An intelligent catenary dropper pre-assembly production line

Abstract

The present invention discloses an intelligent suspension string pre-assembly production line, comprising a frame and a copper stranded wire positioning and straightening unit, a robot threading unit, a pressing and winding unit, a connecting wire clamp pressing unit and a servo moving unit which are jointly arranged on the frame. The pressing and winding unit comprises a pressing tube pressing unit and a heart-shaped ring positioning and winding unit. The copper stranded wire positioning and straightening unit is used to straighten and cut the copper stranded wire; the robot threading unit is used to clamp the copper stranded wire of a set length, pass it through the pressing tube, and then pass it back to the pressing tube and into the connecting wire clamp after winding it on the heart-shaped ring positioning and winding unit; the connecting wire clamp pressing unit is used to press the connecting wire clamp; the servo moving unit is used to drive one group of the pressing and winding units to move a set distance; the pressing tube pressing unit is used to press the pressing tube. The present invention can realize the pre-assembly production of suspension string pre-assembly through the cooperation of various units, thereby improving production efficiency and effectively reducing the labor intensity of workers.

Description

Technical Field

[0001] The present invention belongs to the technical field of prefabrication processing production of suspension strings, and more specifically, relates to an intelligent production line for prefabricating suspension strings. Background Art

[0002] With the rapid development of railway construction in China, new requirements have been put forward for the process quality standards of related components in the railway industry, and the requirements for the construction and maintenance accuracy of the driving line are getting higher and higher. In the driving line of the railway, the catenary is an important part to ensure the normal operation of the railway. It is connected to the electrical railway power supply line and plays the role of supplying power to the entire electric locomotive traction system and train auxiliary equipment.

[0003] In the catenary system of the train, the suspension string is an essential structure, which is mainly used to stably suspend the contact wire below the carrier cable, ensure the stability and safety of the contact wire setting, and ensure that the contact wire can be reliably matched with the pantograph on the top of the train.

[0004] In the process of prefabricating and processing the catenary suspension string, the existing processes such as feeding, threading, clamping, and crimping of the suspension string prefabrication often rely on the operation of skilled workers, resulting in cumbersome manual operation processes, high labor intensity of workers, low production efficiency, and high processing costs of the suspension string. At the same time, manual assembly is difficult to guarantee product quality, the consistency of product performance is poor, the qualified rate is low, and there is a risk of suspension string prefabrication failure in later applications. Summary of the Invention

[0005] In view of the above defects or improvement requirements of the prior art, the present invention provides an intelligent production line for prefabricating suspension strings, which can realize the wire cutting, threading, feeding, and crimping of the suspension string in the prefabrication production of the suspension string, ensure the continuity and accuracy of the suspension string prefabrication process, and reduce the manual labor in the suspension string prefabrication process.

[0006] To achieve the above object, according to one aspect of the present invention, there is provided an intelligent production line for prefabricating suspension strings, characterized in that it includes a frame and a copper stranded wire positioning and straightening unit, a robot threading unit, a crimping and winding unit, a connecting wire clamp crimping unit, and a servo moving unit that are commonly arranged on the frame. The crimping and winding unit has two groups, and each group of the crimping and winding unit includes a compression tube crimping unit and a heart-shaped ring positioning and winding unit, wherein:

[0007] The copper stranded wire positioning and straightening unit is used to straighten and cut the copper stranded wire to obtain a copper stranded wire with a set length;

[0008] For the copper stranded wire of a set length, the robot wire threading unit is used to perform the following operations on each end of the copper stranded wire respectively on a set of the crimping and winding units: clamping the copper stranded wire of the set length, passing one end of the copper stranded wire through a crimping tube placed on the crimping tube pressing unit, then winding a heart-shaped part matching the heart-shaped ring placed on the heart-shaped ring positioning and winding unit around the heart-shaped ring positioning and winding unit, after that passing this end through the crimping tube again, then clamping this end and passing this end into a connection terminal clamp placed on the connection terminal clamp pressing unit;

[0009] There are two sets of the connection terminal clamp pressing units, which are used to crimp the connection terminal clamps after each end of the copper stranded wire penetrates into the connection terminal clamps, so as to fix both ends of the copper stranded wire by the connection terminal clamps;

[0010] The servo moving unit is used to drive one set of the crimping and winding units to move a set distance, so that each of the heart-shaped parts tightly presses the heart-shaped ring at the corresponding position;

[0011] The crimping tube pressing unit is used to crimp the crimping tube after the heart-shaped part is tightly attached to the heart-shaped ring, so as to fix the crimping tube on the copper stranded wire.

[0012] Preferably, the copper stranded wire positioning and straightening unit includes a guiding component and a clamping component, wherein:

[0013] The guiding component includes multiple sets of guiding wheel pairs. Each set of guiding wheel pairs includes a power device and two guiding wheels arranged symmetrically up and down. The power device is connected to one of the guiding wheels to drive the guiding wheel to rotate, so as to drive the copper stranded wire between the two guiding wheels to move;

[0014] The clamping component includes multiple sets of pneumatic grippers. For each set of pneumatic grippers, it includes a cylinder and two grippers installed on the cylinder. A clamping wheel is installed on each gripper, and the two clamping wheels are used to cooperate to clamp and release the copper stranded wire moving from the guiding component;

[0015] The center line of each guiding wheel is horizontally arranged, and the center line of each clamping wheel is vertically arranged;

[0016] The plane where the center lines of the two guiding wheels of any set of guiding wheel pairs are located is perpendicular to the plane where the center lines of the two clamping wheels on any set of pneumatic grippers are located.

[0017] Preferably, the copper stranded wire is wound on a wire pay-off reel;

[0018] A copper stranded wire length measuring module and an electric scissors are further installed on the frame. The copper stranded wire length measuring module is connected to the controller to obtain the required copper stranded wire length information;

[0019] The electric scissors are installed on the frame to cut the copper stranded wire to obtain the copper stranded wire with the required length.

[0020] Preferably, the robot wire threading unit includes a six-axis robot and a clamping device, wherein:

[0021] The clamping device includes a support frame and multiple groups of pneumatic grippers. The support frame is installed at the end of the six-axis robot, and each group of pneumatic grippers is installed on the support frame;

[0022] For each group of pneumatic grippers, each of them includes a cylinder and two grippers installed on the cylinder. Each gripper is made of a rod, and an arc-shaped groove for accommodating the copper stranded wire is provided at one end of each gripper away from the cylinder, and the arc-shaped groove is provided on the opposite sides of the two grippers for cooperating to clamp the copper stranded wire.

[0023] Preferably, the crimping sleeve crimping unit includes a servo motor, a double-threaded lead screw, and a slide rail;

[0024] One end of the double-threaded lead screw is connected to the servo motor through a coupling for driving the double-threaded lead screw to rotate forward or backward; the other end of the double-threaded lead screw is rotationally matched on a bracket;

[0025] External threads with opposite rotation directions are respectively provided at both axial ends of the double-threaded lead screw, and mounting blocks are respectively sleeved on the outer peripheries of both ends of the double-threaded lead screw; the two mounting blocks are respectively in threaded match with the double-threaded lead screw to form two screw lead screw pairs;

[0026] The axis of the slide rail is parallel to the axis of the double-threaded lead screw, and sliders are respectively provided on the slide rail corresponding to the two mounting blocks, and the mounting blocks are installed on the corresponding sliders; meanwhile, molds are respectively provided on the opposite end faces of the two mounting blocks for clamping or crimping the crimping sleeve after the two molds are matched.

[0027] Preferably, the heart-shaped ring positioning and winding unit includes a heart-shaped ring support bracket, a positioning pin combination, and a limit plate, wherein,

[0028] The heart-shaped ring support bracket is installed on the frame. A flange structure is provided on one side of the top of the heart-shaped ring support bracket, and the positioning pin combination is arranged at the flange structure. The positioning pin combination includes a main positioning pin and a secondary positioning pin, and the main positioning pin and the secondary positioning pin are clamped in the heart-shaped ring to position and fix the heart-shaped ring; a limit groove for winding out the heart-shaped part is provided at the top of the heart-shaped ring support bracket;

[0029] One side of the heart-shaped ring bracket is connected with a pressing plate through a connecting shaft. The rotation of the connecting shaft can drive the pressing plate to rotate downward until it contacts the top surface of the heart-shaped ring bracket, so that the pressing plate presses on the copper stranded wire bypassing through the limiting groove at the top of the heart-shaped ring bracket.

[0030] Preferably, the connecting wire clamp pressing unit includes a cylinder, a support seat, a cylinder, a gas-liquid intensifying cylinder and a pressing die, wherein:

[0031] The cylinder is installed on the frame. A guide rail is horizontally installed on the frame, and the guide rail is parallel to the output shaft of the cylinder. The support seat is installed on the guide rail through a slider. The output shaft of the cylinder is connected to the support seat, and the gas-liquid intensifying cylinder and the cylinder are installed on the support seat;

[0032] The pressing die includes an upper die and a lower die. The upper die is installed on the output shaft of the gas-liquid intensifying cylinder, and the lower die is installed on the support seat;

[0033] The output shaft of the gas-liquid intensifying cylinder is vertically downward, and the output shaft of the cylinder is vertically upward. A base for receiving the connecting wire clamp is installed on the output shaft of the cylinder, so that when moving downward, the straight end of the connecting wire clamp on the base is placed on the lower die, so that the upper die and the lower die cooperate to clamp or press the straight end of the connecting wire clamp.

[0034] Preferably, the servo moving unit is arranged on the frame to carry one of the pressing and winding units and drive the pressing and winding unit to reciprocate horizontally. The servo moving unit includes a guiding unit, a sliding unit and a driving unit;

[0035] The guiding unit is arranged longitudinally on the frame. The sliding unit is matched with the guiding unit and can reciprocate longitudinally along the guiding unit;

[0036] The guiding unit is of a slide table structure, or the guiding unit is at least three slide rail units arranged horizontally at intervals;

[0037] The driving unit is arranged corresponding to the sliding unit and the guiding unit to drive the reciprocating movement of the sliding unit on the guiding unit.

[0038] Preferably, a circulating feeding unit is further included. The circulating feeding unit includes a buffer unit and a feeding unit, wherein:

[0039] The buffer unit includes a vibrating bowl, a discharge channel, a cylinder, and a buffer die. The vibrating bowl is mounted on the frame. The vibrating bowl includes a vibrating bowl body for storing suspension fittings and a spiral feeding channel installed on the inner wall of the vibrating bowl body. The outlet of the spiral feeding channel is connected to the inlet of the discharge channel. The height of the outlet of the discharge channel is less than the height of the inlet of the discharge channel. Among them, the suspension fittings are compression sleeves, heart-shaped rings, or connecting wire clips;

[0040] The cylinder is mounted on the frame, and the buffer die is mounted on the output shaft of the cylinder for driving the buffer die to move up and down. The buffer die is correspondingly arranged at the outlet of the discharge channel, and a receiving space is arranged on the buffer die for receiving the suspension fittings coming out of the discharge channel;

[0041] The feeding unit includes a six-axis robot and a pneumatic gripper. The lower end of the six-axis robot is mounted on the frame, and the pneumatic gripper is mounted at the end of the six-axis robot. The pneumatic gripper includes a cylinder and two grippers mounted on the cylinder for gripping the suspension fittings on the buffer die to the feeding position.

[0042] Preferably, it further includes a copper stranded wire position correction device, which includes a copper stranded wire matching component and a spatial displacement component;

[0043] The copper stranded wire matching component is arranged at the end of the spatial position component for matching the copper stranded wire to be fed at the feeding station and correcting its feeding position;

[0044] The spatial displacement component includes a plurality of displacement units connected in sequence vertically. The plurality of displacement units include at least one lateral displacement unit and at least one vertical displacement unit; each displacement unit has a telescopic shaft that can reciprocally expand and contract horizontally or vertically. An installation plate is arranged on the telescopic shaft. Any one of the displacement units is fixedly connected to the adjacent displacement unit below it through the installation plate; and the copper stranded wire matching component is arranged on the installation plate of the displacement component at the top of the spatial displacement component and can perform lateral displacement and / or vertical displacement under the drive of the spatial displacement component, so as to realize the position correction of the copper stranded wire horizontally and / or vertically.

[0045] Generally speaking, compared with the prior art through the above technical solutions conceived by the present invention, the following beneficial effects can be obtained:

[0046] 1) Through the cooperation of the copper stranded wire positioning and straightening unit, the robot wire threading unit, the crimping sleeve crimping unit, the heart-shaped ring positioning and winding unit, the connecting wire clamp crimping unit and the servo moving unit, the present invention can realize the pre-assembly production of the suspension clamp, thereby improving the production efficiency and effectively reducing the labor intensity of workers.

