clamping blade 201, and the third upright ear 503 is mounted on the rotating shaft of the second clamping blade 301. The first upright ear 501 is used to rotate the cylinder body on which the first oil cylinder 9 is mounted. The third oil cylinder is used to rotate the end of the piston rod connected to the first oil cylinder 9. The ends of the transmission rod 504 are rotatably connected to the rotating shafts of the second upright ear 502 and the second clamping blade 301, respectively.

[0088] The piston rod of the first oil cylinder 9 extends to directly drive the third upright ear 503 and the second clamping knife 301 to rotate, and the first clamping knife 201 is driven to rotate in the opposite direction through the transmission rod 504 by means of the rotating shaft on the second clamping knife 301.

[0089] As can be seen from the above, through the layout of the vertical ears and the transmission rod 504, the design allows the first clamping tool 201 and the second clamping tool 301 to rotate synchronously and in opposite directions when receiving the driving force from the first oil cylinder 9. This action is crucial for accurately clamping and releasing the support rod body. The configuration of the piston rod of the first oil cylinder 9 and the first and third vertical ears 503 provides precise control of the clamping force and clamping position. By adjusting the output of the cylinder, the clamping angle and force of the clamping tool can be finely controlled to accommodate support rod bodies of different sizes and shapes. This mechanical link system design improves the stability and repeatability of the clamping operation. Through a fixed rotating shaft and precise mechanical connection, the consistency of each operation is ensured, reducing errors and variability.

[0090] When the first hydraulic cylinder 9 is activated, its piston rod moves forward or backward, transmitting power through the first upright lug 501. The first upright lug 501 is connected to the rotating shaft of the first clamping blade 201, causing the first clamping blade 201 to begin rotating. Simultaneously, the first upright lug 501 transmits power to the second upright lug 502 via the transmission rod 504, which in turn drives the second clamping blade 301, connected to the second upright lug 502, to rotate in the opposite direction. The transmission rod 504, as the key component connecting the two upright lugs (the second upright lug 502 and the rotating shaft connected to the second clamping blade 301), ensures the coordinated and synchronized movements of the first and second clamping blades 201, 301. This arrangement allows the first and second clamping blades 201, 301 to rotate simultaneously in opposite directions, effectively clamping and releasing the support rod. Since the first and second clamping blades 301 rotate in opposite directions, this means that while the first clamping blade 201 is clamping inward, the second clamping blade 301 is expanding outward, preparing for the next clamping action. On the contrary, when the support rod needs to be released, the second clamping blade 301 moves inward, while the first clamping blade 201 opens outward.

[0091] The piston rod of the first oil cylinder 9 is extended to directly drive the second clamping tool 301 connected to the third vertical ear 503 to rotate. This direct drive mechanism provides a strong and precise control force, ensuring that the second clamping tool 301 can rotate at a precise angle and speed. Through the layout of the rotating shaft and the transmission rod 504 on the second clamping tool 301, the first clamping tool 201 is indirectly driven to perform reverse rotation. This design ensures that the two clamping tools can move synchronously and in opposite directions to achieve effective clamping and release of the support rod body. The system design allows the operation of the two clamping tools to be coordinated simultaneously through a single hydraulic power source. This synchronization is crucial to improving the operating efficiency of the clamping mechanism and reducing operating time.

[0092] When the first oil cylinder 9 receives a control signal to extend the piston rod, the generated power acts directly on the second clamping knife 301 through the third vertical ear 503. This power transmission method allows for quick and precise control of the rotation of the second clamping knife 301 to meet the needs of clamping the support rod body. The movement of the third vertical ear 503 is transmitted to the transmission rod 504 through the rotating shaft on the second clamping knife 301, and then the transmission rod 504 converts this action into the reverse rotation of the first clamping knife 201. This linkage effect ensures that the two clamping knives can move in a symmetrical and coordinated manner, enhancing the control and stability of the clamping mechanism over the support rod body. Through this design, the clamping mechanism can dynamically adjust the position and clamping force of the clamping knife to adapt to support rod bodies of different diameters and materials. The extension and retraction of the piston rod of the first oil cylinder 9 provides the necessary power and control to achieve efficient and high-precision clamping operations.

