Manipulator clamp for grabbing disordered cables

Abstract

The utility model relates to a disordered cable grabbing mechanical arm clamp which comprises a main air cylinder used for inputting pneumatic power and provided with two installation bases which can move relatively. When pneumatic power is input into the main air cylinder, the relative distance between the two mounting seats is changed; the executing mechanism comprises a first synchronous clamping jaw and a second synchronous clamping jaw, the second synchronous clamping jaw is mounted on a second clamping jaw mounting seat, and the first synchronous clamping jaw is mounted on a first clamping jaw mounting seat; the first synchronous clamping jaw and the second synchronous clamping jaw are both of an eccentric structure, and the shape curves of the opposite sides of the tail ends of the first synchronous clamping jaw and the second synchronous clamping jaw are matched with each other. And when the first synchronous clamping jaw and the second synchronous clamping jaw move relatively, the first synchronous clamping jaw and the second synchronous clamping jaw clamp or loosen the target cable. The problems that due to the fact that a traditional mechanical arm is not high in grabbing precision and adaptability, damage control over a cable is insufficient in the grabbing process, and cable skin scratching or internal structure damage is likely to be caused are solved.

Description

Technical Field

[0001] The present application relates to the technical field of manipulator clamp equipment, and in particular to a manipulator clamp for grabbing disordered cables. Background Art

[0002] As key components for connecting and transmitting electrical energy or signals, cables play a vital role in diverse fields. They come in a variety of types, including power cables and data communication cables, and in a variety of shapes, ranging from thin optical fibers to thick power cables. In automated scenarios, the automatic grasping of disordered cables faces multiple challenges: First, the non-rigid nature of cables makes them prone to unpredictable deformation during grasping, requiring a high degree of flexibility and adaptability in the control system. Second, grasping strategies must balance stability and gentleness, ensuring a secure grasp to prevent them from falling while also avoiding damage to the cables. Finally, dynamic path planning capabilities are crucial to address the uncertainty of cable positions in disordered environments, enabling effective and efficient grasping and subsequent processing.

[0003] Manipulators are among the earliest industrial robots. They are automated devices that can grasp, move objects, or operate tools according to a fixed program. However, traditional manipulators have limited grasping accuracy and adaptability for randomly placed cables. Grasping unordered cables requires the manipulator to be directly above the target cable before grasping. Furthermore, the manipulator's main body can easily interfere with the cable during movement after grasping, resulting in limited adaptability. Furthermore, damage to the cable during grasping is insufficient, and the rigid clamping method can cause scratches on the cable surface or damage to the internal structure. Furthermore, some high-end solutions require a large number of sensors for precise control, making fiber optic cable grasping manipulators expensive and unfavorable for widespread adoption. Summary of the Invention

[0004] This application mainly solves the problem that traditional manipulators have low grasping accuracy and adaptability, and insufficient control over cable damage during the grasping process, which can easily cause scratches on the cable surface or damage to the internal structure.

[0005] In an embodiment of the present application, a disordered cable grabbing manipulator clamp is provided for grabbing disordered target cables, the clamp comprising:

[0006] a master cylinder, the master cylinder being used to input pneumatic power and provided with a first clamping jaw mounting seat and a second clamping jaw mounting seat, wherein the first clamping jaw mounting seat and the second clamping jaw mounting seat are movable relative to each other; when pneumatic power is input to the master cylinder, the relative distance between the first clamping jaw mounting seat and the second clamping jaw mounting seat changes;

[0007] an actuator, the actuator comprising a first synchronous jaw and a second synchronous jaw, the second synchronous jaw being mounted on the second jaw mounting base, and the first synchronous jaw being mounted on the first jaw mounting base; when the distance between the first jaw mounting base and the second jaw mounting base changes, the first synchronous jaw and the second synchronous jaw move along with the movement of the first jaw mounting base and the second jaw mounting base, respectively;

[0008] The first synchronous clamp and the second synchronous clamp are both eccentric structures, and the shape curves of the opposite sides of the ends of the first synchronous clamp and the second synchronous clamp match each other; when the first synchronous clamp and the second synchronous clamp move relative to each other, the ends of the first synchronous clamp and the second synchronous clamp clamp or release the target cable.