[0047] 2) In the copper stranded wire positioning and straightening unit of the present invention, a power device of a pair of guide wheels drives one of the guide wheels, making this guide wheel the driving wheel, which can cooperate with the other guide wheel of the pair of guide wheels to drive the copper stranded wire forward. Moreover, two clamping wheels on each group of pneumatic jaws can cooperate to clamp the copper stranded wire. The pair of guide wheels can position and straighten the copper stranded wire from the up and down directions, and the two clamping wheels on the jaws can position and straighten the copper stranded wire from both sides of the copper stranded wire. Therefore, the guide assembly and the clamping assembly can straighten the copper stranded wire from four directions, ensuring the accurate positioning and normal straightening of the copper stranded wire, and facilitating the six-axis robot to pick up the copper stranded wire and pass it through the crimping ring.

[0048] 3) The crimping sleeve crimping unit of the present invention utilizes the corresponding setting of the opposite rotation directions of the external threads at both ends of the double-threaded screw rod, and the corresponding setting of the mounting blocks on the outer circumferences at both ends of the double-threaded screw rod and the molds on the mounting blocks, effectively realizing the synchronous control of the separation or approach of the two molds, achieving the rapid conversion of the two molds between the non-working state, the clamping state, and the crimping state, effectively improving the efficiency and accuracy of the clamping and crimping of the crimping sleeve, reducing the additional manual labor introduced in the process of suspension clamp processing due to the crimping sleeve crimping process, reducing the labor intensity and labor cost of suspension clamp processing, improving the automation degree of suspension clamp assembly, and reducing the cost of suspension clamp assembly.

[0049] 4) A clamping assembly is installed at the end of the six-axis robot of the robot wire threading unit of the present invention. The six-axis robot can drive the clamping assembly to move to a set position to pick up the copper stranded wire, and then can drive the copper stranded wire through the crimping ring and drive the copper stranded wire to wind around a set path and then pass through the crimping ring again, thereby winding the copper stranded wire into a set shape, facilitating the subsequent fixing of the heart-shaped ring on the copper stranded wire.

[0050] 5) The connecting wire clamp crimping unit of the present invention uses a cylinder to drive the support seat and the cylinder on the support seat to move to a set position, facilitating the six-axis robot to place the picked-up connecting wire clamp on the base. Moreover, after the output shaft of the cylinder moves down, it can conveniently place the straight end of the connecting wire clamp on the lower die of the crimping mold, thereby realizing the automation of material picking and placing.

[0051] 6) In the heart-shaped ring positioning and winding unit of the present invention, a positioning pin is used to position the heart-shaped ring, and under the clamping of the rotatable pressing plate and the frame, when the copper stranded wire walks in the limiting groove, the copper stranded wire is positioned so that it does not warp, and the 180-degree wire routing turn is successfully completed.

[0052] 7) The servo moving device of the catenary suspension pre-assembly production equipment of the present invention accurately controls the movement of the servo motor through a PCL control system, precisely controls the preparation length of the suspension, and provides an appropriate pre-tension force for the suspension, effectively improving the preparation accuracy and production efficiency of the suspension and reducing the manufacturing cost of the suspension; in addition, through the mutual cooperation of a variety of guiding units, sliding units and driving units, the movement of the suspension end processing mechanism arranged on the sliding unit is accurately driven to ensure that the suspension wire is tightly attached to the heart-shaped ring while ensuring the accurate size of the suspension, and providing an appropriate pre-tension force for the suspension, effectively improving the preparation accuracy and production efficiency of the suspension and reducing the manufacturing cost of the suspension.

[0053] 8) The circulating feeding unit of the present invention constructs a vibrating disk and a discharging channel to guide each suspension fitting to the buffer die and wait to be grabbed and fed, providing conditions for the automatic and continuous supply of suspension fittings by the feeding unit, replacing the traditional manual feeding, with the characteristics of high efficiency, precision, high degree of automation, etc., solving the problem of automatic feeding and assembly of suspension fittings, constituting an important part of the feeding of the suspension pre-assembly automatic production line, reducing the extra manual labor introduced by the feeding and buffering of suspension fittings during the suspension processing, reducing the labor intensity and labor cost of suspension processing, improving the degree of automation of suspension assembly, and reducing the cost of suspension assembly.

[0054] 8) The stranding position correction device of the present invention adjusts the displacement through the horizontal displacement unit and the vertical displacement unit to match the stranding matching component with the stranding to be fed. The combination of the horizontal displacement unit and the vertical displacement unit realizes the vertical and horizontal displacement functions of the device, avoids the blind area of device operation, and collaborates with the robotic arm to complete the position correction work of the stranding to be fed. Description of the Drawings

[0055] Figure 1 is the structural schematic diagram of the present invention;

[0056] Figure 2 is the structural schematic diagram of the copper stranding positioning and straightening unit of the present invention;

[0057] Figure 3 is the three-dimensional structural schematic diagram of the crimping tube crimping unit of the present invention;

[0058] Figure 4 is the partial structural schematic diagram of the crimping tube crimping unit of the present invention;

[0059] Figure 5 is the overall structural schematic diagram of the copper stranding position correction device of the present invention;

[0060] Figure 6 is the structural schematic diagram of the displacement adjustment module of the copper stranding position correction device of the present invention;

[0061] Figure 7 It is a schematic structural diagram of the copper strand matching component of the copper strand position correction device in the present invention;

[0062] Figure 8 It is a schematic structural diagram of the circulating feeding unit for the connection clamp in the present invention;

[0063] Figure 9 It is Figure 8 An enlarged schematic diagram of part A in;

[0064] Figure 10 It is Figure 8 An enlarged schematic diagram of part B in;

[0065] Figure 11 It is a schematic diagram of the orientation mechanism of the buffer unit for the connection clamp installed on the spiral feeding channel in the present invention;

[0066] Figure 12 It is a schematic diagram of the feeding mechanism in the present invention;

[0067] Figure 13 It is an enlarged schematic diagram of the pneumatic gripper of the feeding mechanism in the present invention;

[0068] Figure 14 It is a schematic structural diagram of the wire threading unit in the present invention;

[0069] Figure 15 It is a schematic structural diagram of the connection clamp pressing unit;

[0070] Figure 16 It is Figure 15 An enlarged schematic diagram of part A in;

[0071] Figure 17 It is a partial schematic diagram of the connection clamp pressing unit in the present invention;

[0072] Figure 18 It is a schematic diagram of the overall structure of the wire winding system of the heart-shaped ring positioning machine in the present invention;

[0073] Figure 19 It is a partial enlarged view in the heart-shaped ring positioning and wire winding unit of the present invention;

[0074] Figure 20 It is a diagram showing the pressing state of the pressing plate at the wire winding position in the heart-shaped ring positioning and wire winding unit of the present invention;

[0075] Figure 21 It is a schematic structural diagram of the servo moving unit in the present invention;

[0076] Figure 22 It is a three-dimensional schematic diagram of the buffer unit for the compression joint in the present invention;

[0077] Figure 23 It is a partial structural schematic diagram of the buffer unit for the compression joint tube in the present invention;

[0078] Figure 24 It is a schematic diagram of the buffer unit for the heart-shaped ring in the present invention;

[0079] Figure 25 It is a partially enlarged schematic diagram of the buffer unit for the heart-shaped ring in the present invention;

[0080] Figure 26 is Figure 1 a schematic diagram after removing the frame, buffer unit and servo moving unit in Detailed implementation manners

[0081] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various implementation manners of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0082] Referring to the accompanying drawings, an intelligent suspension string pre-assembly production line includes a frame 1000 and a copper stranded wire positioning and straightening unit 100, a robot threading unit 600, a compression and winding unit 280, a connecting clamp compression unit 700 and a servo moving unit 900 that are jointly arranged on the frame 1000. The compression and winding unit 280 has two groups, and each group of the compression and winding unit 280 includes a compression joint tube compression unit 200 and a heart-shaped ring positioning and winding unit 800, wherein:

[0083] The copper stranded wire positioning and straightening unit 100 is used to straighten and cut the copper stranded wire to obtain a copper stranded wire of a set length;

[0084] Specifically, the copper stranded wire positioning and straightening unit 100 includes a straightening unit bracket 101 and a guiding component 102 and a clamping component 103 that are jointly installed on the straightening unit bracket 101, wherein:

[0085] The guiding component 102 includes multiple groups of guiding wheel pairs 104. Each group of the guiding wheel pairs 104 includes a power device and two guiding wheels 105 that are symmetrically arranged up and down. The power device is connected to one of the guiding wheels 105 to drive the guiding wheel 105 to rotate, so as to drive the copper stranded wire 106 between the two guiding wheels 105 to move; the guiding component 102, as the inlet end of the copper stranded wire 106 of the present invention, can pre-guide the copper stranded wire 106 and can make the copper stranded wire 106 move in a horizontal state without bending up and down;

[0086] The clamping assembly 103 includes multiple groups of pneumatic grippers 107. For each group of the pneumatic grippers 107, it includes a first cylinder 108 and two grippers 109 mounted on the first cylinder 108. A clamping wheel 110 is mounted on each of the grippers 109. The two clamping wheels 110 are used to cooperate to clamp and release the copper stranded wire 106 that moves from the guiding assembly 102.

[0087] The center line of each guiding wheel 105 is horizontally arranged, and the center line of each clamping wheel 110 is vertically arranged.

[0088] The plane where the center lines of the two guiding wheels 105 of any group of guiding wheel pairs 104 are located is perpendicular to the plane where the center lines of the two clamping wheels 110 on any group of pneumatic grippers 107 are located. This can ensure that the copper stranded wire 106 does not bend up and down or left and right, so that it can move horizontally and linearly under the drive of the guiding wheels 105, and can be in a straight line after passing through the guiding wheels 105 and the clamping wheels 110 and thus be clamped by the six-axis robot.

[0089] The guiding wheel pair 104 of the guiding assembly 102 can position and straighten the copper stranded wire 106 from the up and down directions, and the two clamping wheels 110 on the gripper 109 can position and straighten the copper stranded wire 106 from both sides of the copper stranded wire 106. Therefore, the guiding assembly 102 and the clamping assembly 103 can straighten the copper stranded wire 106 from four directions, ensuring the accurate positioning and straightening of the copper stranded wire 106, which is convenient for the six-axis robot at the subsequent station to clamp the copper stranded wire 106 and pass it through the crimping ring. After the six-axis robot clamps the copper stranded wire 106, the two clamping wheels 110 on the pneumatic gripper 107 release the copper stranded wire 106. As a preferred feeding method, a batch of copper stranded wires 106 with a set length can be prepared in advance. The copper stranded wire 106 can be sent to the guiding assembly 102 by manual feeding or by the six-axis robot. Both of these methods require the copper stranded wire to be cut in advance.

[0090] Furthermore, the copper stranded wire 106 is wound on a wire reel, and wire feeding is carried out through the wire reel.

[0091] A copper stranded wire length measuring module and an electric scissors are also mounted on the straightening unit bracket 101. The copper stranded wire length measuring module is connected to the controller to obtain the required copper stranded wire length information.

[0092] The electric scissors are mounted on the straightening unit bracket 101 to cut the copper stranded wire to obtain the copper stranded wire 106 with the required length.

[0093] As an optimization, the copper stranded wire length measurement module is a laser sensor. When the laser sensor detects that the end of the copper stranded wire has passed by, the controller controls the electric scissors to cut off the copper stranded wire.

[0094] As another optimization, the copper stranded wire length measurement module is an encoder arranged on the motor to obtain the moving speed of the copper stranded wire. After reaching the required time, the controller controls the electric scissors to cut off the copper stranded wire.

[0095] Furthermore, a curve groove is provided on the circumference of each of the guide wheels 105, so as to better position the copper stranded wire 106, make it easier to straighten the copper stranded wire 106, and the curve groove can make the copper stranded wire 106 move more smoothly.

[0096] Furthermore, a curve groove is provided on the circumference of each of the clamping wheels 110, so as to better position the copper stranded wire 106, make it easier to straighten the copper stranded wire 106, and the curve groove can make the copper stranded wire 106 move more smoothly.

[0097] Furthermore, the pneumatic gripper 107 is a parallel opening and closing type pneumatic gripper 107, and its two grippers 109 move on the same straight line, moving towards or away from each other. In this way, the clamping wheels 110 can also move towards or away from each other, and the movement of the clamping wheels 110 is a linear movement, which can effectively prevent the copper stranded wire 106 from being lifted or pressed down by the clamping wheels 110 when the clamping wheels 110 move, thus helping the copper stranded wire 106 to maintain a linear movement.

[0098] Furthermore, rubber for contacting the copper stranded wire 106 is provided along the circumferential direction of each of the guide wheels 105. The rubber helps to increase the friction between the guide wheels 105 and the copper stranded wire 106, facilitates the transmission of the copper stranded wire 106, and can also protect the copper stranded wire 106 to prevent it from spreading.

[0099] Furthermore, the power device includes a motor and a speed reducer. The motor is connected to the speed reducer, and the speed reducer is connected to the guide wheels 105. The conveying speed of the copper stranded wire 106 can be adjusted through the motor and the speed reducer to ensure the normal transmission of the copper stranded wire 106, enabling this positioning and straightening unit to better cooperate with the six-axis robot and enabling all processes to be properly connected.

