Intelligent mounting system and method for overhead line system cantilever

Abstract

The intelligent mounting system comprises a mounting module and a ground interaction control module, the mounting module comprises a tool, a working platform, a mechanical arm and a clamping jaw, the tool and the mechanical arm are both mounted on the working platform, the clamping jaw is mounted at the tail end of the mechanical arm, and a 3D visual guiding device is mounted on the clamping jaw; the 3D visual guiding device is used for guiding the clamping jaw to grab the cantilever and the bolt at the same time; the ground interaction control module comprises a main control unit, a data transmission unit, a power supply, a safety unit and a man-machine interaction unit, the main control unit is used for analyzing an instruction of the man-machine interaction unit into a control signal, and the control signal is sent to the mechanical arm control unit through the data transmission unit; the mechanical arm control unit controls the mechanical arm to act and feeds back an execution result and state data to the ground interaction control module. According to the invention, the field construction efficiency is greatly improved, and the intelligence, automation and less manpower of cantilever installation are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of catenary boom assembly for rail transit, and in particular to an intelligent installation system and installation method for catenary booms. Background Art

[0002] With the rapid development of technology, the installation technology of catenary booms for rail transit is also constantly improving. Many new technologies, such as machine vision, laser sensors, intelligent learning, etc., have been widely applied to the installation of booms, making the automated installation technology of catenary booms continuously advancing and evolving. However, while advancing and evolving, the problems of precise positioning and identification still cannot be well solved, and there is a lack of a complete set of automated installation systems.

[0003] Currently, the installation of catenary booms in China mainly relies on manual labor. The general technological process is as follows: First, hang a pulley at the top of the column, firmly fix the pre-assembled boom with a rope, the ground personnel pull the boom to the top of the column, and the personnel above insert the boom into the base and manually insert bolts and tighten nuts. A total of 6 - 7 people are required, and the installation time is about 10 minutes, which consumes a large amount of physical strength of the construction personnel. Especially in harsh environments such as plateaus and deserts, physical exhaustion is serious. Therefore, it is very necessary to carry out research on the automation of boom installation technology and create an intelligent installation process for catenary booms.

[0004] Although mechanization has also emerged in the current installation process, there are mainly problems in the construction equipment level, such as low coverage rate of the whole mechanized process, inflexible high-altitude load-bearing operation, and too long installation preparation time, which bring great inconvenience to installation applications. For the automated installation equipment of catenary booms in the prior art, when inserting into the column base, it generally needs to be assisted by manual labor, and about 3 - 4 people are needed to assist to complete it, and it cannot achieve automatic bolt perforation and tightening of nuts. Summary of the Invention

[0005] In order to overcome the above problems existing in the prior art, the present invention proposes an intelligent installation system and installation method for catenary booms.

[0006] The technical solution adopted by the present invention to solve its technical problems is: An intelligent installation system for catenary booms, including an installation module installed on a rail operation vehicle and a ground interaction control module for controlling the actions of the installation module. The installation module specifically includes: a tooling, an operation platform, a robotic arm, and a gripper. The tooling and the robotic arm are both installed on the operation platform. A gripper is installed at the end of the robotic arm, and a 3D vision guiding device is installed on the gripper. The 3D vision guiding device is used to guide the gripper to simultaneously grab the boom and the bolt, install the boom onto the base, and realize the operation of tightening the bolt through the gripper.

[0007] The ground interaction control module includes a main control unit, a data transmission unit, a power supply, a safety unit, and a human-machine interaction unit. The power supply provides electrical energy for the ground interaction control module. The main control unit is used to parse the instructions of the human-machine interaction unit into control signals, and the control signals are sent to the robotic arm control unit through the data transmission unit. The robotic arm control unit controls the movement of the robotic arm and simultaneously feeds back the execution results and status data to the ground interaction control module. The safety module is used to detect faults of the robotic arm and the robotic arm control unit. The robotic arm control unit uses a dual generative adversarial network to control the movement of the robotic arm.