[0093] In any of the above embodiments, the fastening mechanism 4 includes:

[0094] The tightening belt 10 has one end connected to the output end of the first oil cylinder 9, and the other end connected to the outer wall of the first curved plate 303. The tightening belt 10 is a flexible rubber belt, and the extension and contraction of the first oil cylinder 9 drive the tightening belt 10 to move.

[0095] The tightening band 10 divides the clamping cavity along a preset direction. By dividing the clamping cavity by the tightening band 10, on the one hand, the area of ​​the clamping cavity portion accommodating the support rod body can be reduced, and on the other hand, the tightening band 10 can fit the side wall of the support rod body to increase the support and fixing points of the support rod body.

[0096] In this embodiment, the tightening belt 10 is connected to the first oil cylinder 9 and the first curved plate 303, and when the oil cylinder extends or retracts, the tightening belt 10 is driven to move. This movement realizes the tightening adjustment of the internal structure of the clamping mechanism, and the clamping force can be adjusted according to the operation needs. Since the tightening belt 10 is made of flexible rubber material, it can provide a certain elastic adjustment range during the extension or retraction process. This elasticity not only allows fine-tuning of the tightening force, but also increases the adaptability of the system, and can better adapt to support rods of different sizes and shapes. The flexible rubber belt can also play a certain protective and buffering role during the tightening process, reducing the damage that may be caused by hard connections, especially when dealing with support rods with more sensitive or fragile surfaces.

[0097] The first oil cylinder 9 serves as a power source, and the extension and contraction of its piston rod directly affects the tension of the tightening belt 10. When the oil cylinder is extended, the tightening belt 10 is tightened, so that the internal structure of the clamping mechanism is tightened; conversely, when the oil cylinder contracts, the tightening belt 10 is loosened, reducing the tightening force. One end of the tightening belt 10 is connected to the output end of the oil cylinder, and the other end is connected to the outer wall of the first arc-shaped plate 303, forming a force transmission path. Through this configuration, the action of the oil cylinder can be evenly transmitted to the key parts of the clamping mechanism through the tightening belt 10, achieving overall tightening or loosening. Since the material of the tightening belt 10 has a certain elasticity, it can automatically adjust the tightening force according to the size and shape of the support rod body without the need for a complex control system. This automatic adaptability simplifies the operating process while improving clamping efficiency and safety.

[0098] By dividing the clamping cavity along a pre-set direction, the tightening band 10 dynamically adjusts the effective area of ​​the clamping cavity according to the diameter of the support rod. This allows the clamping mechanism to accommodate rods of various sizes, from small to large, ensuring that each rod receives the appropriate clamping force. By conforming to the sidewalls of the support rod, the tightening band 10 provides additional support points, which helps stabilize the rod and prevent it from slipping or rotating during operation. This additional fixing point is particularly important during high-speed movements or precision operations.

[0099] When the piston rod of the first oil cylinder 9 extends or retracts, it drives the tightening belt 10 to move along the preset direction of the clamping cavity. This movement realizes the dynamic adjustment of the area of ​​the clamping cavity, so that the clamping cavity can be adapted according to the size of the support rod body. Since the material of the tightening belt 10 has a certain flexibility and elasticity, it can evenly distribute the clamping force when tightening, avoiding excessive pressure at a single point, thereby reducing damage to the surface of the support rod body. Through the design of the tightening belt 10 dividing the clamping cavity, the clamping mechanism can automatically adjust the clamping force to fit and stabilize the support rod body. This automatic adjustment is based on the telescopic action of the oil cylinder piston and the elastic properties of the tightening belt 10, which achieves stable clamping of the rod body without the need for additional manual adjustment. This design simplifies the adaptation process of the clamping mechanism to support rod bodies of different sizes and improves the efficiency and accuracy of the operation. By reducing the parts that require manual adjustment, the entire clamping process is accelerated, which is particularly suitable for high-speed or automated production environments.

[0100] Specifically, the end of the piston rod of the first oil cylinder 9 is fixedly connected to the end of the tightening belt 10 .