[0100] Furthermore, the straightening unit bracket 101 includes a plurality of L-shaped plates. Each L-shaped plate includes a horizontal plate and a vertical plate. Each of the first cylinders 108 is respectively installed on the vertical plate of an L-shaped plate. The L-shaped plate structure is stable and has good force-bearing capacity, and can well receive the pneumatic gripper 107.

[0101] The copper stranded wire positioning and straightening unit 100 of the present invention straightens the copper stranded wire 106 through the cooperation of the guiding component 102 and the clamping component 103, so that the copper stranded wire 106 can move in a horizontal and straight state after being processed by the guiding component 102 and the clamping component 103, thereby effectively improving labor efficiency and reducing the labor intensity of workers.

[0102] For the copper stranded wire of a set length, the robot wire threading unit 600 is used to perform the following operations on each end of the copper stranded wire on a set of the crimping and winding units respectively: clamping the copper stranded wire of the set length, passing one end of the copper stranded wire through a crimping tube placed on the crimping tube pressing unit 200, and then winding a heart-shaped part matching the heart-shaped ring placed on the heart-shaped ring positioning and winding unit 800 on the heart-shaped ring positioning and winding unit 800. After that, let this end pass through the crimping tube again, then clamp this end and let this end penetrate into a connecting wire clamp placed on the connecting wire clamp pressing unit 700;

[0103] The robot wire threading unit 600 includes a six-axis robot I 601 and a clamping device 602, wherein:

[0104] The clamping device 602 includes a support frame 603 and multiple groups of pneumatic jaws 604. The support frame 603 is installed at the end 605 of the six-axis robot I 601, and each group of the pneumatic jaws 604 is installed on the support frame 603; the six-axis robot I 601 can drive the clamping device 602 to move, especially can drive the copper stranded wire 609 clamped by the pneumatic jaws 604 to move along a set path, facilitating the copper stranded wire 609 to pass through the crimping ring;

[0105] For each group of the pneumatic jaws 604, each of them includes a second cylinder 606 and two jaws 607 installed on the second cylinder 606. Each of the jaws 607 adopts a rod, and the rod can increase the length of the jaw 607 and reduce the volume of the jaw 607, which can effectively prevent the jaw 607 from colliding with other components on the production line after clamping the copper stranded wire, facilitating the jaw 607 to drive the copper stranded wire 609 to move. And an arc-shaped groove 608 for accommodating the copper stranded wire 609 is provided at one end of each jaw 607 away from the second cylinder 606, and the arc-shaped groove 608 is arranged on the opposite sides of the two jaws 607 for cooperating to clamp the copper stranded wire 609. Figure 1 、 Figure 26 The dotted lines at the labels D and E in the figure indicate different clamping positions of the clamping device 602.

[0106] Furthermore, two sets of pneumatic grippers 604 are provided. They can cooperate to clamp the position near the end of the copper stranded wire 609 for wire threading. By using two sets of pneumatic grippers 604, the copper stranded wire can be stably clamped, and the clamping area is not very large, so it is not easy to collide and interfere with other components on the production line.

[0107] Furthermore, the pneumatic gripper 604 is a swing-type pneumatic gripper. Its two grippers 607 rely on swinging to pick up and release the copper stranded wire 609. When the two grippers 607 swing relatively closer, the copper stranded wire 609 can enter the arc-shaped grooves 608 on the opposite sides of the grippers 607, so that the copper stranded wire 609 can be better clamped, effectively preventing the sliding and loosening of the copper stranded wire 609.

[0108] Furthermore, the support frame 603 adopts a U-shaped frame, and all the pneumatic grippers 604 are located within the area surrounded by the U-shaped frame. This can effectively reduce the volume of the clamping device 602 and prevent the clamping device 602 from colliding with other components on the production line when moving.

[0109] In the present invention, the six-axis robot I 601 drives the clamping device 602 and the copper stranded wire 609 clamped on the clamping device 602 to move, which can conveniently pass the copper stranded wire 609 through the crimping ring. The automation degree is high, and the labor intensity of workers can be effectively reduced.

[0110] The crimping tube pressing unit 200 is arranged on the support 230 and is mainly used for the pressing of the crimping tube 220 after it is matched with the stranded wire. The whole process can be simplified as follows: one end of the stranded wire passes through the crimping tube 220 and then winds around the outer periphery of the heart-shaped ring. After that, the end of the stranded wire turns 180° and then passes through the crimping tube 220 again (that is, at this time, there are two strands of stranded wire arranged side by side in the crimping tube 220, and a ring structure is formed on one side of the crimping tube 220); finally, the crimping tube 220 is pressed to fix the two strands of stranded wire in the crimping tube 220.

[0111] Specifically, the crimping tube pressing unit in the preferred embodiment includes a servo motor 201, a reducer 202, and a coupling 203, which are sequentially and correspondingly connected. The driving force is generated by the servo motor 201 and transmitted to the reducer 202. The reducer 202 controls the magnitude of the driving force and actually controls the rotation speed of the lead screw in the preferred embodiment. The reducer 202 is correspondingly connected to the double-threaded lead screw 204 through the coupling 203. Subsequently, through the corresponding control of the servo motor 201, the double-threaded lead screw 204 can rotate forward or backward at a certain speed.

[0112] Furthermore, the double-threaded lead screw 204 in the preferred embodiment has a long straight rod structure. One end thereof is coaxially connected to the coupling 203, and the other end is correspondingly matched with the bracket 230 by a ball bearing. The so-called double-threaded lead screw means that external threads with different rotation directions are respectively provided at both ends of the lead screw 204. That is, when the double-threaded lead screw 204 rotates, the thread rotation directions on the outer circumferences of its two ends are opposite. Preferably, the external threads on the outer circumference of the double-threaded lead screw 204 continuously extend from both ends to the middle of the double-threaded lead screw 204, that is, the rotation direction of the external threads is reversed in the middle of the double-threaded lead screw 204.

[0113] Furthermore, a slide rail 211 is correspondingly arranged on the bracket 230 for the double-threaded lead screw 204, and its length direction is parallel to the axis of the double-threaded lead screw 204. At the same time, a first slider 209 and a second slider 210 are slidably matched on the slide rail 211, and the two sliders can reciprocate on the slide rail 211. Preferably, stoppers are respectively arranged at both ends of the slide rail 211 to prevent the two sliders from falling off the slide rail 211.

[0114] Furthermore, mounting blocks are respectively arranged on the two sliders, that is, a first mounting block 205 arranged on the first slider 209 and a second mounting block 206 arranged on the second slider 210. Threaded through holes are respectively arranged in the middle parts of the two mounting blocks, which are respectively matched with the external threads at both ends of the double-threaded lead screw 204 to form two screw lead screw pairs. Then, by rotating the double-threaded lead screw 204, the two sliders can move towards each other or away from each other on the slide rail 211.

[0115] Furthermore, molds are respectively arranged on the end faces of the two mounting blocks close to each other, that is, a first mold 207 arranged on the first mounting block 205 and a second mold 208 arranged on the second mounting block 206. By controlling the rotation of the double-threaded lead screw 204, the two molds can be moved closer or farther away. At the same time, the compression joint tube 220 of the suspension string can be accommodated between the two mutually matching molds and be pressed against the outer circumference of the stranded wire after the two molds are moved closer further. In addition, the first mold 207 is preferably a plate-shaped structure arranged vertically, and a first groove penetrating both side walls is horizontally opened in the middle of the end facing the second mold 208. The second mold 208 is preferably a plate-shaped structure arranged horizontally, and a second groove is horizontally opened in the middle of the end face facing the first mold 207. The first groove and the second groove can be combined into a receiving groove for the compression joint tube 220 after the two molds are moved closer to each other. At the same time, a groove is also vertically opened on the end face of the second mold 208 facing the first mold 207, so that the end of the first mold 207 can be embedded in the groove to realize the pressing of the compression joint tube 220.

[0116] Preferably, in order to achieve the accurate matching (clamping or pressing) of the two molds, a retractable positioning pin structure is provided between the opposite end faces of the two mounting blocks. It can be driven by a cylinder or a servo motor to work and has two working states, corresponding to the clamping and pressing processes of the molds respectively. The positioning pin is arranged along the axial direction of the slide rail 211 and is preferably arranged on one mounting block, with its end pointing to the other mounting block. When the two molds need to clamp the pressure pipe 220, the positioning pin first extends to the length corresponding to the clamping of the two molds. Then, when the servo motor controls the double-threaded lead screw 204 to rotate, when the positioning pin abuts against the other mounting block with its end, it indicates that the distance between the two molds just meets the clamping requirement for the pressure pipe 220. At this time, the servo motor 201 stops. When the pressure pipe 220 needs to be pressed, first control the positioning pin to retract a certain distance, and then control the servo motor 201 to work until the positioning pin abuts against the end face of the mounting block again, indicating that the pressing process has been completed, thus avoiding over-pressing deformation of the pressure pipe 220.

[0117] Through the above settings, the pressure pipe pressing unit 200 in the preferred embodiment of the present invention can be completed, and its working process is as follows: in the initial state of the pressure pipe pressing unit 200, the two molds are respectively arranged at both ends of the double-threaded lead screw 204; when it starts to work, control the servo motor 201 to start working, and transmit the driving force to the double-threaded lead screw 204 through the reducer 202 and the coupling 203; thereafter, the double-threaded lead screw 204 rotates, causing the two sliders (209, 210) to drive the two mounting blocks (205, 206) to move towards each other, that is, the two molds (207, 208) approach each other; then the two molds (207, 208) are matched with each other, and a pressure pipe 220 is clamped between the two molds. At this time, the servo motor 201 stops working, and the clamping of the pressure pipe 220 is completed. Further, control the feeding of the stranded wire in the pressure pipe 220. After the stranded wire completes the winding around the outer groove of the heart-shaped ring and passes through the pressure pipe 220 again with its end, and after the stranded wire completes the tensioning process, continue to control the servo motor 201, so that the two molds (207, 208) continue to approach, and press the pressure pipe 220 to realize the corresponding matching of the pressure pipe 220 at the end of the suspension string and the stranded wire.

[0118] The heart-shaped ring positioning and winding unit in the embodiment of the present invention is a link in the automatic pre-assembly production line of the catenary suspension string, where the copper stranded wire passes through the crimping ring and then winds around the outer groove of the positioned heart-shaped ring, realizing a 180° turn of the copper stranded wire, and then realizing the subsequent links: winding the wire end back into the crimping ring, and after the copper stranded wire and the heart-shaped ring are pressed tightly, pressing the crimping ring.

[0119] In the heart-shaped ring positioning and winding unit 800 according to the embodiment of the present invention, in the entire automatic pre-assembly production line of catenary droppers, a set of winding devices are respectively provided in opposite directions to assemble a crimping ring and a heart-shaped protective ring at both ends of the copper stranded wire. The present invention is one of the sets of heart-shaped ring positioning and winding units for winding one end of the copper stranded wire. The winding system for the other end of the copper stranded wire can be the same as or different from that of the present application, as long as the winding of both ends of the copper stranded wire along the heart-shaped ring can be achieved. Figure 1 It is the heart-shaped ring positioning and winding unit for one end, in order to Figure 1 As shown, the heart-shaped ring positioning and winding unit of the present invention includes a heart-shaped ring bracket 801. The heart-shaped ring bracket 801 is fixed to the connecting column, and the top of the connecting column is fixedly connected to the pressing plate 802 through a connecting shaft 803. Specifically, the connecting shafts 803 on both sides are respectively arranged on the horizontal two sides of the top of the connecting column, and the connecting shafts 803 are rotatably and fixedly connected to the top of the connecting column through a rotating shaft. A cylinder is provided on the connecting column, and through the action of the cylinder, the connecting shaft 803 can be driven to rotate downward toward the heart-shaped ring bracket 801, so that the pressing plate 802 presses on the copper stranded wire bypassing from the top of the heart-shaped ring bracket 801.

[0120] When the pressing plate 802 rotates to press on the top surface of the heart-shaped ring bracket 1, the pressing plate 802 is preferably flush with the top surface of the heart-shaped ring bracket 1. Of course, the pressing plate 802 and the top of the heart-shaped ring bracket 1 can also have a certain angle, as long as it can ensure that the copper stranded wire does not warp upward. The alternative ways that can ensure that the pressing plate 802 presses the copper stranded wire bypassing from the top of the heart-shaped ring bracket 801 are also within the protection scope of the present invention.

[0121] In the heart-shaped ring positioning and winding unit of the present invention, the heart-shaped ring is fixed by a positioning pin combination. The positioning pin combination includes a main positioning pin 804 and a secondary positioning pin 805. A flange structure is provided in the middle of one side of the top of the heart-shaped ring bracket 801, and the flange structure is arranged on the side opposite to the connecting column. A through hole in the vertical direction is provided on the flange structure. One end of the main positioning pin 804 passes through the through hole, and the other end is connected to a third cylinder 806. The third cylinder 806 has a telescopic function in the vertical direction, so as to be able to drive the main positioning pin 804 to pass through the through hole of the flange structure. At the mouth of the heart-shaped ring corresponding to the flange structure, a secondary positioning pin 805 is also provided, which is arranged to avoid the through hole on the flange structure, and the main positioning pin 804 and the secondary positioning pin 805 can just be stuck in the heart-shaped ring to position and fix the heart-shaped ring.