[0008] For the above-mentioned intelligent catenary boom installation system, the data transmission module includes a communication unit, a data processing unit, and a display unit. The communication unit is used to communicate with the robotic arm control unit. The data processing unit is used to process the received data and perform corresponding operations. The display unit is used to display the status of the robotic arm, operation logs, and 3D vision images.

[0009] For the above-mentioned intelligent catenary boom installation system, the objective function of the dual generative adversarial network is: ; Among them, is the input noise; is the data generated by the generator. G is the generator; E is the encoder, D is the discriminator, and P data is the real data, I is the input data, O is the output data, is the overall standard deviation of the input data, is the overall standard deviation of the output data.

[0010] For the above-mentioned intelligent catenary boom installation system, the jaw includes a back plate, a clamping structure, and a bolt and nut picking structure. At least three groups of clamping structures are installed on the back plate. The clamping structures are arranged in a triangular pattern. One of the clamping structures is installed on the back plate through an adjustable slide rail. The bolt and nut picking structure is installed on the side of the clamping structure corresponding to the end of the catenary boom where bolts and nuts need to be installed. The adjustable slide rail includes a linear slide rail and an arc slide rail. The linear slide rail is installed on the back plate. The arc slide rail is installed on the linear slide rail. The arc slide rail can slide up and down along the linear slide rail. The clamping structure is installed on the arc slide rail and can slide along the arc slide rail.

[0011] The above-mentioned intelligent installation system for catenary wrist arms, wherein the bolt and nut taking structure comprises a mounting frame, a bolt taking structure, and a nut taking structure. The bolt taking structure is installed on the mounting frame through a sliding structure. The nut taking structure corresponds to the bolt taking structure to ensure the matching of bolts and nuts. Both the bolt taking structure and the nut taking structure achieve taking through electromagnetic force.

[0012] An intelligent installation method for catenary wrist arms, adopting the above-mentioned intelligent installation system for catenary wrist arms, specifically includes the following steps: Step 1, place the pre-assembled wrist arm on the bench of the work vehicle; Step 2, the operator inputs a control instruction through the human-machine interaction unit. The main control unit parses the instruction of the human-machine interaction unit into a control signal, and the control signal is sent to the robotic arm control unit through the data transmission unit; Step 3, the robotic arm identifies the wrist arm and bolts through the 3D vision guiding device, and automatically grabs the wrist arm with the gripper. At the same time, the small structure in the gripper grabs the bolts; Step 4, the robotic arm optimizes the motion trajectory through the dual generative adversarial network and raises the wrist arm to the height of the base; Step 5, the 3D vision guiding device at the gripper identifies the position of the base, and controls the motion of the robotic arm through the robotic arm control unit to insert the wrist arm into the base; Step 6, the small structure in the gripper extends, inserts the bolts into the connection holes, tightens the nuts. After tightening, the image data is transmitted to the ground interaction control module through the 3D vision guiding device for confirmation by the operator.

[0013] The beneficial effect of the present invention is that the robotic arm of the present invention is connected to the gripper, the wrist arm is grabbed as a whole, installed on the base of the column, then the bolts are inserted, the nuts are tightened, and finally the installation image is transmitted back to the ground control cabinet through the data transmission system for confirmation by the technical personnel, greatly improving the on-site construction efficiency and realizing the intelligence, automation, and less manpower of wrist arm installation. Description of the Drawings

[0014] Figure 1 is a schematic diagram of the installation module of the present invention; Figure 2 is a technical flow chart of the ground interaction control module of the present invention; Figure 3 is a schematic diagram of the robotic arm coordinates of the present invention; Figure 4 is a schematic diagram of the network structure of the generative adversarial network of the present invention; Figure 5 is a schematic diagram of the network structure of the dual generative adversarial network of the present invention; Figure 6 is a bolt tightening flow chart of the present invention; Figure 7 is the flow chart of the automated installation of the wrist arm of the present invention; Figure 8 is the structural diagram of the fixed base spring clip in the embodiment of the present invention; Figure 9 is the schematic diagram of the jaw structure of the present invention; Figure 10 is the schematic diagram of the bolt and nut taking structure of the present invention. Specific Embodiments