[0101] As can be seen from the above, by directly fixing the end of the piston rod to the end of the tightening belt 10, it is ensured that the linear motion of the cylinder piston can be directly converted into the stretching or relaxation of the tightening belt 10. This direct power transmission mechanism improves the response speed and efficiency of the system. As the piston of the first cylinder 9 extends or contracts, the tightening belt 10 moves accordingly, applying a tightening or releasing force to the support rod body in the clamping cavity. This enables the clamping mechanism to quickly adjust the clamping force as needed to adapt to support rod bodies of different diameters and materials. The action of the tightening belt 10 not only adjusts the size of the clamping cavity, but also provides additional stable support for the support rod body, which is particularly important when the rod body is small or irregular in shape.

[0102] When the hydraulic system injects or discharges oil into the first cylinder 9, the piston rod will extend or retract accordingly. This linear motion of the piston is a direct manifestation of the conversion of hydraulic pressure into mechanical motion. The movement of the piston rod directly drives the tightening belt 10 fixedly connected to it, causing the tightening belt 10 to move along a preset direction, thereby adjusting the tightening state in the clamping cavity. This movement can be stretching the tightening belt 10 to reduce the effective area of ​​the clamping cavity and tighten the support rod body; or loosening the tightening belt 10 to increase the area of ​​the clamping cavity and release the support rod body. Since the tightening belt 10 has a certain elasticity, it can adaptively adjust the tightening force under the drive of the piston rod to avoid excessive pressure or damage to the support rod body, while ensuring the stability of the clamping.

[0103] Furthermore, a guide roller 13 for supporting the tightening belt 10 is installed between the two second clamping knives 301. The tightening belt 10 is triggered from the end of the piston rod of the first oil cylinder 9, and circumferentially adheres to part of the side wall of the rotating shaft on the second clamping knife 301 from top to bottom, circumferentially adheres to part of the side wall of the rotating shaft on the first clamping knife 201 from top to bottom, and circumferentially adheres to part of the side wall of the rotating shaft on the guide roller 13 from top to bottom.

[0104] As can be seen from the above, by installing the guide roller 13 between the two second clamping knives 301, the moving path of the tightening belt 10 is optimized. The guide roller 13 provides a smooth surface, reduces the wear of the tightening belt 10, and maintains its stable movement along the predetermined path. The tightening belt 10 moves along the path of the first clamping knife 201, the second clamping knife 301 and the guide roller 13. This configuration helps to evenly distribute the tension of the tightening belt 10 in the entire clamping structure. Uniform tension distribution is conducive to improving the clamping stability of the support rod body. The introduction of the guide roller 13 and the circumferential fitting design of the tightening belt 10 enable the clamping mechanism to tighten the support rod body more efficiently, while increasing the support points of the rod body and improving the stability of the clamping process.

[0105] When the piston rod of the first oil cylinder 9 is extended, it directly pulls the tightening belt 10 connected to it. The tightening belt 10 is triggered from the end of the piston rod and moves along the side wall of the rotating shaft portion on the second clamping knife 301, the side wall of the rotating shaft portion on the first clamping knife 201, and the side wall of the rotating shaft portion on the guide roller 13. This path not only optimizes the tension distribution of the tightening belt 10, but also ensures the smooth execution of the clamping action. As a support point, the guide roller 13 not only guides the movement of the tightening belt 10, but also automatically adjusts its position according to the tension of the tightening belt 10 to maintain tension balance. This adaptive adjustment mechanism allows the clamping mechanism to maintain a stable clamping force under different operating conditions. The guide roller 13 provides a smooth and stable surface, which reduces the wear of the tightening belt 10 during movement. This not only extends the service life of the tightening belt 10, but also ensures the long-term stability and reliability of the clamping mechanism.

[0106] In any of the above embodiments, the second clamping portion 3 further includes a second oil cylinder 11, which is mounted on the outer wall of the first curved plate 303. The first curved plate 303 is connected to the other end of the tightening belt 10 via the output end of the second oil cylinder 11. The telescopic cooperation between the second oil cylinder 11 and the first oil cylinder 9 can drive the two ends of the tightening belt 10 to move.

[0107] In this embodiment, .

[0108] In any of the above embodiments, the portion of the tightening band 10 that divides the clamping cavity, along a direction perpendicular to the preset direction, together with the first arcuate edge 202 and the second arcuate edge 302, secures the support rod. The flexible and adaptable support of the tightening band 10 can better secure the support rod during clamping, and the contact points between the first arcuate edge 202, the second arcuate edge 302 and the side wall of the support rod form at least a triangular fixed structure.