[0122] When the copper stranded wire winds around the outer groove of the heart-shaped ring, passes back through the crimping ring and is tightened, and the subsequent assembly is completed, under the action of the third cylinder 806, the main positioning pin 804 contracts downward. At the same time, in the heart-shaped ring positioning and winding unit on the opposite side, the cylinder and the main positioning pin also contract simultaneously, so that the copper stranded wire rings with winding completed at both ends can be taken out to continue the work of the next link.

[0123] The heart-shaped ring positioning and winding unit of the present invention adopts a main positioning pin and an auxiliary positioning pin to cooperate with each other, wherein the main positioning pin passes through a through hole on a flange structure arranged on the top of the heart-shaped ring bracket and is used for positioning the heart-shaped ring, and the auxiliary positioning pin is located at the opening of the heart-shaped ring and can fix the heart-shaped ring, thereby limiting its direction and preventing the heart-shaped ring from swinging to both sides during the winding process.

[0124] Preferably, if Figure 1 and Figure 2 As shown, the top movable end of the third cylinder 806 is fixedly connected to the main positioning pin 804, and the bottom fixed end of the third cylinder 806 is connected to the bottom plate 807, and is fixed to the workbench of the hanging string pre-assembly production line through the bottom plate 807.

[0125] Furthermore, limit plates 808 are respectively provided on the two lateral sides of the top surface of the heart-shaped ring bracket 801. The limit plates on both sides are combined to form an inwardly concave arc-shaped limit groove. The limit plate can also be an integrated inwardly concave arc-shaped structure. The internal arc design of the limit plate 808 limits the winding path of the copper stranded wire, so that the copper stranded wire can be wound into the limit plate 808 from one end of the bundle mouth of the heart-shaped ring, and run along the arc and come out from the other end of the bundle mouth, thereby realizing a 180° turn of the copper stranded wire routing.

[0126] In another preferred embodiment, a cylinder can be used to replace the limit plate 808. The front ends of the cylinders on both sides are preferably concave arc shapes. The extension or rotation of the cylinders on both sides promotes the bending of the copper stranded wire and makes it circle around the heart-shaped ring, thereby finally realizing the winding steering of the copper stranded wire.

[0127] In addition, while the copper stranded wire is passing through, the pressure plate 802 presses on the copper stranded wire, so that it clamps downward to limit the position of the copper stranded wire during the process of wrapping around the heart-shaped ring, so that the copper stranded wire will not curl up during the wrapping process, but will always be located on the same horizontal plane of the heart-shaped ring groove, so that the copper stranded wire can smoothly wrap around one end of the heart-shaped ring opening, come out from the other end of the opening, and continue to wrap back into the crimping ring.

[0128] Preferably, the top elevation of the limiting plate 808 is flush with the top height of the entire heart-shaped ring support, which is conducive to the pressing plate 802 being pressed evenly on the top surface of the heart-shaped ring support 801 .

[0129] When the pressure plate 802 is in a pressed state, it is pressed on the top of the limiting plate 808. The diameter of the copper stranded wire is preferably slightly smaller than the thickness of the limiting plate 808. Under the clamping action of the pressure plate 802 and the top surface of the heart-shaped ring bracket, the copper stranded wire is wound back in the limiting groove inside the limiting plate 808, and re-enters the crimping ring to continue the subsequent crimping work.

[0130] The heart-shaped ring positioning and winding unit of the present invention uses a positioning pin to position the heart-shaped ring. Under the clamping of the rotatable pressing plate and the heart-shaped ring bracket, when the copper stranded wire travels in the limiting groove, the copper stranded wire is positioned so that it does not warp, and the 180-degree wire routing turn is successfully completed. The principle and working process are as follows:

[0131] In the entire dropper pre-assembly production line, corresponding heart-shaped ring positioning and winding systems are respectively provided at opposite ends of the copper stranded wire. First, under the action of the third cylinder 806, the main positioning pin 804 extends into the through hole of the flange structure and cooperates with the secondary positioning pin 805 to position the heart-shaped ring, limit its direction, and restrict its left and right swing. The open end faces the direction in which the copper stranded wire enters;

[0132] Under the action of power, both ends of the dropper copper stranded wire enter from the open end of the heart-shaped ring. Under the action of the limiting plate 808 provided on the heart-shaped ring bracket 801, the path of the copper stranded wire turns and winds back to the other open end of the heart-shaped ring along the outside of the heart-shaped ring, completing a 180-degree travel. After both ends of the copper stranded wire enter the heart-shaped ring, the winding directions are the same, and they both wind in the clockwise or counterclockwise direction at the same time, so that the annular structures formed at both ends after winding are centrosymmetric about the midpoint along the line;

[0133] At the same time as the copper stranded wire enters the open end of the heart-shaped ring, the pressing plate 802 rotates downward under the action of the cylinder and presses on the top of the copper stranded wire to ensure that it does not warp during the travel, and finally completes the winding under the action of the limiting plate 808 and enters the crimping ring.

[0134] In addition, it should be noted that after the subsequent pre-assembly is completed, under the action of the third cylinder 806, the main positioning pin contracts downward, and it can be taken out by the robotic arm for the work of the next link.

[0135] Two sets of the connecting line clamp pressing units 700 are provided to press the connecting line clamps after the respective ends of the copper stranded wire are inserted into the connecting line clamps, so as to fix both ends of the copper stranded wire; the connecting line clamp pressing unit 700 includes a fourth cylinder 701, a support seat 702, a fifth cylinder 703, a gas-liquid intensifying cylinder 704, and a crimping die 705, wherein:

[0136] The fourth cylinder 701 is installed on the frame 1000, and a guide rail 706 is horizontally installed on the frame 1000, and the guide rail 706 is parallel to the output shaft of the fourth cylinder 701. The support seat 702 is installed on the guide rail 706 through a slider 707. Preferably, both ends of the guide rail 706 are respectively provided with stoppers 715 corresponding to the slider 707, which are used to prevent the slider 707 from separating from the guide rail 706; the output shaft of the fourth cylinder 701 is connected to the support seat 702, and the gas-liquid booster cylinder 704 and the fifth cylinder 703 are installed on the support seat 702; when the output shaft of the fourth cylinder 701 is extended or retracted, it can drive the support seat 702 and the gas-liquid booster cylinder 704 and the fifth cylinder 703 on the support seat 702 to move, so as to facilitate moving them to a suitable position;

[0137] The crimping die 705 includes an upper die 708 and a lower die 709, wherein the upper die 708 is mounted on the output shaft of the gas-liquid booster cylinder 704, and the lower die 709 is mounted on the support seat 702; the crimping die 705 can clamp or press the straight portion of the connecting wire clamp 716, so that the connecting wire clamp 716 clamps the end of the copper stranded wire passing through the straight portion, thereby fixing the connecting wire clamp 716 and the copper stranded wire;

[0138] The output shaft of the gas-liquid booster cylinder 704 is arranged vertically downward, and the output shaft of the fifth cylinder 703 is arranged vertically upward, and a base 710 for receiving the connecting wire clamp 716 is installed on the output shaft of the fifth cylinder 703, so that the straight end of the connecting wire clamp 716 on the base 710 can be placed on the lower mold 709 when moving downward, so that the upper mold 708 and the lower mold 709 can cooperate to achieve clamping or pressing of the straight end of the connecting wire clamp 716.

[0139] Furthermore, the base 710 is provided with a limit plate 711 at the end with a round hole corresponding to the connecting wire clamp 716, so as to limit the movement of this end. When one end of the copper stranded wire is inserted into the straight portion of the connecting wire clamp 716, the limit plate 711 can effectively prevent the connecting wire clamp 716 from moving and falling off the crimping die 705, which helps to achieve the positioning of the connecting wire clamp 716.

[0140] Furthermore, a groove 712 for accommodating a connecting wire clamp 716 is provided on the base 710, and a limit block is provided on the inner wall of the groove 712 of the base 710 for limiting the deflection of the connecting wire clamp 716. The shape of the groove 712 and the arrangement of the limit block can be contoured according to the shape of the connecting wire clamp 716. When the copper stranded wire passes through the straight end of the connecting wire clamp 716, the groove 712 and the limit block can effectively prevent the deviation of the position of the connecting wire clamp 716.

[0141] Further, a guiding cylinder 713 is provided on the support base 702, and the output shaft of the pneumatic-hydraulic intensifying cylinder 704 is movably sleeved in the guiding cylinder 713, which can realize the repeated positioning of the output shaft of the pneumatic-hydraulic intensifying cylinder 704.

[0142] Further, a plurality of weight-reducing holes 714 are provided on the support base 702, which can reduce the weight of the support base 702 and enable the fourth cylinder 701 to drive components such as the support base 702, the fifth cylinder 703 on the support base 702, and the pneumatic-hydraulic intensifying cylinder 704 to move more quickly.

[0143] Further, a retractable positioning pin parallel to the output shaft of the pneumatic-hydraulic intensifying cylinder 704 is provided between the upper die 708 and the lower die 709 to indicate that the upper die 708 and the lower die 709 are in the clamping state or the pressing completion state. To achieve the accurate matching (clamping or pressing) of the upper die 708 and the lower die 709, the positioning pin can be driven by a cylinder or a servo motor to work. The positioning pin has two working states, corresponding to the clamping and pressing processes of the mold respectively. The positioning pin is preferably provided on the upper die 708 or the lower die 709. For example, it can be provided on the lower die 709, and a pin hole for cooperating with the positioning pin can be provided on the upper die 708. When the upper die 708 and the lower die 709 need to clamp the connection wire clamp 716, the positioning pin first extends to the length corresponding to the clamping of the upper die 708 and the lower die 709. Then, when the servo motor controls the double-threaded lead screw to rotate, when the positioning pin abuts against the upper die 708 with its end, it indicates that the distance between the upper die 708 and the lower die 709 just meets the clamping requirement for the connection wire clamp 716 (only fixing the connection wire clamp 716 without causing plastic deformation of the connection wire clamp 716). At this time, the pneumatic-hydraulic intensifying cylinder 704 stops. When the connection wire clamp 716 needs to be pressed, first control the positioning pin to retract a certain distance, and then control the pneumatic-hydraulic intensifying cylinder 704 to work until the positioning pin abuts against the end face of the upper die 708 again, indicating that the connection wire clamp 716 has been plastically deformed by the cooperation of the upper die 708 and the lower die 709, and the pressing process has been completed. The positioning pin can also prevent over-pressing deformation of the connection wire clamp 716. Preferably, a plurality of upper convex platforms are provided in the space of the upper die 708 for accommodating the connection wire clamp 716, and a plurality of lower convex platforms are provided in the space of the lower die 709 for accommodating the connection wire clamp 716. The upper convex platforms and the lower convex platforms cooperate to press the connection wire clamp 716.

[0144] Through the above settings, the setting of the connecting wire clamp 716 pressing unit in the preferred embodiment of the present invention can be completed, and its working process is as follows: In the initial state of the connecting wire clamp 716 pressing unit, the upper die 708 and the lower die 709 are respectively arranged on the gas-liquid booster cylinder 704 and the support seat 702; when it starts to work, the output shaft of the gas-liquid booster cylinder 704 moves downward, that is, the upper die 708 and the lower die 709 approach each other; then the upper die 708 and the lower die 709 match each other, and a connecting wire clamp 716 is clamped between the upper die 708 and the lower die 709. At this time, the gas-liquid booster cylinder 704 stops working, and the clamping and fixing of the connecting wire clamp 716 are completed. Then, control the feeding of the copper stranded wire in the connecting wire clamp 716. After the copper stranded wire extends into the straight end inside the connecting wire clamp 716, continue to control the output shaft of the gas-liquid booster cylinder 704 to move downward, so that the upper die 708 and the lower die 709 continue to approach, and the connecting wire clamp 716 is pressed (the connecting wire clamp 716 undergoes plastic deformation), realizing the corresponding matching between the connecting wire clamp 716 at the end of the suspension string and the stranded wire.

[0145] The connecting wire clamp pressing unit applicable to the processing of catenary suspension strings in the present invention has a simple structure and is easy to operate. It can effectively realize the automatic clamping and automatic pressing of the connecting wire clamp 716, ensure the accuracy and precision of the clamping and pressing of the connecting wire clamp 716, reduce the workload of manual operation in the process of catenary suspension string processing, ensure the efficiency of the matching pressing of the connecting wire clamp 716 and the stranded wire, and reduce the cost of suspension string processing.

[0146] The servo moving unit 900 is used to drive one set of the pressing and winding units to move a set distance, so that each of the heart-shaped parts tightly presses the heart-shaped ring at the corresponding position.