[0015] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0016] This embodiment discloses an intelligent installation system for a catenary wrist arm, including an installation module installed on a rail operation vehicle and a ground interaction control module for controlling the operation of the installation module. The structure of the installation module is as Figure 1 shown, specifically including: a tooling 1, an operation platform 3, a robotic arm 2, and a jaw 7. The tooling 1 and the robotic arm 2 are both installed on the operation platform 3. The operation platform 3 is a lifting platform and is lifted by a hydraulic lifting device 6. A jaw 7 is installed at the end of the robotic arm, and a 3D vision guiding device is installed on the jaw 7. The 3D vision guiding device is used to guide the jaw to simultaneously grab the wrist arm and the bolt, and install the wrist arm on the base, and the bolt tightening operation is realized through the jaw.

[0017] The installation system has a lifting function. During the working period, it can be lifted to more than 5 meters above the air for operation. During the non-working period, the total height of the system is less than 4 meters, meeting the vehicle restrictions and transportation requirements of the railway system. The maximum weight that the robotic arm can grab is 300 kg, and the grabbing object is the pre-assembled wrist arm (the insulator is not restricted and can be a porcelain insulator or a silicone rubber insulator).

[0018] The jaw structure is as Figure 9As shown in the figure, it includes a backboard 7-1, a clamping structure 7-2, and a bolt and nut taking structure 7-4. At least three groups of clamping structures 7-2 (three groups are installed in this embodiment) are installed on the backboard 7-1. The three groups of clamping structures are arranged in a triangle. One of the clamping structures is installed on the backboard 7-1 through an adjustable slide rail 7-3. The bolt and nut taking structure 7-4 is installed on the side of the clamping structure corresponding to the end where the bolt and nut need to be installed on the catenary boom. The clamping structure is provided with torque by a cylinder to clamp the flat boom and the inclined boom. To maintain stability, once the boom is clamped, it will remain motionless. To ensure safety, during the clamping operation, in case of faults such as power failure or air failure, the clamping structure contains a safety locking device and can still lock the boom tightly to ensure that it will not fall off. The adjustable slide rail includes an arc slide rail and a linear slide rail. The linear slide rail is installed on the backboard, and the arc slide rail is installed on the linear slide rail. The arc slide rail can slide up and down along the linear slide rail. The clamping structure is installed on the arc slide rail and can slide along the arc slide rail. The arc slide rail can meet the adjustment within the range of the change angle of 25°-40°, and the linear slide rail can meet the up and down adjustment, so as to meet the change within the range of 1.6 meters - 1.85 meters above and below the column base. The backboard is a metal plate for installing each component. To meet the requirements of safety and lightness during operation, the backboard in this embodiment is processed from aviation aluminum and adopts a skeleton structure.

[0019] As Figure 10 shown, the bolt and nut taking structure includes a mounting bracket 7-6, a bolt taking structure 7-8, and a nut taking structure 7-11. The bolt taking structure 7-8 is installed on the mounting bracket through a sliding structure 7-7. The nut taking structure corresponds to the bolt taking structure to ensure the matching of the bolt and the nut. Both the bolt taking structure and the nut taking structure achieve taking through electromagnetic force. The nut taking structure 7-11 has a function of adjustable torque to complete the nut tightening under the set torque condition. In this embodiment, the adjustable torque function can be realized by an electric wrench with a settable torque value. After setting the torque value, the electric wrench receives a signal trigger and tightens the nut under the set torque.