[0109] The second oil cylinder 11 cooperates with the first oil cylinder 9 to drive the tightening belt 10 to apply prestress to the support rod. The flexible deformation of the tightening belt 10 can apply more comprehensive, multi-point prestress to the support rod. The direction of the prestress is different from the supporting force applied by the first and second arcuate edges 202 and 302 on the support rod. This multi-directional force maintains the stability of the support rod after clamping.

[0110] In this embodiment, the second cylinder 11 provides additional driving force. Together with the first cylinder 9, by controlling the movement of the two ends of the tightening band 10, it provides greater adjustment flexibility and strength to accommodate support rods of different sizes and shapes. The introduction of the second cylinder 11 enables the clamping mechanism to more precisely adjust the clamping force and the size of the clamping cavity. This adjustment capability is particularly important when handling support rods of non-standard sizes or complex shapes. Through the coordinated operation of the two cylinders, the clamping mechanism can quickly adapt to changes on the production line, significantly improving operational efficiency and response speed, whether it is for rapid part replacement or adjusting to different operating requirements.

[0111] When the first cylinder 9 and the second cylinder 11 receive a control signal, their piston rods will extend or retract as needed. The actions of the two cylinders work together to drive the two ends of the tightening belt 10 to move accordingly, thereby adjusting the clamping force or changing the size of the clamping cavity. The first cylinder 9 may be mainly responsible for initiating the clamping action, tightening the support rod by pulling the tightening belt 10, while the second cylinder 11 can finely adjust the tension of the tightening belt 10, or provide additional force when the rod needs to be released. This dynamic adjustment ensures the balance and accuracy of the clamping action. Through the connection between the output end of the second cylinder 11 and the first arc plate 303 (and the other end of the tightening belt 10), the clamping mechanism can evenly distribute force throughout the clamping area to avoid local overpressure or damage to the support rod. The clamping mechanism can automatically adjust the working state of the first cylinder 9 and the second cylinder 11 according to the actual situation of the support rod and the feedback signal to achieve the best clamping effect and operating efficiency.

[0112] Through the flexibility of the tightening band 10, this design can accommodate support rods of various sizes and shapes. The flexible material can provide stable support force on rods of different diameters without causing damage. The at least three-sided fixed structure formed by the first arcuate edge 202 and the second arcuate edge 302 ensures the stability of the support rod during the clamping process. This three-point or multi-point support structure disperses the clamping pressure on the support rod, reducing the damage that may be caused by concentrated pressure. Using an oil cylinder to drive the tightening band 10, the clamping force and position can be dynamically adjusted as needed to optimally adapt to the clamping requirements of different support rods.

[0113] When the cylinder piston rod extends or retracts, it drives the tightening belt 10 to move in a direction perpendicular to the preset direction. Through this movement, the structure inside the clamping cavity is dynamically adjusted to form or release the clamping of the support rod body. The tightening belt 10, the first arcuate edge 202 and the second arcuate edge 302 work together to fit the support rod body along different sides of the clamping cavity to form a stable triangular or polygonal fixed structure. This structure provides stable and balanced support for the support rod body by dispersing the clamping force at multiple points. The flexibility of the tightening belt 10 allows it to be fine-tuned according to the specific size and shape of the support rod body during the clamping process, ensuring a close fit with the surface of the rod body, while providing sufficient clamping force without damaging the rod body. Through the fixed structure formed, especially when the clamping force is large or vibration is generated during operation, the slippage and rotation of the support rod body are effectively prevented, ensuring the accuracy and safety of the operation process.

[0114] Furthermore, a diaphragm 12 of a pressure sensor is installed on the side wall of the part of the tightening belt 10 located in the clamping cavity to detect the magnitude of the prestress applied by the tightening belt 10 to the side wall of the support rod body, and the pressure sensor is connected to the second oil cylinder 11 through a pressure sensor chip to control the extension length of the piston rod of the second oil cylinder 11 through a pre-set pressure value range.