[0009] In some embodiments, the clamp further includes a buffer mechanism, which is disposed above the main cylinder and is configured to provide buffering when the actuator clamps the target cable.

[0010] In some embodiments, the buffer mechanism includes a mounting plate and a buffer plate, the mounting plate is fixedly connected to the master cylinder, a hinge seat is provided on one side of the mounting plate, one side of the buffer plate is hinged to the mounting plate through the hinge seat, and the other side of the buffer plate is connected to the mounting plate through a buffer spring.

[0011] In some embodiments, the clamp further includes a first flange, a second flange and a connecting rod, the second flange is detachably connected to the buffer plate, and the first flange is fixedly connected to the second flange via the connecting rod.

[0012] In some embodiments, the actuator also includes a first limiting portion and a second limiting portion, the first limiting portion is used to limit the inner stroke of the moving stroke between the first synchronous clamp and the second synchronous clamp, and the second limiting portion is used to limit the outer stroke of the moving stroke between the first synchronous clamp and the second synchronous clamp.

[0013] In some embodiments, the first limiting portion is arranged on the second clamp mounting seat, and includes a first bolt threadedly connected to the second clamp mounting seat. A baffle is provided on the first clamp mounting seat, and the position of the end of the first bolt is changed by adjusting the depth of the first bolt, thereby adjusting the internal stroke between the first synchronous clamp and the second synchronous clamp.

[0014] In some embodiments, the second limiting portion includes a second bolt, which is slidingly connected to the first clamp mounting seat and the second clamp mounting seat respectively. A second nut is provided at one end of the second bolt, and the outer stroke between the first synchronous clamp and the second synchronous clamp is adjusted by adjusting the relative position of the second nut and the second bolt.

[0015] In some embodiments, at least two air ports are provided at one end of the master cylinder, and the master cylinder inputs pneumatic power through the two air ports. A regulating valve is provided at each of the two air ports, and the two regulating valves are used to adjust the opening amount of the two air ports respectively.

[0016] In some embodiments, the second synchronous clamping jaw includes a first movable section, a second movable section, and a third movable section, wherein the first movable section, the second movable section, and the third movable section are fixedly connected in sequence, the first movable section is fixedly connected or detachably connected to the second clamping jaw mounting base, a movable end clamping groove is provided on the inner side of the third movable section, and the angle between the second movable section and the first movable section and the angle between the second movable section and the third movable section are both obtuse angles;

[0017] In some embodiments, the first synchronous clamp includes a fixed first section, a fixed second section and a fixed third section, the fixed first section, the fixed second section and the fixed third section are fixedly connected in sequence, the fixed first section is fixedly connected or detachably connected to the first clamp mounting seat, a fixed end clamping groove is provided on the inner side of the fixed third section, the angle between the fixed second section and the fixed first section, and the angle between the fixed second section and the fixed third section are both obtuse angles, the fixed first section, the fixed second section and the fixed third section have opposite side curved surfaces that match each other with the movable first section, the movable second section and the movable third section, respectively, the second synchronous clamp and the first synchronous clamp grab the disorderly placed target cables through the movable end clamping groove and the fixed end clamping groove respectively.

[0018] The present application also provides a disordered cable grasping system, comprising the manipulator gripper as described above, and further comprising a manipulator arm, a 3D camera, and a pneumatic power source;

[0019] The manipulator clamp is provided on the manipulator arm and is used to clamp the target disordered cables;

[0020] The 3D camera is communicatively connected to the robotic arm, and the 3D camera is used to identify the location information of the target disordered cables and send the location information to the controller of the robotic arm; the controller of the robotic arm is used to control the movement of the robotic arm;

[0021] The pneumatic power source is used to provide pneumatic power to the main cylinder of the manipulator clamp;

[0022] When the manipulator clamp grasps the target disordered cable, the 3D camera identifies the position information of the target disordered cable and sends the position information to the controller of the manipulator arm. The controller controls the movement of the manipulator arm so that the manipulator clamp installed on the manipulator arm moves to the target disordered cable. The pneumatic power source provides power to the main cylinder of the manipulator clamp so that the actuator of the manipulator clamp clamps the target cable. An electromagnetic valve is also provided on the air path between the pneumatic power source and the main cylinder of the manipulator clamp. The electromagnetic valve is communicatively connected to the controller, and the controller is also used to control the electromagnetic valve.