[0020] The bolt picking structure 7-8 and the nut picking structure 7-11 pick up the bolt 7-9 and the nut 7-10 by electromagnetic force. After the clamping structure grabs the wrist arm and inserts it into the base, the bolt and nut picking structure starts to operate. There is a fixed distance between the bolt and nut picking structure and the screw holes of the upper and lower bases. At this time, the sliding structure 7-7 drives the bolt picking structure to move, inserts the bolt into the screw hole, and then the nut picking structure 7-11 fastens the nut to the bolt. At this time, the nut is fastened according to the preset torque. After the nut fastening is completed, the bolt picking structure 7-8 and the nut picking structure 7-11 release the bolt and the nut, and the task is completed. The slider structure can be any structure that can slide up and down in the prior art. The sliding structure in this embodiment is a sliding rail and slider matching structure. The sliding rail is installed on the mounting frame, and the slider can slide up and down along the sliding rail driven by a micro motor. The bolt picking structure is installed on the slider.

[0021] In this embodiment, the 3D vision positioning technology is adopted. During the working process, the robotic arm gripper is guided to a fixed position to grab the wrist arm and the bolt, and the gripper is guided to insert the wrist arm into the base of the column, with an accuracy reaching the millimeter level. Specifically, ① the wrist arm is placed on the pre-installation bench, which has the function of identifying the wrist arm and the bolt; ② the gripper is guided to grab the wrist arm and the bolt; ③ it has the function of calibrating the relative spatial position between the pre-installation bench and the base of the column; ④ it guides the robotic arm to complete the precise positioning and identification of the base of the column; ⑤ it guides the bolt to be inserted into the base; ⑥ it guides the nut to fasten the bolt; ⑦ it has the ability to meet the interference of different outdoor light intensities, metal surface reflections, etc.; ⑧ the visual guidance accuracy reaches the millimeter level. In this embodiment, the 3D vision positioning technology is any technology in the prior art that can achieve the above process (such as the technology disclosed in the Chinese invention patent with the patent number CN117464686B), which will not be elaborated here.

[0022] In a specific embodiment, the base 4 is located on the column 5. During installation, first drive the rail operation vehicle to the column and position the relative position of the robotic arm and the base (which belongs to the prior art and will not be elaborated here). Since the base can freely deflect by 180°, it is not conducive to the insertion of the wrist arm. To solve this problem, this embodiment designs an elastic clip, such as Figure 8 shown. Use this clip to fix the base so that its opening direction is perpendicular to the column, and then insert the wrist arm. Figure 8 The specific use process of the elastic clip is as follows: The spring clip structure has 2 pairs of springs, namely 2 horizontal springs and 2 vertical springs. The installation and use process is as follows: First, pull open the cavity of the horizontal spring forcefully, insert the base into the cavity of the spring clip, and the 2 pairs of horizontal springs can tightly clamp the base; the vertical springs are also used to fix the base and fasten the base in the up and down direction. It can be opened and closed by stretching forcefully.

[0023] The technical flow chart of the ground interaction control module is as Figure 2As shown in the figure, the ground interaction control module includes a main control unit, a data transmission unit, a power supply, a safety unit, and a human-machine interaction unit. The power supply provides electrical energy for the ground interaction control module. The main control unit is used to parse the instructions of the human-machine interaction unit into control signals, and the control signals are sent to the robotic arm control unit through the data transmission unit. The robotic arm control unit controls the movement of the robotic arm and at the same time feeds back the execution results and status data to the ground interaction control module. The safety module is used to detect the faults of the robotic arm and the robotic arm control unit.

[0024] In this embodiment, the data transmission module includes a communication unit, a data processing unit, and a display unit. The communication unit is used to communicate with the robotic arm control unit; there are data processing units both in the ground control cabinet and in the robotic arm, which are used to process the received data and perform corresponding operations; the display unit is used to display the robotic arm status, operation logs, and 3D vision images.