[0115] As can be seen from the above, the diaphragm 12 of the pressure sensor can directly detect the amount of prestress applied by the tightening band 10 to the side wall of the support rod. This direct measurement provides real-time feedback on the clamping status, ensuring that the clamping force is sufficient to stabilize the support rod without causing damage. By connecting the output of the pressure sensor chip to the control system of the second oil cylinder 11, the extension length of the cylinder piston can be dynamically adjusted according to the detected prestress, thereby finely adjusting the clamping force applied by the tightening band 10. The system can automatically control the operating state of the second oil cylinder 11 according to a pre-set pressure value range, achieving precise control and automated adjustment of the clamping force, improving operational efficiency and reliability.

[0116] When the tightening belt 10 surrounds the support rod and applies prestress, the diaphragm 12 type pressure sensor detects the actual pressure applied to the side wall of the rod. This pressure value is converted into an electrical signal and read by the pressure sensor chip. The pressure sensor chip sends the detected pressure signal to the control system. The system compares this signal with the pre-set pressure range to determine whether the current clamping force is within the ideal state. If the detected prestress exceeds or does not reach the predetermined range, the control system will issue an instruction to adjust the extension length of the piston rod of the second oil cylinder 11, increase or decrease the clamping force applied by the tightening belt 10, until the prestress falls within the set ideal range. Through this feedback and adjustment mechanism, the clamping mechanism can automatically optimize the clamping state to ensure that the support rod is both stable and safe during the clamping process, while greatly reducing the need for manual intervention and improving the automation level and production efficiency of the operation.

[0117] The second aspect of the present invention provides a construction method based on a support rod body for clamping a mobile structure for power grid erection. In some embodiments of the present invention, such as Figure 4 As shown, the construction method includes the following steps:

[0118] S101, driving the bracket 1 to move by an external robotic arm to drive all clamping mechanisms and allow the supporting rod to pass through the clamping cavity.

[0119] S102, the first clamping portion 2 and the second clamping portion 3 move closer to each other to reduce the clamping cavity until the clamping cavity fixes the support rod.

[0120] S103 , the portion of the fastening mechanism 4 located in the clamping cavity is fitted onto the support rod body to complete the fixation of the support rod body.

[0121] S104, the external robotic arm drives the bracket 1 and the supporting rod to move; the first clamping portion 2 and the second clamping portion 3 move away from each other, so that the supporting rod is separated from the clamping cavity.

[0122] The present invention provides a construction method, S101-movement of the bracket 1 and the clamping mechanism: an external robotic arm is used to drive the bracket 1 to move and position all the clamping mechanisms next to the support rod body. The key function of this step is to ensure that the clamping mechanism can accurately approach and operate around the support rod body to be clamped. S102-adjustment of the clamping cavity: the first clamping part 2 and the second clamping part 3 are actuated to gradually shrink the clamping cavity until the support rod body is tightly fixed. In this process, the clamping mechanism ensures stable clamping of the support rod body by precisely controlling the clamping force and position. S103-fitting and fixing of the fastening mechanism 4: the fastening mechanism 4 fits the support rod body through its flexible components (such as the tightening belt 10), adding additional support points, thereby completing the comprehensive fixation of the support rod body. This step improves the clamping stability, especially when moving or adjusting the position of the support rod body. S104-movement and release of the support rod body: after completing the movement or installation task at the desired position, the external robotic arm controls the bracket 1 and its clamping mechanism to move the support rod body to the target position. Subsequently, the first clamping portion 2 and the second clamping portion 3 move away from each other, releasing the support rod and causing it to escape from the clamping cavity.

[0123] The entire construction process relies on the precise control of the clamping mechanism and the coordinated movement of an external robotic arm. Through pre-set programming and sensor feedback, the system automatically adjusts the clamping mechanism's movements to accommodate support rods of varying sizes and shapes. The size of the clamping cavity and the clamping force of the fastening mechanism 4 can be dynamically adjusted based on the actual conditions of the support rod, ensuring a safe and effective clamping process while minimizing potential damage to the support rod. From securing the support rod to moving it to releasing it, the entire process is designed as a seamless workflow, maximizing efficiency and reducing work time to meet the demands of fast-paced construction.

