A positioning and installation device for a catenary wire clamp used in the installation of catenary droppers

Abstract

A positioning and installation device for a catenary wire clamp used in the installation of catenary suspension strings, comprising a multi-degree-of-freedom robotic arm and a platform. A positioning system, a locking system and a clamping system are provided on the platform; the positioning system is used to position the relative position of the free end of the multi-degree-of-freedom robotic arm and the catenary wire according to the longitudinal groove on the catenary wire, and the locking system is used to lock the relative position of the free end of the multi-degree-of-freedom robotic arm and the catenary wire after the positioning system positions; the clamping system has a positioning seat and a driving mechanism. A positioning component for positioning and fixing the end of the suspension string is provided on the positioning seat, and the driving mechanism is used to push the positioning seat towards the direction of the catenary wire locked by the locking system, so that the wire clamp at the end of the suspension string fixed by the positioning component is clamped and fixed on the longitudinal groove of the catenary wire. The invention is used for quickly, efficiently and safely assembling the suspension string to the catenary wire segment.

Description

Technical Field

[0001] The present invention relates to the technical field of catenary suspension installation, and specifically relates to a positioning and installation device for a contact wire clamp used in catenary suspension installation. Background Technique

[0002] In the installation construction of the suspension, both ends of the suspension are bent to form a loop, and the loop is sequentially connected to the suspension ring and the clamp, and then is respectively installed in cooperation with the contact wire and the carrier cable through the clamp. The suspension ring is installed on the corresponding clamp through the cooperation of a fastening bolt and a fastening nut.

[0003] In the assembly of the suspension corresponding to the contact wire end, usually, the groove of the clamp is manually pushed towards the contact wire, so that the end parts of the two sides of the clamp are clamped into the longitudinal groove opened on the contact wire to complete the installation. Since it involves high-altitude operations, ladders are often required for operations, resulting in low efficiency and potential safety hazards. An automated device is needed to complete the assembly between the clamp and the contact wire. And because the contact wire clamp on the suspension needs to be installed directionally through the longitudinal groove on the contact wire, it poses a high design difficulty for the positioning, locking of the contact wire and the precise assembly requirements for the clamp to be clamped into the longitudinal groove. Summary of the Invention

[0004] The present invention aims to provide a positioning and installation device for a contact wire clamp used in catenary suspension installation, which is used for quickly, efficiently and safely assembling the suspension to the contact wire section.

[0005] To solve the above technical problems, the specific solution adopted by the present invention is as follows: A positioning and installation device for a contact wire clamp used in catenary suspension installation, including a multi-degree-of-freedom robotic arm and a platform arranged on the multi-degree-of-freedom robotic arm. A positioning system, a locking system and a clamping system are arranged on the platform; the positioning system and the locking system are fixedly connected to each other and respectively have a positioning groove and a locking groove that are mutually aligned for the contact wire to pass through. The positioning system is used to position the relative position of the free end of the multi-degree-of-freedom robotic arm and the contact wire according to the longitudinal groove on the contact wire, and the locking system is used to lock the relative position of the free end of the multi-degree-of-freedom robotic arm and the contact wire after the positioning system positions; the clamping system has a positioning seat and a driving mechanism. A positioning component for positioning and fixing the end of the suspension is arranged on the positioning seat, and the driving mechanism is used to push the positioning seat towards the direction of the contact wire locked by the locking system, so that the clamp at the end of the suspension fixed by the positioning component is clamped and fixed on the longitudinal groove on the contact wire.

[0006] Preferably, the positioning system includes a base block with the positioning groove, and assembly holes are respectively provided on both sides of the groove of the positioning groove on the base block, and a positioning steel ball and a clamping spring are provided in the assembly hole. The clamping spring is used to push the positioning steel ball toward the inner side of the groove of the positioning groove so that the positioning steel ball is clamped in the longitudinal groove on the contact line; an electronic detection element is also provided on the base block, and the electronic detection element is used to detect the clamping state of the positioning steel ball.

[0007] Preferably, the electronic detection element is a pressure sensor fixed in the assembly hole, one end of the clamping spring is fixed to the positioning steel ball, and the other end is connected to the pressure sensor.

[0008] Preferably, the locking system includes a slot plate with the locking slot, and a locking strip and a locking strip rotatably connected to the slot plate; the locking strip has a locking hook, which is used to block the locking slot during the rotation of the locking strip to achieve contact line locking, and a locking spring for maintaining the locking slot in a locked state is provided between the slot plate and the locking strip; the locking strip has a locking hook, which can be hooked on a hook rod fixed to the locking strip during the rotation of the locking strip to maintain the locking hook in a non-locked state away from the locking slot, and a locking spring for maintaining the locking slot in a non-locked state is provided between the slot plate and the locking strip.

[0009] Preferably, there are two slot plates and they are arranged in parallel and at intervals. The bottoms of the two slot plates are connected, and corresponding locking slots are provided on the tops. The base block is fixed to one of the slot plates, and the locking strip, locking strip, locking spring and locking spring are all arranged between the two slot plates. A back slot is provided on the side of the locking strip opposite to the locking hook, and the hook rod is distributed across the width of the back slot. The part of the hook rod extending from the back slot forms a limit with the side of the slot plate to prevent the locking hook from excessively squeezing the contact line in the locking slot.