[0025] In a specific embodiment, the ground interaction control module is installed in the ground interaction control cabinet, and the functions of the ground interaction control cabinet are implemented through PLC programming language; indicator lights are installed and arranged on the side of the cabinet body of the ground interaction control cabinet, including: in-cabinet power supply indicator light, control power supply indicator light, operation status indicator light, and fault alarm indicator light, etc.; all operation buttons are implemented through a liquid crystal touch panel, and there is an emergency shutdown switch; all power supply inlets and outlets are connected by cables, and all power cables are directly connected to the corresponding inlet or outlet circuit components, and it is ensured that the cable connection points have good testability and maintainability; all parts of the cabinet body frame and installation board are ensured to be reliably grounded, and ventilation and cooling settings for each component are made.

[0026] In order to improve the motion accuracy of the robotic arm and thus improve the working efficiency of the robotic arm, this embodiment designs a dual generative adversarial network for robotic arm motion trajectory control. First, the structure of the robotic arm is analyzed. First, the spatial dynamic motion process of the robotic arm is analyzed in the Cartesian space, and the optimal torque value during the robotic arm motion is obtained. And according to the structural characteristics of the robotic arm, a coordinate system of the robotic arm is established as Figure 3 shown.

[0027] In Figure 3 , O0 is the coordinate system of the fixed base of the robotic arm, and O1, O2, O3, O4, O5, and O6 are the coordinate systems of the waist joint point, the upper arm joint point, the turning joint point, the lower arm joint point, the hand joint point, and the gripper joint point respectively. l i (i = 1, 2, 3, 4, 5, 6) are the lengths of each connecting arm.

[0028] On this coordinate system, through the transformation matrix of each joint point of the robotic arm, the kinematic equation T of the robotic arm is obtained, as shown in the following formula: ; In the formula, and are constant matrices, is the rotation matrix between the end effector and the base coordinate system, is the position matrix between the end effector and the base coordinate system, and have the following expressions: ; ; In the formula: , , , are respectively the normal vector, direction vector, motion vector and position vector of the end effector.

[0029] Let the joint position, velocity, and acceleration vectors of the joint be q, and respectively. Then, according to the law of conservation of energy, the inverse dynamics model of the manipulator can be obtained using the Lagrangian function as ; In the formula, M is the generalized inertia matrix, C is the generalized bias force including Coriolis force, centrifugal force and friction terms, g is the gravity, J is the Jacobian matrix, F is the external force applied to the end effector, and τ is the generalized force vector.

[0030] The generative adversarial network is mainly composed of a generator G and a discriminator D in structure. Its structural schematic diagram is as Figure 4 shown.

[0031] Then, the position vector of the end effector of the manipulator, joint velocity and other information are combined with the encoder to obtain a bidirectional generative adversarial network: ; In the formula, P data and P Z are the real data and noise distribution respectively. It can be seen from the above formula that the training objective of the generative adversarial network (GAN) lies in dual optimization: on the one hand, optimizing the discriminator (D) to accurately assign the correct label to the input real data and the samples from the generator (G), ensuring that they can be effectively distinguished; on the other hand, optimizing the generator (G) to minimize the probability that the samples generated by it are misjudged as fake samples by the discriminator. Or rather, making the generator be able to generate more and more realistic samples so that the discriminator is difficult to distinguish.

[0032] When solving the inverse kinematics of the manipulator, the position vector of the end effector in the workspace can be Regard the input data as I, and the joint states that control the end effector to reach the corresponding positions as output O. When solving the inverse dynamics of the robotic arm, the joint q, and can be regarded as the input data I, and the generalized force vector τ is regarded as the output O. After obtaining I, Gaussian distribution N(I, ) sampling can be performed on I through the predefined variance to obtain the input noise , and regard the data output by the generator G as . At this time, the above formula can be rewritten as ; ; In the formula, || represents the concatenated form of the data I and O in the dataset.