[0023] According to the disordered cable grabbing manipulator clamp of the above-mentioned embodiment, by introducing the pneumatically driven main cylinder and the eccentric structure clamp design, the manipulator can effectively grab the cable without being directly above it, thereby improving the adaptability to complex cable layouts and reducing the need for precise positioning before grabbing; the present application allows the clamp to form a close grip around the cable when closed, rather than relying solely on rigid clamping, which not only reduces the risk of damage to the cable surface and internal structure during the grabbing process, but also reduces the possibility of interference between the manipulator body and the surrounding cables, thereby improving operational safety; compared to high-end solutions that rely on a large number of high-precision sensors, this solution uses a relatively simple mechanical structure and pneumatic principles to achieve intelligent grabbing of cables, which helps to reduce manufacturing and maintenance costs and facilitates promotion and application in a wider range of industrial scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the overall structure of the disordered cable grabbing manipulator clamp provided in the embodiment of the present application (I);

[0025] Figure 2 Schematic diagram of the overall structure of the disordered cable grabbing manipulator clamp provided in the embodiment of the present application (II);

[0026] Figure 3 A schematic diagram of the overall structure of the disordered cable grabbing manipulator provided in an embodiment of the present application after removing the outer shell;

[0027] Figure 4 A schematic diagram of the overall structure of the disordered cable grabbing system provided in an embodiment of the present application;

[0028] Figure 5 Schematic diagram of the control principle of the disordered cable grabbing system provided in an embodiment of the present application.

[0029] In the figure: 1. First flange; 2. Connecting rod; 3. Second flange; 4. Buffer plate; 5. Housing; 6. Main cylinder; 7. Second clamp mounting seat; 8. First clamp mounting seat; 9. Second synchronous clamp; 10. First synchronous clamp; 11. Target cable; 12. First limit part; 13. Second limit part; 14. Buffer spring; 15. Articulated seat; 16. Air inlet; 17. Regulating valve; 18. Position sensor; 19. Mounting plate; 91. Move first section; 92. Move second section; 93. Move third section; 94. Move end clamping groove; 101. Fix first section; 102. Fix second section; 103. Fix third section; 104. Fixed end clamping groove; 200. Robotic arm fixture; 300. Target disordered cable; 400. Robotic arm; 500. 3D camera; 600. Pneumatic power source; 700. Controller DETAILED DESCRIPTION

[0030] The present application is further described in detail below by means of specific embodiments in conjunction with the accompanying drawings. Similar elements in different embodiments are numbered with associated similar elements. In the following embodiments, many detailed descriptions are provided to enable the present application to be better understood. However, those skilled in the art will readily appreciate that some of the features may be omitted in different circumstances, or may be replaced by other elements, materials, or methods. In some cases, some operations related to the present application are not shown or described in the specification. This is to avoid the core portion of the present application being overwhelmed by excessive descriptions. For those skilled in the art, it is not necessary to describe these related operations in detail. They can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0031] In addition, the features, operations, or characteristics described in the specification may be combined in any appropriate manner to form various embodiments. Furthermore, the steps or actions in the method description may be reordered or adjusted in a manner readily apparent to those skilled in the art. Therefore, the various sequences in the specification and drawings are provided solely for the purpose of clearly describing a particular embodiment and are not intended to be mandatory, unless otherwise specified.

[0032] Component numbers used herein, such as "first" and "second," are used solely to distinguish the components being described and do not convey any sequential or technical meaning. References to "connection" and "coupling" herein, unless otherwise specified, include both direct and indirect connections (couplings).

[0033] Please refer to Figure 1 、 Figure 2 and Figure 3In order to solve the problem that traditional manipulators have low grasping accuracy and adaptability, and insufficient control over cable damage during the grasping process, which easily leads to scratches on the cable surface or damage to the internal structure, an embodiment of the present application provides a disordered cable grasping manipulator clamp for grasping disorderly placed target cables 11. The clamp includes a main cylinder 6 and an actuator. The main cylinder 6 and the actuator are described in detail below.

[0034] The main cylinder 6 is used to input pneumatic power and is provided with a first clamping jaw mounting seat 8 and a second clamping jaw mounting seat 7. The second clamping jaw mounting seat 7 has at least a degree of freedom in the direction of the line connecting with the first clamping jaw mounting seat 8. When pneumatic power is input to the main cylinder 6, the distance between the first clamping jaw mounting seat 8 and the second clamping jaw mounting seat 7 changes.