[0147] The servo moving unit 900 includes a guiding unit, a sliding unit, and a driving unit. Among them, the guiding unit is a slide rail with a certain length, and its extending direction is the longitudinal direction in the preferred embodiment, and the horizontal direction perpendicular to this longitudinal direction is the transverse direction. At the same time, in the preferred embodiment, the corresponding matching is on the guiding unit, which is a plate-like structure in the shape of a plate, used to carry the pressing and winding unit 280 (this part in the preferred embodiment is mainly used for the matching of the stranded wire with the compression tube and the heart-shaped ring and to realize the pressing of the compression tube), and drive it to reciprocate longitudinally to straighten the stranded wire in the suspension string and accurately match the stranded wire with the heart-shaped ring. The driving unit is correspondingly matched with the sliding unit and the guiding unit, and is mainly used to realize the reciprocating movement of the sliding unit on the guiding unit, that is, to realize the movement control of the pressing and winding unit 280 in the longitudinal direction.

[0148] Specifically, in the preferred embodiment, the guiding unit is as Figure 1The provided slide rails include a pair of slide rail units arranged at intervals. At the bottom of the sliding unit, sliding mechanisms are respectively provided corresponding to the two slide rail units. Each sliding mechanism is respectively matched with the corresponding slide rail unit and can slide reciprocally on the slide rail unit. Meanwhile, in the preferred embodiments, the sliding mechanism can be a sliding unit extending longitudinally, or can include a plurality of sliding units arranged longitudinally, such as two respectively arranged at the longitudinal two ends of the bottom surface of the sliding unit. In addition, the matching between the sliding mechanism and the slide rail can be sliding matching or ball matching.

[0149] Further preferably, the sliding mechanism provided on the bottom end surface of the support unit can be selected from one or more of a concave groove structure, a roller structure, a slider structure, and a ball structure. The bottom end surface of the support base plate 904 selects a pair of concave groove structures symmetric along the longitudinal direction.

[0150] Of course, the guiding unit in the preferred embodiments is not limited to the above forms. It can be a single slide table with a certain lateral width, or multiple slide rails with two or more, or several sliding grooves matching the sliding mechanism, which can all be preferably set according to actual needs, and the guiding unit can be symmetrically arranged along the longitudinal central axis.

[0151] Further, the driving unit in the preferred embodiments, as Figure 2 shown in, includes a driving motor and a guiding rack. Among them, the rack is arranged longitudinally on the frame 1000. The driving motor 901 is correspondingly connected to the sliding unit, and a gear is arranged on the output shaft of the driving motor. The gear meshes with the rack correspondingly. By driving the gear to rotate through the driving motor, the reciprocating movement control of the sliding unit on the guiding unit can be realized. Meanwhile, a cable protection drag chain 905 extending longitudinally is arranged on one side of the sliding unit to protect the cables of the driving unit and the crimping and winding unit.

[0152] Preferably, a speed reducer is provided corresponding to the driving motor. The driving force of the driving motor is transmitted to the gear through the speed reducer to achieve precise control of the gear rotation. Moreover, in order to prevent the separation of the guiding unit and the driving unit, retaining structure are respectively arranged at both ends of the two slide rail units to prevent the production failure of the suspension string caused by the separation of the guiding unit and the driving unit, and improve the safety and reliability of the servo moving unit.

[0153] Of course, the setting of the rack is not limited to the single one set as above. It can also be set as multiple according to needs, such as two respectively set corresponding to each slide rail unit. And the driving motor can also be respectively arranged on both sides of the sliding unit, or a driving motor is arranged along the longitudinal axis, and the racks and gears respectively arranged on both sides are connected through bevel gears.

[0154] On the other hand, when actually setting the driving unit, it is not limited to the above form, and can also be preferably in other forms according to actual needs. For example, in a preferred embodiment, a telescopic cylinder is provided at the end of the driving unit facing away from the pressing and winding unit 280, its telescopic shaft is arranged longitudinally, and the end of the telescopic shaft is connected to the sliding unit. By the telescopic movement of the shaft, the displacement of the pressing and winding unit 280 can be controlled. At the same time, the telescopic cylinder can be one arranged between the two slide rail units (i.e., its telescopic shaft is connected to the middle of the sliding unit), or two separately arranged on both sides of the two slide rail units (i.e., the two telescopic shafts are respectively connected to the transverse two ends of the sliding unit).

[0155] Furthermore, in order to achieve precise control of the driving unit, a control unit is provided in the preferred embodiment of the present invention. This control system is composed of PLC components. The information of each suspension parameter is transmitted to the control unit through an industrial computer, and then code conversion is carried out and transmitted to the driving unit to provide accurate instructions for the movement of the driving unit, ensuring the production accuracy of the suspension.

[0156] In addition, in another preferred embodiment of the present invention, a tension detection device is provided on the driving unit to detect the tension on the suspension in real time during the production and preparation process of the suspension, ensuring the close contact between the suspension wire and the inner peripheral wall of the heart-shaped ring.

[0157] Through the above settings, a servo unit as shown in Figure 1 or 2 can be obtained. Its setting form in the suspension pre-assembly system is as shown in Figure 3 shown in. In this system, its working process is preferably as follows:

[0158] (1) The two pressing and winding units 280 complete the winding of the suspension, and the end of the suspension wire is fixed by a fixing device;

[0159] (2) The control unit produces corresponding instructions according to the suspension parameters and transmits them to the servo motor 901 through the cable inside the cable and wire protection drag chain 905. After receiving the instructions, the servo motor 901 meshes with the rack 902 to drive the support bottom plate 904 to move;

[0160] (3) Further, the pressing and winding unit 280 is moved to a specified position to complete the tensioning of the suspension. At the same time, the tension detection device provided on the servo motor 901 detects the pre-tension on the suspension wire during the tensioning process to ensure that the suspension has a high production quality.

[0161] The preferred embodiment of the present invention can achieve the following beneficial effects:

[0162] (1) The movement of the servo motor 901 is accurately controlled by the PCL control system, the preparation length of the suspension is accurately controlled, and an appropriate pre-tension is provided for the suspension, effectively improving the preparation accuracy and production efficiency of the suspension and reducing the production cost of the suspension;

[0163] (2) The I-shaped linear guide rail 903 is used in cooperation with the groove at the bottom end of the support base plate 904, ensuring the smooth movement of the support base plate 904, and thus improving the accuracy of catenary production.

[0164] (3) The cable and wire protection drag chain 905 is arranged on the same side of the servo motor 901, which can balance the center of gravity of the servo moving unit 9, thus avoiding the jamming problem caused by different forces at both ends of the support base plate 904.

[0165] (4) Retaining structures are respectively arranged at both ends of the two slide rail units to prevent catenary production failures caused by the separation of the guiding unit and the driving unit, and improve the safety and reliability of the servo moving unit. The crimping tube crimping unit 200 is used to crimp the crimping tube after the heart-shaped part is closely attached to the heart-shaped ring, so that the crimping tube is fixed on the copper stranded wire.

[0166] In addition, the present invention further includes a circulating feeding unit, and the circulating feeding unit includes a buffer unit 400 and a feeding unit 50, wherein:

[0167] The buffer unit 420 includes a vibrating disk 4201, a discharge channel 4202, a sixth cylinder 4203 and a buffer die 4204. The vibrating disk 4201 is installed on the frame 1000. The vibrating disk 4201 includes a vibrating disk main body 4205 for storing catenary fittings 4208 and a spiral feeding channel 4206 installed on the inner wall of the vibrating disk main body 4205. The outlet of the spiral feeding channel 4206 is connected to the inlet of the discharge channel 4202, and the height of the outlet of the discharge channel is less than the height of the inlet of the discharge channel.

[0168] The sixth cylinder 4203 is installed on the frame 1000, and the buffer die 4204 is installed on the output shaft of the sixth cylinder 4203 for driving the buffer die 4204 to move up and down. The buffer die 4204 is correspondingly arranged at the outlet of the discharge channel 4202, and a receiving space 4207 is arranged on the buffer die 4204 for receiving the catenary fittings 4208 coming out of the discharge channel 4202. Both ends of the discharge channel 4202 are respectively communicated with the spiral feeding channel and the buffer die 4204, for sending the catenary fittings 4208 to the buffer die 4204 one by one, and realizing the buffer before feeding several catenary fittings 4208; the buffer die 4204 is used to realize the one-by-one feeding of the catenary fittings 4208 in the discharge channel 4202, and realize the support and limit of each catenary fitting 4208, so that the feeding unit can feed it to the next station; the posture adjustment and feeding of the connecting clip 4208 can be assisted manually at the feeding place, or can be automatically fed by a six-axis robot.

[0169] The feeding unit 50 includes a six-axis robot II 52 and a pneumatic gripper 55. The lower end of the six-axis robot II 52 is mounted on the frame 1000, and the pneumatic gripper 55 is mounted at the end of the six-axis robot II 52. The lower end of the six-axis robot II 52 has a robot base 51. The pneumatic gripper 55 includes a seventh cylinder and two grippers mounted on the seventh cylinder for gripping the suspension fitting on the buffer die to the feeding position. The two grippers are respectively a first gripper 551 and a second gripper 552, and they are both located between a first clamping plate 553 and a second clamping plate 554 on the seventh cylinder. A power control unit 56 is also mounted on the robot base 51 to control the movement of each axis of the six-axis robot II 52. Preferably, the pneumatic gripper 55 is mounted at the end of the six-axis robot II 52 through a rotating arm 53. The end of the six-axis robot II 52 can drive the rotating arm 53 to rotate, and a plurality of pneumatic grippers 55 are circumferentially and evenly arranged. Preferably, arc-shaped grooves are respectively formed on the opposite sides of the two grippers of the pneumatic gripper 55 to facilitate gripping the straight end of the suspension fitting 4208.

[0170] Of course, during actual feeding, depending on the actual processing situation, the pneumatic gripper 55 can only grip the suspension fitting for a period of time, or can also grip and feed the compression tube, heart-shaped ring, and suspension fitting during the production of suspension pre-assembly. The number of pneumatic grippers 55 provided can be selected according to processing needs. Through the six-axis robot II 52 and the pneumatic gripper 55 specially designed for the suspension fitting, it can effectively replace the traditional manual feeding, with the characteristics of high efficiency, precision, and high degree of automation, solving the problem of automatic feeding and assembly of the suspension fitting, and constituting an important part of the feeding of the automatic production line for suspension pre-assembly.

[0171] Refer to Figure 4, a direction - selecting mechanism 4216 is further provided at the entrance of the spiral feeding channel 4206 for cooperating with the inclined surface 4219 on the suspension clamp fitting 4208, so as to allow the suspension clamp fitting 4208 in a set posture to enter the spiral feeding channel. Referring to the attached drawings, as a preferred method, the direction - selecting mechanism 4216 includes a scraper 4217 installed on the spiral feeding channel and a return spring 4218 connected to the scraper 4217 for returning the scraper 4217 to its original position. The return spring 4218 is located inside the spiral feeding channel. One end of the scraper 4217 protrudes from the spiral feeding channel and can be pressed into the spiral feeding channel by the bottom of the suspension clamp fitting 4208. The scraper 4217 can cooperate with one of the inclined surfaces 4219 on the suspension clamp fitting 4208. Through this scraper 4217, the suspension clamp fitting 4208 can pass through. If the posture of the suspension clamp fitting 4208 is inappropriate and other parts, especially the end part, makes hard contact with the scraper 4217, it will be blocked and fall from the spiral feeding channel. The scraper 4217 can be a scraper with a pointed part or a rod. The elastic force of the return spring 4218 should be appropriate, ensuring that the scraper 4217 can be pressed down by the suspension clamp fitting 4208 and can return to its original position. The return spring 4218 can adopt existing springs such as a compression spring 4218 or a torsion spring.

[0172] Alternatively, the direction - selecting mechanism 4216 includes a vertical plate installed on the spiral feeding channel 4206. The vertical plate is installed on the side of the inner wall of the spiral feeding channel 4206 away from the main body 4205 of the connecting - line - clamp vibrating disk. The distance between it and the inner wall of the main body 4205 of the connecting - line - clamp vibrating disk is slightly greater than the maximum width of the connecting - line clamp 4208. Only when the connecting - line clamp 4208 moves longitudinally along its own direction can it pass through the vertical plate. The skewed connecting - line clamp 4208 cannot pass through and will fall. In short, as long as some existing direction - selecting mechanisms 4216 are helpful for the direction - selection of the suspension clamp fitting, they can be applied to the present invention.

[0173] Furthermore, the tangent line at the outlet of the spiral feeding channel 4206 is perpendicular to the discharging channel 4202, so that the suspension clamp fitting 4208 enters the buffer die of the suspension clamp fitting 4208 in a set posture, which is convenient for the six - axis robot to pick up the material. A limiting plate can also be set at the position of the vibrating - disk main body corresponding to the outlet of the spiral feeding channel 4206 to limit the further forward movement of the suspension clamp fitting 4208, so that the suspension clamp fitting 4208 can only enter the discharging channel 4202.