[0033] After that, based on the bidirectional generative adversarial network, additional "pseudo" data is generated according to the sample data O from the natural dataset. These additional samples and the corresponding "randomly generated are used to train the encoder E. A dual generative adversarial network is designed, and the objective function is as follows: ; where is the input noise; is the data generated by the generator , G is the generator; E is the encoder, D is the discriminator, P data is the real data, I is the input data, O is the output data, is the overall standard deviation of the input data, is the overall standard deviation of the output data.

[0034] Figure 5 The schematic diagram of its network structure is as shown in .

[0035] Figure 5 In , U is the optimizer, I is the input data, is the mapped data generated by the generator, is the input noise, G is the generator, E is the encoder, is the data generated by the generator , and

[0036] is the pseudo data generated by the natural dataset.

[0037] The dual generative adversarial network is used to control the motion trajectory of the robotic arm. By optimizing the objective function, the purpose of optimizing the operation trajectory of the robotic arm is achieved, and the operation efficiency is improved.According to the intelligent operation process and mode, this embodiment realizes the intelligence, automation, and less manpower of the pantograph installation function. The whole process of pantograph grasping, positioning identification, installation, and bolt tightening is automated. Combining the distribution position of the catenary column and the intelligent transportation of the work vehicle, the design of the supporting installation template is realized. What this invention realizes is the automatic installation of a single pantograph. During the installation process, the pre-assembled pantograph is grasped, and the pre-assembly and installation of the pantograph can be carried out synchronously, greatly improving the on-site use efficiency and forming a new continuous operation method and process for pantographs. The continuous operation process of pantograph installation is as Figure 7 shown, and specifically includes the following steps: Step 1, Place the pre-assembled pantograph on the bench of the work vehicle. Step 2, The operator inputs a control instruction through the man-machine interaction unit. The main control unit parses the instruction of the man-machine interaction unit into a control signal, and the control signal is sent to the robotic arm control unit through the data transmission unit. Step 3, The robotic arm identifies the pantograph and bolts through the 3D vision guiding device, automatically grasps the pantograph with the gripper, and at the same time, the small structure in the gripper grasps the bolts. Step 4, The robotic arm optimizes the motion trajectory through the dual generative adversarial network and lifts the pantograph to the height of the base. Step 5, The 3D vision guiding device at the gripper identifies the position of the base, and controls the movement of the robotic arm through the robotic arm control unit to insert the pantograph into the base. Step 6, The small structure in the gripper extends, inserts the bolt into the connection hole, tightens the nut. After tightening, the image data is transmitted to the ground interaction control module through the 3D vision guiding device for confirmation by the operator.

[0038] The specific process of tightening the nut is as Figure 6 shown. After installing the pantograph on the base, the gripper holding the bolt and nut extends, finds the void through the 3D vision guiding device, the gripper holding the bolt inserts the bolt into the screw hole, the gripper holding the nut slews the nut onto the bolt and performs nut tightening. After completion, the image data is transmitted to the ground interaction control module through the 3D vision guiding device for confirmation by the operator.

[0039] The working robotic arm is connected to the gripper and the installation mother board, grasps the pantograph as a whole, installs it on the base of the column, then inserts the bolt, tightens the nut, and finally transmits the installation image back to the ground interaction control cabinet through the data transmission system (the ground interaction control cabinet is installed in the control room of the work vehicle to achieve the purpose of effective waterproof and dustproof), and is confirmed by the technical personnel. To improve the installation efficiency and respond to emergencies, the ground interaction control cabinet in this embodiment can interactively control the installation system, greatly improving the on-site construction efficiency. The installation time of a single pantograph is no more than 4 minutes, and there is 1 operator.

[0040] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art can make various modifications or equivalent substitutions within the essence and protection scope of the present invention, and such modifications or equivalent substitutions should also be regarded as falling within the protection scope of the present invention.