[0035] The actuator includes a first synchronous clamping jaw 10 and a second synchronous clamping jaw 9. The second synchronous clamping jaw 9 is mounted on the second clamping jaw mounting seat 7, and the first synchronous clamping jaw 10 is mounted on the first clamping jaw mounting seat 8. When the distance between the first clamping jaw mounting seat 8 and the second clamping jaw mounting seat 7 changes, the first synchronous clamping jaw 10 and the second synchronous clamping jaw 9 move along with the movement of the first clamping jaw mounting seat 8 and the second clamping jaw mounting seat 7, respectively. The first synchronous clamping jaw 10 and the second synchronous clamping jaw 9 are both eccentric structures, and the shape curves of the opposite sides of the ends of the first synchronous clamping jaw 10 and the second synchronous clamping jaw 9 match each other. When the first synchronous clamping jaw 10 and the second synchronous clamping jaw 9 move relative to each other, the ends of the first synchronous clamping jaw 10 and the second synchronous clamping jaw 9 clamp or release the target cable 11.

[0036] In some embodiments, the clamp further includes a buffer mechanism, which is disposed above the main cylinder 6 and is used to provide buffering when the actuator clamps the target cable 11 .

[0037] In some embodiments, the buffer mechanism includes a mounting plate 19 and a buffer plate 4. The mounting plate 19 is fixedly connected to the master cylinder 6. A hinge seat 15 is provided on one side of the mounting plate 19. One side of the buffer plate 4 is hinged to the mounting plate 19 through the hinge seat 15. The other side of the buffer plate 4 is connected to the mounting plate 19 through a buffer spring 14.

[0038] In some embodiments, the clamp further includes a first flange 1 , a second flange 3 and a connecting rod 2 . The second flange 3 is detachably connected to the buffer plate 4 , and the first flange 1 is fixedly connected to the second flange 3 via the connecting rod 2 .

[0039] In some embodiments, the actuator also includes a first limiting portion 12 and a second limiting portion 13. The first limiting portion 12 is used to limit the inner stroke of the moving stroke between the first synchronous clamp 10 and the second synchronous clamp 9, and the second limiting portion 13 is used to limit the outer stroke of the moving stroke between the first synchronous clamp 10 and the second synchronous clamp 9.

[0040] In some embodiments, the first limiting portion 12 is arranged on the second clamp mounting base 7, and includes a first bolt threadedly connected to the second clamp mounting base 7. A baffle is provided on the first clamp mounting base 8. By adjusting the depth of the first bolt, the position of the end of the first bolt is changed, thereby adjusting the internal stroke between the first synchronous clamp 10 and the second synchronous clamp 9.

[0041] In some embodiments, the second limiting portion 13 includes a second bolt, which is slidingly connected to the first clamp mounting seat and the second clamp mounting seat respectively. A second nut is provided at one end of the second bolt, and the outer stroke between the first synchronous clamp 10 and the second synchronous clamp 9 is adjusted by adjusting the relative position of the second nut and the second bolt.

[0042] In some embodiments, at least two air ports are provided at one end of the master cylinder 6, and the master cylinder 6 inputs pneumatic power through the two air ports. A regulating valve 17 is provided at each of the two air ports, and the two regulating valves 17 are used to adjust the opening amount of the two air ports respectively.

[0043] In some embodiments, the second synchronous clamping jaw 9 includes a first movable section 91, a second movable section 92, and a third movable section 93. The first movable section 91, the second movable section 92, and the third movable section 93 are fixedly connected in sequence. The first movable section 91 is fixedly connected or detachably connected to the second clamping jaw mounting base 7. A movable end clamping groove 94 is provided on the inner side of the third movable section 93. The angles between the second movable section 92 and the first movable section 91 and the angles between the second movable section 92 and the third movable section 93 are both obtuse angles.