[0174] Further, a baffle plate 4209 is vertically arranged on one side of the buffer die 4204 close to the discharge channel 4202 for blocking the suspension fitting 4208 in the discharge channel 4202 after the suspension fitting 4208 in the die rises. By corresponding movement of the baffle plate 4209, the baffle plate 4209 can close the outlet end of the discharge channel 4202 when a single suspension fitting 4208 is supported and loaded, thereby preventing the suspension fitting 4208 in the discharge channel 4202 from falling, ensuring that the suspension fitting 4208 in the discharge channel 4202 can be accurately taken one by one, and further improving the accuracy of taking the suspension fitting 4208.

[0175] Further, the discharge channel 4202 includes a channel bottom plate 4210 and two side plates 4211 installed on the channel bottom plate 4210. The distance between the two channel side plates 4211 at the entrance of the discharge channel 4202 is greater than the distance at the exit of the discharge channel 4202. One of the side plates 4211 is a fixed side plate 4211, and the other side plate 4211 is a movable side plate 4211. The movable side plate 4211 can move relative to the fixed side plate 4211 for adjusting the width of the discharge channel 4202. The discharge channel 4202 is configured to be wider at the entrance and narrower at the exit, which not only prevents blockage at the entrance but also ensures the smooth discharge of a single one at the exit. Further, the overall width of the channel can be adjusted in a timely manner by the movement of the movable side plate 4211, and suspension fittings 4208 of different sizes and shapes can be automatically adjusted to adapt.

[0176] Further, the buffer die 4204 includes a limit retaining platform 4212 and a support platform 4213; the limit retaining platform 4212 is used to block the movement of the suspension fitting 4208 along the advancing direction of the discharge channel 4202, and the support platform 4213 is used to support the suspension fitting 4208 coming out of the discharge channel 4202.

[0177] Further, the buffer die 4204 further includes a guiding platform 4214 located above the support platform 4213 for guiding the suspension fitting 4208 into the buffer die 4204. A plurality of long holes are also provided on the buffer die 4204, and the guiding platform 4214 can be adjusted in position within the long holes, so as to better adapt to the shape and position of the end of the suspension fitting 4208 with a round hole, and make it more convenient for the suspension fitting 4208 to enter the accommodation space 4207 of the buffer die 4204.

[0178] Further, a notch 4215 is provided on the buffer die 4204 to facilitate the pneumatic gripper connected to the end of the six-axis robot to pick up the suspension fitting 4208.

[0179] The cyclic feeding unit of the present invention has a simple structure and is easy to operate. It vibrates and conveys a large number of suspension fittings stored therein by using a vibrating bowl 4201, arranges the suspension fittings 4208 in a single-column linear manner through a discharge channel 4202, and uses a buffer die 4204 to support and limit each of the suspension fittings discharged from the end of the discharge channel 4202 one by one, creating favorable conditions for the feeding unit 50 to grasp. At the same time, by setting a six-axis robot II 52 with multiple degrees of freedom and a rotating arm 53 thereon, and corresponding setting of a pneumatic gripper 55, the accurate clamping of the suspension fitting 4208 at the material-taking station and the corresponding transfer of the suspension fitting 4208 to the feeding station are accurately realized, thereby realizing the continuous automation of caching, material-taking, and feeding of the suspension fitting 4208.

[0180] The working process of the cyclic feeding unit of the present invention preferably includes the following steps:

[0181] S1. Put a number of suspension fittings 4208 into the vibrating bowl 4201 in batches;

[0182] S2. According to the model of the suspension fittings 4208 put in, move and adjust the movable side plate 4211 of the discharge channel 4202 to adjust the width of the discharge channel 4202;

[0183] S3. Vibrate the vibrating bowl 4201 to introduce the suspension fittings 4208 in the bowl into the inlet of the discharge channel 4202, move along the discharge channel 4202, and send the outermost suspension fitting 4208 into the buffer die 4204;

[0184] S4. Control the sixth cylinder 4203 to work, so that the buffer die 4204 drives the suspension fitting 4208 to rise correspondingly, raising the suspension fitting 4208 to the material-taking position and waiting for the pneumatic gripper 55 to grasp. At this time, the baffle 4209 completes the blocking of the outlet of the discharge channel 4202, and the remaining suspension fittings 4208 in the discharge channel 4202 will not fall;

[0185] S5. Control the two grippers to be in the open state, and at the same time control the six-axis robot II 52 and the rotating arm 53 to work correspondingly, so that the two grippers move to the suspension fitting 4208 on the buffer die 4204, and then control the two grippers to close to complete the clamping of the suspension fitting 4208;

[0186] S6. Control the six-axis robot II 52 and the rotating arm 53 to work correspondingly, send the suspension fitting 4208 from the material-taking position to the feeding station. After the feeding is in place, release the two grippers to complete the feeding of the suspension fitting 4208 at the feeding station;

[0187] S7. Sequentially repeat steps S3 to S6 to complete the continuous automatic cyclic feeding of multiple suspension fittings 4208.

[0188] The above-mentioned circulating feeding device can be applicable to the caching and feeding of the connecting wire clamp 4208.

[0189] Certainly, for the caching of the heart-shaped ring, connecting wire clamp, and compression joint, ordinary material boxes can be used for caching, and manual feeding can be adopted for feeding. Preferably, an automated method combining the caching unit 400 and the feeding unit 50 is used for caching and feeding. Three caching units 400 of the present invention can be provided, which are respectively used for caching the heart-shaped ring, connecting wire clamp, and compression joint. Since three pneumatic grippers 55 are provided on the feeding unit 50, only one feeding unit 50 can be used. The six-axis robot II 52 of the feeding unit 50 can cooperate with the vision recognition device to pick up materials. Of course, three feeding units 50 can also be correspondingly provided, which are respectively used for feeding the heart-shaped ring, connecting wire clamp, and compression joint.

[0190] For the caching unit 400 for caching the compression joint, the caching device 400 includes a compression joint vibrating disk 410, a compression joint channel 411, and a compression joint picking tool 412. The compression joint vibrating disk 410 is used to store the compression joints 413 and feed them to the compression joint channel 411; both ends of the compression joint channel 411 are respectively connected to the compression joint vibrating disk 410 and the compression joint picking tool 412, and are used to send the compression joints 413 to the compression joint picking tool 412 one by one, and realize the caching of several compression joints 413 before feeding; the compression joint picking tool 412 is used to pick up the compression joints 413 in the compression joint channel 411 one by one, and realize the support and limit of each compression joint 413, so that the compression joint feeding device can feed it to the next working station.

[0191] Specifically, multiple sets of compression joint channels 411 and compression joint picking tools 412 can be respectively arranged in multiple tangential directions on the circumference of the compression joint vibrating disk 410. By constructing the compression joint vibrating disk 410 and the compression joint channel 411, the compression joints 413 are guided to the compression joint picking tool 412 to wait to be grabbed, realizing the automatic and continuous feeding of the compression joints 413 by the subsequent compression joint feeding device, replacing the traditional manual feeding, with the characteristics of high efficiency, precision, and high automation degree, solving the problem of automatic feeding and assembly of the compression joint, and constituting an important part of the feeding process in the automated production line for pre-assembling the messenger wire.

[0192] More specifically, the crimping tube vibrating disk 410 in the preferred embodiment includes a vibrating disk enclosing plate 4101 and a vibrating disk bottom plate 4112. Among them, the vibrating disk enclosing plate 4101 is an annular plate structure with a circular cross-section, which surrounds the outer periphery of the vibrating disk bottom plate 4102 and forms a crimping tube storage cavity with a certain depth above the vibrating disk bottom plate 4102. At the same time, the vibrating disk bottom plate 4102 is a vibration actuating mechanism, which can drive and feed the crimping tube 413 through vibration, and is inclined towards the inlet of the crimping tube channel 411, facilitating the feeding of the crimping tube 413 into the crimping tube channel 411. The orientation mechanism of the crimping tube can refer to the orientation of the connecting wire clamp, and a vertical plate or other mounting blocks installed on the spiral feeding channel can be used.

[0193] Furthermore, when there are multiple sets of crimping tube channels 411, the middle of the vibrating disk bottom plate 4102 bulges, and inclined bottom plate end faces are respectively provided corresponding to the entrances of multiple channels. Of course, a vibrating disk top plate can also be provided on the top of the vibrating disk enclosing plate 4101 to form a closed accommodation space, but an injection window for the crimping tube 413 is reserved on the top plate.

[0194] More preferably, the vibrating disk bottom plate 4102 is a liftable mechanism, which is used to move the stacked multiple layers of crimping tubes to the crimping tube channel 411 in a way of vibrating while lifting. At this time, one end of the crimping tube channel 411 is connected to the upper part of the vibrating disk enclosing plate 4101. In another preferred embodiment, the vibrating disk bottom plate 4102 is set as a rotatable mechanism, which is used to frictionally accelerate the crimping tubes and move them towards the crimping tube channel 411. Or, the vibrating disk bottom plate 4102 can also be lifted and rotated simultaneously, which is used to accelerate the movement of the stacked multiple layers of crimping tubes to the crimping tube channel 411 in a way of vibrating while lifting and rotating; at this time, one end of the crimping tube channel 411 is connected to the upper part of the vibrating disk enclosing plate 4101. In particular, the present invention constructs the vibrating disk bottom plate in a liftable and / or rotatable manner. The liftable vibrating disk bottom plate can store more layers of stacked crimping tubes, eliminating the need for frequent addition of crimping tubes and improving the single storage capacity; the rotatable vibrating bottom plate can provide a tangential frictional force along the circumference for the crimping tubes, making it easier to enter the crimping tube channel and running at a faster speed.

[0195] Furthermore, the crimping tube channel 411 includes a channel bottom plate 4111 and channel side plates 4112; it can also include a crimping tube channel top plate to form a closed or semi-closed space. The channel top plate can be made of transparent or semi-transparent material for easy observation. The channel side plates 4112 are arranged in pairs and are respectively located on both sides of the channel bottom plate 4111, clamping the channel bottom plate 4111 between the two side plates, and the setting height of the channel bottom plate 4111 is lower than the top of the channel side plates 4112, forming a through groove structure with a certain depth.

[0196] Further, the width of the inlet of the crimping tube channel (near the crimping tube vibrating disk 410) is greater than the width of the outlet of the crimping tube channel (near the crimping tube picking tooling 412). At the same time, preferably, the two channel side plates 4112 include a fixed side plate and a movable side plate, and the movable side plate can move relative to the fixed side plate to adjust the horizontal width of the through slot structure. Preferably, the channel bottom plate 4111 is inclined, and the vertical height of its inlet is higher than that of the outlet (i.e., it extends obliquely downward from the side of the crimping tube vibrating disk 410 to the side of the crimping tube picking tooling 412), so as to accelerate the flow of the crimping tube 413. Further preferably, the inclination angle of the channel bottom plate 4111 is adjustable, and the flow rate of the crimping tube 413 can be accelerated or slowed down as needed.

[0197] In a preferred embodiment of the present invention, the crimping tube channel is particularly configured to be wider at the inlet and narrower at the outlet, which not only prevents blockage at the inlet but also ensures the smooth discharge of a single one at the outlet. At the same time, the width of the through slot of the channel can be adjusted in a timely manner by moving the movable side plate to meet the buffering and feeding requirements of crimping tubes of different sizes and forms.

[0198] Further, the crimping tube picking tooling 412 includes a lifting block 4121, a lifting mechanism 4122, a mounting block 4123, and a picking block 4124. Among them, the lifting block 4121 is arranged at the output end of the lifting mechanism 4122 and can be vertically lifted under the drive of the lifting mechanism 4122. In the preferred embodiment, the lifting mechanism 4122 is a lifting cylinder, which is arranged at the bottom of the lifting block 4121. At the same time, the mounting block 4123 is arranged on one side of the lifting mechanism 4122 and is fixedly connected to the lifting mechanism 4122 for fixedly installing the lifting mechanism 4122 on the corresponding workbench. The picking block 4124 is arranged at the top of the lifting block 4121, and one side of it faces the outlet of the crimping tube channel 411, and a receiving groove 4125 is opened on the side end face for limiting and accommodating the crimping tube 413. In the preferred embodiment, two picking plates are arranged side by side at the top of the picking block 4124, and picking grooves are respectively opened on the two picking plates, and the two picking grooves are horizontally coaxial, as Figure 2 shown. Preferably, the opening length of the receiving groove 4125 in the direction of the crimping tube channel 411 is not less than the width of the crimping tube 413, ensuring that the crimping tube 413 can be reliably accommodated in the receiving groove 4125.