Claims

1. An intelligent installation system for a contact network arm, characterized in that: It includes an installation module installed on the rail working vehicle and a ground interactive control module for controlling the movement of the installation module. The installation module specifically includes: a tool, a work platform, a mechanical arm, and a clamp. The tool and the mechanical arm are both installed on the work platform. A clamp is installed at the end of the mechanical arm, and a 3D visual guidance device is installed on the clamp. The 3D visual guidance device is used to guide the clamp to grab the wrist arm and the bolt at the same time, and install the wrist arm on the base, so as to realize the bolt tightening operation through the clamp; The ground interactive control module includes a main control unit, a data transmission unit, a power supply, a safety unit, and a human-computer interaction unit. The power supply provides electrical energy for the ground interactive control module. The main control unit is used to parse the instructions of the human-computer interaction unit into control signals, and the control signals are sent to the robotic arm control unit through the data transmission unit. The robotic arm control unit controls the movement of the robotic arm and feeds back the execution results and status data to the ground interactive control module. The safety module is used to detect faults of the robotic arm and the robotic arm control unit. The robotic arm control unit uses a dual generative adversarial network to control the movement of the robotic arm.

2. The contact network arm intelligent installation system according to claim 1, characterized in that: The data transmission module includes a communication unit, a data processing unit, and a display unit. The communication unit is used to communicate with the robotic arm control unit; the data processing unit is used to process the received data and perform corresponding operations; the display unit is used to display the robotic arm status, operation log, and 3D visual image.

3. The contact network arm intelligent installation system according to claim 1, characterized in that: The objective function of the dual generative adversarial network is: ； in, is the input noise; for The data generated by the generator, G is the generator; E is the encoder, D is the discriminator, P data is the real data, I is the input data, O is the output data, is the population standard deviation of the input data, is the overall standard deviation of the output data.

4. The contact network arm intelligent installation system according to claim 1, characterized in that: The clamping jaws include a back plate, a clamping structure, and a bolt and nut picking structure. At least three groups of clamping structures are installed on the back plate. The clamping structures are arranged in a triangle, one group of the clamping structures is installed on the back plate through an adjustable slide rail, and the bolt and nut picking structure is installed on the side of the clamping structure corresponding to one end of the contact network arm where the bolts and nuts need to be installed; The adjustable slide rail includes a linear slide rail and an arcuate slide rail. The linear slide rail is installed on the back plate, and the arcuate slide rail is installed on the linear slide rail. The arcuate slide rail can slide up and down along the linear slide rail. The clamping structure is installed on the arcuate slide rail and can slide along the arcuate slide rail.

5. The contact network arm intelligent installation system according to claim 4, characterized in that: The bolt and nut picking structure includes a mounting frame, a bolt picking structure, and a nut picking structure. The bolt picking structure is installed on the mounting frame through a sliding structure. The nut picking structure corresponds to the bolt picking structure to ensure the matching of the bolt and nut. Both the bolt picking structure and the nut picking structure are picked up through electromagnetic force.

6. A method for intelligent installation of a contact network arm, characterized in that: A contact network arm intelligent installation system according to any one of claims 1 to 5 is used, which specifically comprises the following steps: Step 1, placing the pre-assembled arm on the workbench of the working vehicle; Step 2: The operator inputs a control instruction through the human-machine interaction unit, and the main control unit interprets the instruction of the human-machine interaction unit into a control signal, which is sent to the robot control unit through the data transmission unit; Step 3: The robot arm identifies the wrist and bolt through the 3D vision guidance device, and automatically grabs the wrist with the gripper, while the small structure in the gripper grabs the bolt; Step 4: The robot arm optimizes the motion trajectory through the dual generative adversarial network and lifts the wrist to the height of the base; Step 5: The 3D vision guidance device at the gripper identifies the position of the base, and controls the movement of the robotic arm through the robotic arm control unit to insert the wrist arm into the base; Step 6: The small structure in the gripper extends out, inserts the bolt into the link air, and tightens the nut. After tightening, the image data is transmitted to the ground interactive control module through the 3D vision guidance device for confirmation by the operator.

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