[0044] In some embodiments, the first synchronous clamp 10 includes a fixed first section 101, a fixed second section 102 and a fixed third section 103, and the fixed first section 101, the fixed second section 102 and the fixed third section 103 are fixedly connected in sequence, the fixed first section 101 is fixedly connected or detachably connected to the first clamp mounting seat 8, and a fixed end clamping groove 104 is provided on the inner side of the fixed third section 103. The angle between the fixed second section 102 and the fixed first section 101, and the angle between the fixed second section 102 and the fixed third section 103 are both obtuse angles, and the fixed first section 101, the fixed second section 102 and the fixed third section 103 are matched with the opposite side curved surfaces of the mobile first section 91, the mobile second section 92 and the mobile third section 93 respectively, and the second synchronous clamp 9 and the first synchronous clamp 10 respectively grab the disorderly placed target cables 11 through the mobile end clamping groove 94 and the fixed end clamping groove 104.

[0045] In some embodiments, sensors for detecting whether the target cable 11 is grasped and / or released into place are provided in the travel direction of the first clamping jaw mounting seat 8 and the second clamping jaw mounting seat 7 .

[0046] In some embodiments, two position sensors 18 are provided on the cylinder body of the cylinder, and a magnetic ring is provided that moves synchronously with the piston of the main cylinder 6 and the second clamp mounting base 7. When the magnetic ring reaches one of the position sensors 18, the position of the first synchronous clamp 10 and the second synchronous clamp 9 is the grasping position; when the magnetic ring reaches the other position sensor 18, the position of the first synchronous clamp 10 and the second synchronous clamp 9 is the releasing position.

[0047] In some embodiments, the position sensor 18 is a magnetic proximity switch or a Hall effect sensor.

[0048] Please refer to Figure 4 and Figure 5 , the present application also provides a disordered cable grabbing system, comprising a manipulator clamp 200 as in the above embodiment, and also comprising a manipulator arm 400, a 3D camera 500 and a pneumatic power source 600; the manipulator clamp 200 is arranged on the manipulator arm 400, and is used to clamp the target disordered cable 300; the 3D camera 500 is communicatively connected with the manipulator arm 400, and the 3D camera 500 is used to identify the position information of the target disordered cable 300 and send the position information to the controller 700 of the manipulator arm 400; the controller 700 of the manipulator arm 400 is used to control the movement of the manipulator arm 400; the pneumatic power source 600 is used to provide pneumatic power to the main cylinder of the manipulator clamp 200; when the manipulator clamp 200 clamps the target disordered cable 300, the pneumatic power source 600 is used to provide pneumatic power to the main cylinder of the manipulator clamp When the target disordered cable 300 is reached, the 3D camera 500 identifies the position information of the target disordered cable 300, and sends the position information to the controller 700 of the robotic arm 400, and the controller 700 controls the movement of the robotic arm 400 so that the manipulator clamp 200 installed on the robotic arm 400 moves to the target disordered cable 300, and the pneumatic power source 600 provides power to the main cylinder of the manipulator clamp 200 so that the actuator of the manipulator clamp 200 clamps the target cable; an electromagnetic valve is also provided on the air path between the pneumatic power source 600 and the main cylinder of the manipulator clamp 200, and the electromagnetic valve is communicated with the controller 700, and the controller 700 is also used to control the electromagnetic valve.

[0049] Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments can be implemented by hardware or by computer program. When all or part of the functions in the above embodiments are implemented by computer program, the program can be stored in a computer-readable storage medium, and the storage medium can include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the program is executed by a computer to implement the above functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the above functions can be implemented. In addition, when all or part of the functions in the above embodiments are implemented by computer program, the program can also be stored in a storage medium such as a server, another computer, disk, optical disk, flash disk or mobile hard disk, and saved in the memory of the local device by downloading or copying, or the system of the local device is updated. When the program in the memory is executed by the processor, all or part of the functions in the above embodiments can be implemented.

[0050] The above specific examples are used to illustrate the present application, which is only used to help understand the present application and is not intended to limit the present application. For those skilled in the art of the present application, based on the concept of the present application, they can also make some simple deductions, modifications or substitutions.