[0124] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0125] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A support rod clamping and moving structure for power grid erection, characterized in that: include: a bracket, the bracket being connected to an external robotic arm; The clamping mechanism includes a first clamping portion and a second clamping portion respectively rotatably mounted on the bracket, a clamping cavity being formed between the first clamping portion and the second clamping portion; ends of the first clamping portion and the second clamping portion away from the bracket can approach or move away from each other so that the clamping cavity adapts to the support rod body; the first clamping portion includes a first clamping knife, and the second clamping portion includes a second clamping knife; at least two of the first clamping knife and the second clamping knife are respectively provided along a preset direction; the clamping mechanism also includes a first oil cylinder mounted on the bracket; an output end of the first oil cylinder is connected to the second clamping knife to drive the second clamping knife to rotate; The second clamping portion is formed with a groove, and when the first clamping portion is butted against the second clamping portion along the circumference of the support rod body, the groove is capable of accommodating at least a portion of the first clamping portion; the second clamping portion further includes a first arc-shaped plate for connecting adjacent second clamping blades, the inner side wall of the first arc-shaped plate and the side wall of the second clamping blade forming the groove; and when at least a portion of the first clamping portion is located in the groove, the inner side wall of the first arc-shaped plate abuts against a side of the first clamping blade away from the clamping cavity; A fastening mechanism, at least part of which is located in the clamping cavity to divide the clamping cavity; the fastening mechanism includes a tightening belt, one end of the tightening belt is connected to the output end of the first oil cylinder, and the other end of the tightening belt is connected to the outer wall of the first curved plate; the second clamping part also includes a second oil cylinder, which is installed on the outer wall of the first curved plate; the first curved plate is connected to the other end of the tightening belt through the output end of the second oil cylinder; the second oil cylinder cooperates with the first oil cylinder to drive the tightening belt to apply prestress to the support rod body, and the direction of the prestress is opposite to the direction of the supporting force applied to the support rod body by the first curved edge and the second curved edge.

2. The support rod clamping and moving structure for power grid erection according to claim 1, characterized in that: At least one clamping mechanism is provided on the bracket along a preset direction, and the clamping cavity circumferentially fixes the support rod body; the support rod body is a power pole, a steel round tube or a steel structure combined iron tower pole; The groove is communicated with the clamping cavity, and at least a portion of the first clamping portion located in the groove fits into the support rod body.

3. The support rod clamping and moving structure for power grid erection according to claim 2, characterized in that: The first clamping knives located in the same clamping mechanism are all located between the second clamping knives.

4. The support rod clamping and moving structure for power grid erection according to claim 3, characterized in that: A first arcuate edge is formed on a side of the first clamping knife close to the clamping cavity, and a second arcuate edge is formed on a side of the second clamping knife close to the clamping cavity; Along a direction perpendicular to the preset direction, a portion of the first arcuate side corresponding to the second arcuate side fits the support rod body.

5. The support rod clamping and moving structure for power grid erection according to claim 4, characterized in that: The clamping mechanism also includes: The connecting rod portion connects the first clamping knife and the second clamping knife so that the first clamping knife rotates synchronously with the second clamping knife.

6. The support rod clamping and moving structure for power grid erection according to claim 5, characterized in that: The tightening belt divides the clamping cavity along the preset direction.

7. The support rod clamping and moving structure for power grid erection according to claim 6, characterized in that: Along a direction perpendicular to the preset direction, the portion of the tightening band dividing the clamping cavity and the first arcuate edge and the second arcuate edge jointly fix the support rod body; The second oil cylinder cooperates with the first oil cylinder to drive the tightening belt to apply prestress to the support rod body.

8. A construction method based on the mobile structure clamped by the support rod for power grid erection according to any one of claims 1 to 7, characterized in that: The steps include: S101, driving the bracket to move by an external robotic arm to drive all clamping mechanisms and allow the support rod to pass through the clamping cavity; S102, the first clamping portion and the second clamping portion move closer to each other to reduce the size of the clamping cavity until the clamping cavity fixes the support rod; S103, placing the portion of the fastening mechanism located in the clamping cavity in contact with the support rod to complete the fixing of the support rod; S104, the external robotic arm drives the bracket and the support rod to move; the first clamping portion and the second clamping portion move away from each other, so that the support rod is separated from the clamping cavity.

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