[0199] Further, a baffle (not shown in the drawings) is vertically arranged on the side of the lifting block 4121 and the lifting mechanism 4122 close to the crimping tube channel 411. The top of the baffle is fixed below the accommodating groove 4125, so that when the lifting block 4121 rises, the baffle can close the outlet of the crimping tube channel 411 to prevent the crimping tube 413 at the outlet from falling. In a preferred embodiment of the present invention, by correspondingly arranging the material taking block 4124 at the outlet of the crimping tube channel 411, the crimping tubes 413 in the crimping tube channel 411 can be taken one by one, preventing the rotation of the crimping tubes in the horizontal plane, ensuring the continuity and accuracy of material taking, and creating convenient conditions for the subsequent gripping of the feeding device. Of course, the above-mentioned vertically arranged baffle is correspondingly arranged based on the vertical lifting process of the lifting block 4121. When the material taking block 4124 is arranged on the horizontal block for horizontal movement, a horizontal baffle can be arranged on the material taking block 4124, which can be specifically selected according to actual needs.

[0200] For the buffer unit 400 for buffering heart-shaped rings, the buffer unit 400 includes a heart-shaped ring vibrating disk 431, a heart-shaped ring channel 432, and a heart-shaped ring feeding die 433.

[0201] A number of heart-shaped rings are stored in the heart-shaped ring vibrating disk 431 for actuating the vibration of the heart-shaped rings and moving them towards the heart-shaped ring channel 432; one end of the heart-shaped ring channel 432 is connected to the outer periphery of the heart-shaped ring vibrating disk 431 and is arranged along its tangent direction, and the other end is docked with the heart-shaped ring feeding die 433 for discharging the heart-shaped rings one by one; the heart-shaped ring feeding die 433 is used to support and limit the discharged heart-shaped rings one by one and serve as a picking station for the heart-shaped rings to wait for picking. A plurality of sets of the heart-shaped ring channels 432 and the heart-shaped ring feeding dies 433 can be respectively arranged on multiple tangents in the circumferential direction of the heart-shaped ring vibrating disk 431. By constructing the heart-shaped ring vibrating disk and the heart-shaped ring channel, the heart-shaped rings are guided to the heart-shaped ring feeding die one by one to wait to be grabbed, automatically and continuously supplying heart-shaped rings for the feeding and gripping mechanism, replacing the traditional manual feeding, with the characteristics of high efficiency, precision, and high degree of automation, solving the problem of automatic feeding and assembly of heart-shaped rings, and constituting an important part of the feeding of the automated production line for pre-assembling suspension strings. The heart-shaped ring vibrating disk is used to vibrate and convey a large number of heart-shaped rings stored therein, the heart-shaped ring channel with tangential contraction is used to arrange the heart-shaped rings in a single-row linear arrangement, and the heart-shaped rings discharged at the end of the heart-shaped ring channel are supported and limited one by one by the heart-shaped ring feeding die, creating favorable conditions for the gripping device at the next station to grab; thus realizing the buffering and continuous automatic feeding of heart-shaped rings, without manual operation, reducing the labor intensity, improving the production rate, and enhancing the product quality and the stability of batch operation.

[0202] The heart-shaped ring vibrating disk 431 includes a heart-shaped ring vibrating disk enclosing plate 4311 and a heart-shaped ring vibrating disk bottom plate 4312; the heart-shaped ring vibrating disk enclosing plate 4311 is specifically circular, and the heart-shaped ring vibrating disk bottom plate 4312 is a vibration actuating mechanism that can be inclined towards the channel entrance. When there are multiple channels, the middle of the bottom plate bulges and is inclined towards each of the multiple channels respectively. It may also include a heart-shaped ring vibrating disk top plate to form a closed space, but an injection window for the heart-shaped ring is reserved on the top plate. Preferably, the heart-shaped ring vibrating disk bottom plate 4312 is also a liftable mechanism for moving the stacked heart-shaped rings towards the heart-shaped ring channel 432 in a manner of lifting while vibrating; one end of the heart-shaped ring channel 432 is connected to the upper part of the heart-shaped ring vibrating disk enclosing plate 4311. Alternatively, the heart-shaped ring vibrating disk bottom plate 4312 is also a rotatable mechanism for frictionally accelerating the heart-shaped rings towards the heart-shaped ring channel 432. Alternatively, the heart-shaped ring vibrating disk bottom plate 4312 is also a liftable and rotatable mechanism for accelerating the movement of the stacked heart-shaped rings towards the heart-shaped ring channel 432 in a manner of lifting, vibrating, and rotating; one end of the heart-shaped ring channel 432 is connected to the upper part of the heart-shaped ring vibrating disk enclosing plate 4311. In the present invention, the heart-shaped ring vibrating disk bottom plate is particularly configured to be liftable and / or rotatable. The liftable vibrating bottom plate can store more layers of stacked heart-shaped rings, eliminating the need for frequent addition of heart-shaped rings and increasing the single storage capacity; the rotatable vibrating bottom plate can provide a frictional force in the tangential direction of the circumference for the heart-shaped rings, making it easier for them to enter the heart-shaped ring channel and operating at a faster speed.

[0203] The heart-shaped ring channel 432 includes a heart-shaped ring channel side plate and a heart-shaped ring channel bottom plate 4323; it may also include a heart-shaped ring channel top plate to form a closed or semi-closed space, and the channel top plate can be made of a transparent or semi-transparent material for easy observation. The width of the heart-shaped ring channel side plate at the heart-shaped ring entrance is greater than that at the heart-shaped ring exit. The heart-shaped ring channel side plate includes a heart-shaped ring channel fixed side plate 4321 and a heart-shaped ring channel movable side plate 4322; the heart-shaped ring channel movable side plate 4322 is movable relative to the heart-shaped ring channel fixed side plate 4321 for adjusting the width of the heart-shaped ring channel side plate. The heart-shaped ring channel bottom plate 4323 is inclined, and in the initial state, the height at the entrance end is higher than that at the exit end (i.e., in the obliquely downward direction), and the inclination angle of the bottom plate is adjustable. The obliquely downward direction is used to accelerate the flow of the heart-shaped rings, the obliquely upward direction is used to slow down the flow of the heart-shaped rings, and the horizontal setting is in the middle and can be adjusted according to the situation, such as the progress of the previous and subsequent processes, the influence of environmental temperature and humidity on the speed of the heart-shaped rings, and the difference in the running speeds of heart-shaped rings of different shapes and sizes, etc. In the present invention, the heart-shaped ring channel is particularly configured to be wider at the entrance and narrower at the exit, which not only prevents blockage at the entrance but also ensures the smooth single discharge at the exit. Further, the overall width of the channel can be adjusted in a timely manner by moving the movable side plate, and heart-shaped rings of different sizes and forms can automatically adjust and adapt.

[0204] The heart-shaped ring loading die 433 includes a heart-shaped ring limiting platform 4331 and its supporting device; the heart-shaped ring limiting platform 4331 includes a heart-shaped ring limiting baffle 43311 and a heart-shaped ring limiting bottom plate 43312; the heart-shaped ring limiting baffle 43311 is used to block the movement of the heart-shaped ring along the advancing direction of the heart-shaped ring channel 432; the heart-shaped ring limiting bottom plate 43312 is used to block the movement of the heart-shaped ring along the direction perpendicular to the advancing direction of the heart-shaped ring channel 432. The heart-shaped ring limiting bottom plate 43312 has a concave limiting groove. The depth of the limiting groove is less than the thickness of the heart-shaped ring, and the direction of the limiting groove is set along the moving direction of the outlet of the heart-shaped ring. The supporting device includes a limiting platform support column 4332 and a support column bottom plate 4333, wherein the limiting platform support column 4332 is a reciprocating adjustable structure up and down, specifically a reciprocating air cylinder, which is used to adjust the height of the limiting platform, and further lift the landed heart-shaped ring to the picking station, facilitating the picking mechanism to grab and block the next heart-shaped ring from discharging from the outlet, and then retract and descend to lift the next heart-shaped ring; the support column bottom plate 4333 is fixed on the working platform. The present invention particularly constructs a limiting platform matching the shape of the heart-shaped ring on the heart-shaped ring loading die, stops and stabilizes the heart-shaped ring moving from the channel outlet in the limiting groove, prevents the rotation of the heart-shaped ring in the horizontal plane, and creates convenient conditions for the picking of the loading tool.

[0205] A spiral channel can also be provided on the buffer unit 400 for the heart-shaped ring and the compression joint tube, and a direction selection mechanism for cooperating with the inclined surfaces of the heart-shaped ring and the compression joint tube is provided on the spiral channel. The structure of the direction selection mechanism can refer to the buffer unit 400 for the connection clamp, and the specific installation position can be installed according to the shapes of the heart-shaped ring and the compression joint tube. For example, it can be installed on the inner wall of the vibrating disk. When the heart-shaped ring and the compression joint tube are in hard contact with the direction selection mechanism, they will be blocked and dropped, and only those in the set posture are allowed to pass.

[0206] In addition, the present invention further includes a copper stranded wire position correction device 300. The copper stranded wire position correction device 300 includes a copper stranded wire matching component and a spatial displacement component. Among them, the copper stranded wire matching component is used to match the copper stranded wire to realize the position limitation of the copper stranded wire; the spatial displacement component is matched with the copper stranded wire matching component and is used to drive the former to perform orthogonal adjustment of the position in the vertical and horizontal directions in space to realize the position correction of the copper stranded wire. In the preferred embodiment, Figure 1 the movement direction of the second adjustment module 302 in [reference document] is the horizontal direction, and the horizontal direction perpendicular to this horizontal direction is the longitudinal direction.

[0207] Specifically, the spatial displacement component in the preferred embodiment is as Figure 1 shown in [reference document], which includes a horizontal displacement unit and a vertical displacement unit. Among them, the horizontal displacement unit is arranged on the top of the longitudinal displacement unit, and the vertical displacement unit is arranged on the top of the horizontal displacement unit.

[0208] Further, the vertical displacement unit in the preferred embodiment includes a vertical lifting mechanism 303 and a connecting plate. The output shaft of the vertical lifting mechanism 303 is arranged vertically, the connecting plate is arranged at the end of the output shaft, and the connecting plate can be vertically lifted under the drive of the vertical lifting mechanism 303. At the same time, the vertical lifting mechanism 303 is correspondingly installed on the sliding block of the horizontal displacement unit. In the preferred embodiment, the vertical lifting mechanism realizes its horizontal displacement under the drive of the sliding block of the horizontal displacement unit.

[0209] In addition, the vertical displacement unit can also be provided with multiple vertical lifting structures according to the requirements of the actual application environment.

[0210] Further, the horizontal displacement unit in the preferred embodiment includes a first adjustment module 302. The output shaft of the first adjustment module 302 is arranged horizontally, and a connecting block is arranged at the end of the output shaft. The slider can reciprocate in the slide rail, and at the same time, the slide rail restricts the displacement direction of the slider, reduces the displacement deviation, and improves the displacement accuracy.

[0211] In addition, the longitudinal displacement unit includes a sliding table 301. A longitudinal slide rail is arranged longitudinally at the bottom of the sliding table 301. The sliding table 301 is matched and connected to the slider on the longitudinal slide rail, so that the entire correction device can reciprocate longitudinally.

[0212] Preferably, a first mounting plate 304 is arranged between the first adjustment module 302 and the longitudinal displacement unit. The first mounting plate 304 increases the bearing area to disperse the structural weights including the first adjustment module 302, the vertical displacement unit, and the copper stranded wire matching component onto the longitudinal displacement unit, ensuring the operation of the longitudinal displacement unit.

[0213] In addition, a second mounting plate 305 is arranged between the connecting block and the slider of the first adjustment module 302, and it is preferably in an "L" shape structure. As Figure 1 shown, it includes a first support plate arranged horizontally and a second support plate arranged vertically. The first support plate is simultaneously matched and connected to the connecting block and the slider, and the respective connection forms include but are not limited to screw connection. At the same time, the second support plate is fixedly connected to the vertical lifting mechanism, so that the horizontal movement of the second output shaft can drive the vertical lifting mechanism to perform synchronous horizontal movement, realizing the fine adjustment of the horizontal position of the vertical lifting mechanism 303. Of course, the vertical lifting mechanism 303 can be directly matched with the slider and the connecting plate in a fixed connection form, or the mounting plate is set in other forms, as long as the corresponding connection between the lifting mechanism and the slider and the connecting block can be realized.

[0214] In addition, in the preferred embodiment, both the first adjustment module 302 and the vertical lifting mechanism 303 adopt Figure 2The cylinder structure shown in [description] includes a cylinder block 308, a telescopic rod 311 disposed on the cylinder block and capable of telescoping, and a connecting block 310 is provided at the end of the lifting rod. By setting the axis of the telescopic rod to be in a horizontal state or a vertical state, the horizontal position adjustment or vertical position adjustment of the connecting block can be correspondingly realized. Of course, in actual setting, the above mechanism can also be partially or wholly preferably other driving forms, such as a rack telescopic mechanism and a screw rod telescopic mechanism.