Claims

1. A disordered cable grabbing manipulator clamp, used to grab disordered target cables, characterized in that: The fixture comprises: a master cylinder, the master cylinder being used to input pneumatic power and provided with a first clamping jaw mounting seat and a second clamping jaw mounting seat, wherein the first clamping jaw mounting seat and the second clamping jaw mounting seat are movable relative to each other; when pneumatic power is input to the master cylinder, the relative distance between the first clamping jaw mounting seat and the second clamping jaw mounting seat changes; an actuator, the actuator comprising a first synchronous jaw and a second synchronous jaw, the second synchronous jaw being mounted on the second jaw mounting base, and the first synchronous jaw being mounted on the first jaw mounting base; when the distance between the first jaw mounting base and the second jaw mounting base changes, the first synchronous jaw and the second synchronous jaw move along with the movement of the first jaw mounting base and the second jaw mounting base, respectively; The first synchronous clamp and the second synchronous clamp are both eccentric structures, and the shape curves of the opposite sides of the ends of the first synchronous clamp and the second synchronous clamp match each other; when the first synchronous clamp and the second synchronous clamp move relative to each other, the ends of the first synchronous clamp and the second synchronous clamp clamp or release the target cable.

2. The disordered cable grabbing manipulator clamp according to claim 1, characterized in that: The clamp further includes a buffer mechanism, which is arranged above the main cylinder and is used to provide buffering when the actuator clamps the target cable; The buffer mechanism includes a mounting plate and a buffer plate. The mounting plate is fixedly connected to the master cylinder. A hinge seat is provided on one side of the mounting plate. One side of the buffer plate is hinged to the mounting plate through the hinge seat, and the other side of the buffer plate is connected to the mounting plate through a buffer spring.

3. The disordered cable grabbing manipulator clamp according to claim 2, characterized in that: The clamp further includes a first flange, a second flange and a connecting rod. The second flange is detachably connected to the buffer plate, and the first flange is fixedly connected to the second flange via the connecting rod.

4. The disordered cable grabbing manipulator clamp according to claim 1, characterized in that: The actuator also includes a first limiting portion and a second limiting portion, the first limiting portion is used to limit the inner stroke of the moving stroke between the first synchronous clamp and the second synchronous clamp, and the second limiting portion is used to limit the outer stroke of the moving stroke between the first synchronous clamp and the second synchronous clamp.

5. The disordered cable grabbing manipulator clamp according to claim 4, characterized in that: The first limiting portion is arranged on the second clamp mounting seat, and includes a first bolt threadedly connected to the second clamp mounting seat. A baffle is provided on the first clamp mounting seat. The position of the end of the first bolt is changed by adjusting the depth of the first bolt, thereby adjusting the inner stroke between the first synchronous clamp and the second synchronous clamp.

6. The disordered cable grabbing manipulator clamp according to claim 4, characterized in that: The second limiting portion includes a second bolt, which is slidably connected to the first clamp mounting seat and the second clamp mounting seat respectively. A second nut is provided at one end of the second bolt, and the outer stroke between the first synchronous clamp and the second synchronous clamp is adjusted by adjusting the relative position of the second nut and the second bolt.

7. The disordered cable grabbing manipulator clamp according to claim 1, characterized in that: At least two air ports are provided at one end of the master cylinder, and pneumatic power is input into the master cylinder through the two air ports. A regulating valve is provided at each of the two air ports, and the two regulating valves are used to adjust the opening amount of the two air ports respectively.

8. The disordered cable grabbing manipulator clamp according to claim 1, characterized in that: The second synchronous clamp includes a movable first section, a movable second section and a movable third section. The movable first section, the movable second section and the movable third section are fixedly connected in sequence. The movable first section is fixedly connected or detachably connected to the second clamp mounting seat. A movable end clamping groove is provided on the inner side of the movable third section. The angle between the movable second section and the movable first section and the angle between the movable second section and the movable third section are both obtuse angles.

9. The disordered cable grabbing manipulator clamp according to claim 1, characterized in that: The first synchronous clamp includes a fixed first section, a fixed second section and a fixed third section, the fixed first section, the fixed second section and the fixed third section are fixedly connected in sequence, the fixed first section is fixedly connected or detachably connected to the first clamp mounting seat, a fixed end clamping groove is provided on the inner side of the fixed third section, the angle between the fixed second section and the fixed first section, and the angle between the fixed second section and the fixed third section are both obtuse angles, the fixed first section, the fixed second section and the fixed third section are matched with the opposite side curved surfaces of the mobile first section, the mobile second section and the mobile third section respectively, the second synchronous clamp and the first synchronous clamp grab the disorderly placed target cables through the mobile end clamping groove and the fixed end clamping groove respectively.

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