[0215] Further, the copper stranded wire matching component in the preferred embodiment is disposed on the third mounting plate and can perform corresponding displacement along with the third mounting plate. Specifically, the copper stranded wire matching component in the preferred embodiment includes as Figure 1 , 3 shown in [description], which includes a limiting plate 306 and a plurality of limiting columns disposed at the end of the limiting plate 306. Preferably, the limiting plate 306 has a "U-shaped" structure, including two horizontally extending branches, the two branches are preferably arranged in parallel, and at least one limiting column 307 is respectively provided on the top surface of the end of each branch. At least two limiting columns 307 on the same branch can be arranged side by side in the horizontal direction or side by side in the vertical direction.

[0216] Preferably, the limiting column 307 can be set as a central column and a housing capable of circumferential movement around the central column. When the copper stranded wire is fed along the limiting column 307, the friction between the two is changed from sliding friction to rolling friction, reducing the friction force and protecting the copper stranded wire.

[0217] Through the above preferred setting, as shown in [description], the correction of the feeding position of the copper stranded wire can be realized. Actually, when the copper stranded wire is fed, it is preferably fed along the longitudinal direction defined in this application. At this time, if there are deviations in the feeding position of the copper stranded wire in the horizontal and / or vertical directions, the position can be corrected by the above copper stranded wire correction device, and the correction process is as follows: Figure 1 When feeding the copper stranded wire, it is preferably fed along the longitudinal direction defined in this application. At this time, if there are deviations in the feeding position of the copper stranded wire in the horizontal and / or vertical directions, the position can be corrected by the above copper stranded wire correction device, and the correction process is as follows:

[0218] (1) Matching contact with the copper stranded wire. Under the action of the horizontal displacement unit and the vertical displacement unit, the limiting column 307 contacts the copper stranded wire, and the matching and joint work between the copper stranded wire matching component and the copper stranded wire is completed;

[0219] (2) When the copper stranded wire needs to be vertically lifted and adjusted, the vertical lifting mechanism 303 drives the third mounting plate through the output shaft, and then drives the copper stranded wire matching component to achieve vertical displacement. At the same time, with the cooperation of the robot wire threading unit, the mechanical claw drives the copper stranded wire to fit against the limit post 307 for vertical displacement; when the copper stranded wire needs to be horizontally displaced and adjusted, the slide table 301 and the first adjustment module 302 drive the connecting block and the slider to move through the output shaft, realizing the horizontal displacement of the copper stranded wire matching component. Similarly, with the cooperation of the robot wire threading unit, the copper stranded wire fits against the limit post 307 for horizontal displacement, completing the position correction of the copper stranded wire and entering the feeding position.

[0220] (3) Reset. After the position correction of the copper stranded wire is completed, each displacement adjustment module resets, and the copper stranded wire correction device returns to the initial state. However, according to actual needs, the correction device can also always match and abut against the copper stranded wire during the feeding process of the copper stranded wire to perform real-time positioning for the feeding of the copper stranded wire. In addition, the slide table 301 can reciprocate longitudinally to achieve "straightening of the copper stranded wire" or "position deployment of the copper stranded wire correction device" during the feeding process of the copper stranded wire.

[0221] When the present invention is used for pre-assembling and producing suspension insulators, certain manual operations can be supplemented. Of course, most of them rely on automation, especially six-axis robots, supplemented by vision recognition technology, which can realize automatic wire threading, material taking, material placing, etc. of the six-axis robot.

[0222] Those skilled in the art can easily understand that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent dropper pre-assembly production line, characterized in that It includes a frame and a copper stranded wire positioning and straightening unit, a robot wire threading unit, a crimping and winding unit, a connecting wire clamp crimping unit, and a servo moving unit that are jointly arranged on the frame. The crimping and winding unit has two groups, and each group of the crimping and winding unit includes a compression tube crimping unit and a heart-shaped ring positioning and winding unit, where: The copper stranded wire positioning and straightening unit is used to straighten the copper stranded wire and cut the copper stranded wire, so as to obtain a copper stranded wire with a set length; For the copper stranded wire with the set length, the robot wire threading unit is used to perform the following operations on each end of the copper stranded wire on a group of the crimping and winding units respectively: clamp the copper stranded wire with the set length, let one end of the copper stranded wire pass through the compression tube placed on the compression tube crimping unit, and then wind a heart-shaped part on the heart-shaped ring positioning and winding unit that matches the heart-shaped ring placed on the heart-shaped ring positioning and winding unit. After that, let this end pass through the compression tube again, and then clamp this end and let this end penetrate into the connecting wire clamp placed on the connecting wire clamp crimping unit; The connecting wire clamp crimping unit is provided with two groups, which are used to crimp the connecting wire clamp after each end of the copper stranded wire penetrates into the connecting wire clamp, so as to fix both ends of the copper stranded wire with the connecting wire clamp; The servo moving unit is used to drive one group of the crimping and winding units to move a set distance, so that each of the heart-shaped parts tightly presses the heart-shaped ring at the corresponding position; The compression tube crimping unit is used to crimp the compression tube after the heart-shaped part is tightly attached to the heart-shaped ring, so as to fix the compression tube on the copper stranded wire; The heart-shaped ring positioning and winding unit includes a heart-shaped ring bracket, a positioning pin combination, and a limiting plate. Among them, the heart-shaped ring bracket is installed on the frame. One side of the top of the heart-shaped ring bracket is provided with a flange structure, and the positioning pin combination is arranged at the flange structure. The positioning pin combination includes a main positioning pin and a secondary positioning pin, and the main positioning pin and the secondary positioning pin are clamped in the heart-shaped ring to position and fix the heart-shaped ring; a limiting groove for winding the heart-shaped part is arranged at the top of the heart-shaped ring bracket; One side of the heart-shaped ring bracket is connected with a pressing plate through a connecting shaft. The rotation of the connecting shaft can drive the pressing plate to rotate downward until it contacts the top surface of the heart-shaped ring bracket, so that the pressing plate presses on the copper stranded wire that bypasses through the limiting groove at the top of the heart-shaped ring bracket; limiting plates are respectively arranged corresponding to the two lateral sides of the top surface of the heart-shaped ring bracket, and the limiting plates on both sides form a concave arc-shaped limiting groove in combination. The inner arc design of the limiting plate forms the winding path of the copper stranded wire, realizing a 180° turn of the copper stranded wire routing.

2. The intelligent dropper pre-assembly production line according to claim 1, wherein The copper stranded wire positioning and straightening unit includes a guiding component and a clamping component, where: The guiding component includes multiple groups of guiding wheel pairs. Each group of guiding wheel pairs includes a power device and two guiding wheels arranged symmetrically up and down. The power device is connected to one of the guiding wheels to drive the guiding wheel to rotate, so as to drive the copper stranded wire between the two guiding wheels to move; The clamping assembly includes multiple groups of pneumatic clamping jaws, each group of the pneumatic clamping jaws includes a cylinder and two clamping jaws mounted on the cylinder, each of the clamping jaws is mounted with a clamping wheel, and the two clamping wheels are used to clamp and release the copper strands moved from the guide assembly; The center line of each guide wheel is arranged horizontally, and the center line of each clamping wheel is arranged vertically; The plane where the center lines of the two guide wheels of any set of guide wheel pairs are located is perpendicular to the plane where the center lines of the two clamping wheels on any set of pneumatic clamps are located.

3. The intelligent catenary pre-assembly production line according to claim 2, characterized in that, The copper stranded wire is wound on a pay-off drum; The rack is also equipped with a copper stranded wire length measuring module and electric scissors, and the copper stranded wire length measuring module is connected to the controller to obtain the required copper stranded wire length information; The electric scissors are installed on the frame to cut the copper strands to obtain the copper strands of required length.

4. An intelligent pre-assembled catenary production line according to claim 1, characterized in that, The robot threading unit comprises a six-axis robot and a clamping device, wherein: The clamping device comprises a support frame and a plurality of groups of pneumatic grippers, wherein the support frame is mounted at the end of the six-axis robot, and each group of pneumatic grippers is mounted on the support frame; For each group of pneumatic clamps, each includes a cylinder and two clamps mounted on the cylinder. Each clamp is made of a rod, and an arc-shaped groove for accommodating the copper stranded wire is provided at one end of each clamp away from the cylinder. The arc-shaped groove is provided on the opposite sides of the two clamps for clamping the copper stranded wire.

5. An intelligent pre-assembled catenary production line according to claim 1, characterized in that, The crimping tube pressing unit comprises a servo motor, a double screw rod and a slide rail; The servo motor is matched and connected to one end of the double screw rod through a coupling, and is used to drive the double screw rod to rotate forward or reverse; the other end of the double screw rod is rotatably matched on the bracket; The axial ends of the double-screw rod are respectively provided with external threads with opposite rotation directions, and the outer circumferences of the two ends of the double-screw rod are respectively sleeved with mounting blocks; the two mounting blocks are respectively matched with the double-screw rod by threads to form two spiral screw rod pairs; The axis of the slide rail is parallel to the axis of the double screw rod, and the slide rail is provided with sliders corresponding to the two mounting blocks, and the mounting blocks are installed on the corresponding sliders; at the same time, molds are respectively provided on the opposite end faces of the two mounting blocks, which are used to realize the clamping or pressing of the crimping tube after the two molds are matched.

6. The intelligent suspension string pre-assembly production line according to claim 1, characterized in that The connecting wire clamp pressing unit comprises a fourth cylinder, a support seat, a fifth cylinder, a gas-liquid booster cylinder and a crimping die, wherein: The fourth cylinder is mounted on the frame, a guide rail is horizontally mounted on the frame, and the guide rail is parallel to the output shaft of the fourth cylinder, the support seat is mounted on the guide rail through a slider, the output shaft of the fourth cylinder is connected to the support seat, and the gas-liquid booster cylinder and the fifth cylinder are mounted on the support seat; The crimping die comprises an upper die and a lower die, wherein the upper die is mounted on the output shaft of the gas-liquid booster cylinder, and the lower die is mounted on the support seat; The output shaft of the air-liquid booster cylinder is arranged vertically downward, the output shaft of the fifth cylinder is arranged vertically upward, and a base for receiving the connecting wire clamp is installed on the output shaft of the fifth cylinder, so as to place the straight end of the connecting wire clamp on the base on the lower die when moving downward, so that the upper die and the lower die cooperate to clamp or press the straight end of the connecting wire clamp.

7. The intelligent dropper pre-assembly production line according to claim 1, wherein The servo moving unit is arranged on the frame to carry one of the pressing and winding units and drive the pressing and winding unit to move horizontally back and forth. The servo moving unit includes a guiding unit, a sliding unit and a driving unit; The guiding unit is arranged on the frame along the longitudinal direction. The sliding unit is matched and arranged on the guiding unit and can reciprocate longitudinally along the guiding unit; The guiding unit is of a slide table structure, or the guiding unit is at least three slide rail units arranged horizontally at intervals; The driving unit is arranged corresponding to the sliding unit and the guiding unit and is used to drive the reciprocating movement of the sliding unit on the guiding unit.

8. The intelligent catenary pre-assembly production line according to claim 1, wherein It further includes a circulating feeding unit, which includes a buffer unit and a feeding unit, where: The buffer unit includes a vibrating disk, a discharging channel, a cylinder and a buffer die. The vibrating disk is installed on the frame. The vibrating disk includes a vibrating disk body for storing suspension fittings and a spiral feeding channel installed on the inner wall of the vibrating disk body. The outlet of the spiral feeding channel is connected to the inlet of the discharging channel. The height of the outlet of the discharging channel is less than the height of the inlet of the discharging channel. Among them, the suspension fittings are compression joints, heart-shaped rings or connecting wire clamps; The cylinder is installed on the frame, and the buffer die is installed on the output shaft of the cylinder to drive the buffer die to move up and down. The buffer die is correspondingly arranged at the outlet of the discharging channel, and a receiving space is arranged on the buffer die to receive the suspension fittings coming out of the discharging channel; The feeding unit includes a six-axis robot and a pneumatic gripper. The lower end of the six-axis robot is installed on the frame and the pneumatic gripper is installed at the end of the six-axis robot. The pneumatic gripper includes a cylinder and two grippers installed on the cylinder to clamp the suspension fittings on the buffer die to the feeding position.

9. The intelligent dropper pre-assembly production line according to claim 1, characterized in that, It further includes a copper stranded wire position correction device, which includes a copper stranded wire matching component and a spatial displacement component; The copper stranded wire matching component is arranged at the end of the spatial position component to match the copper stranded wire to be fed at the feeding station and correct its feeding position; The spatial displacement assembly includes a plurality of displacement units connected in sequence vertically, and at least one lateral displacement unit and at least one vertical displacement unit are included in the plurality of displacement units; each of the displacement units has a telescopic shaft that can reciprocally expand and contract horizontally or vertically, and a mounting plate is arranged on the telescopic shaft, and any one of the displacement units is fixedly connected to the adjacent displacement unit below it through the mounting plate; and the copper stranded wire matching assembly is arranged on the mounting plate of the displacement assembly at the top of the spatial displacement assembly, and can perform lateral displacement and / or vertical displacement driven by the spatial displacement assembly, so as to realize the position correction of the copper stranded wire horizontally and / or vertically.

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