[0010] Preferably, a first handle is provided on the locking strip, so that the locking hook can be driven to disengage from the hook rod by toggling the first handle.

[0011] Preferably, the positioning seat is rectangular, and the positioning assembly includes a positioning groove, a first positioning column, a positioning block and a second positioning column which are arranged in sequence on the positioning seat along the length direction of the positioning seat; the positioning groove is provided for the bolt head of the fastening bolt on the wire clamp to be clamped and positioned, and there are two first positioning columns, which are spaced apart along the width direction of the positioning seat and are provided for the outer side of the head of the annular bend to be clamped and positioned, and the positioning block is provided with an arc section adapted to the lifting ring on the side facing the first positioning column for the lifting ring to be clamped and positioned, and the second positioning column is provided for the inner side of the tail of the annular bend to be clamped and positioned.

[0012] Preferably, the driving mechanism includes a first tension spring and a clamping component arranged between the positioning seat and the platform. The clamping component is used to clamp and position the positioning seat in the stretched state of the first tension spring, and the clamping component can act under an external force to release the positioning seat, so that the positioning seat slides along the platform under the action of the tension of the first tension spring;

[0013] The clamping component includes a second tension spring and an L-shaped clamping strip. The inflection point of the clamping strip is rotatably installed with the platform. One end of the clamping strip is connected to the platform through the second tension spring. The other end of the clamping strip is provided with a rotating hook, which is used to be clamped and cooperate with a fixed hook fixed on the positioning seat to clamp and position the positioning seat in the stretched state of the first tension spring, and the rotating hook can rotate with the clamping strip to disengage from the fixed hook so as to release the positioning seat.

[0014] In the present invention, there is an actuator for positioning and installing a clip on a suspension string on a contact wire, and the actuator is arranged on the free end of a multi-degree-of-freedom robotic arm through a platform. The lifting, telescoping, and rotating actions of the multi-degree-of-freedom robotic arm replace manual operations, eliminating the need for personnel to install by ladder, improving the installation efficiency of the suspension string, and avoiding the risk of working at heights. Personnel only need to work on the ground during the installation process, ensuring the safe construction of personnel.

[0015] The present invention has a positioning system, a locking system, and a clamping system. The positioning system can cooperate with a multi-degree-of-freedom robotic arm to position the contact wire and the clamping system in such a way that the clip slot and the longitudinal slot on the contact wire are aligned. The locking system locks the contact wire in the form of a hoop to prevent the contact wire from shaking and vibrating, maintaining the relative posture of the clip slot and the longitudinal slot on the contact wire. The clamping system has a driving mechanism that can quickly push forward the clip positioned by the positioning component to be clamped and installed on the contact wire. Each system has a simple structure, is easy to implement, and is suitable for popularization. Description of the Drawings

[0016] Figure 1 It is a three-dimensional structural schematic diagram of one side of the clamping system in the present invention;

[0017] Figure 2 It is a three-dimensional structural schematic diagram of one side of the positioning system and the locking system in the present invention;

[0018] Figure 3 It is a front view structural schematic diagram of a part of the positioning system and the locking system in the present invention;

[0019] Figure 4 is Figure 3 the longitudinal sectional structural schematic diagram of;

[0020] Figure 5 is Figure 4Schematic diagram of the state when the locking strip rotates clockwise and then the locking strip rotates counterclockwise under the action of the locking spring to block the locking groove;

[0021] Figure 6 Stereoscopic structure schematic diagram of the positioning system and the locking system parts in the present invention;

[0022] Figure 7 Stereoscopic structure schematic diagram of the clamping system part of the present invention;

[0023] Figure 8 Another stereoscopic structure schematic diagram of the clamping system part of the present invention;

[0024] Figure 9 Front view structure schematic diagram of the clamping system part of the present invention;

[0025] Markings in the figure: 1. Locking system, 101. Locking strip, 102. Locking groove, 103. Groove plate, 104. First rotating shaft, 105. Second rotating shaft, 106. First handle, 107. Locking strip, 108. Hook rod, 109. Back groove, 110. Locking hook, 111. Locking spring, 112. Spacer block, 113. Locking spring, 114. Locking hook, 2. Positioning system, 201. Electric signal wire, 202. Base block, 203. Positioning groove, 204. Positioning steel ball, 3. Suspension string, 4. Clamping system, 401. Fixed hook, 402. Second positioning column, 403. Positioning groove, 404. First positioning column, 405. Positioning block, 406. Slide block, 407. Linear rail, 408. First tension spring, 409. Positioning seat, 410. Second tension spring, 411. Second handle, 412. Rotating hook, 413. Third rotating shaft, 414. Clamping strip, 5. Platform, 6. Line clamp, 7. Contact wire, 701. Longitudinal groove, 8. Ring bend, 9. Suspension ring, 10. Fastening bolt, 11. Fastening nut, 12. Bolt head. Detailed implementation manners

[0026] The present invention is used to connect the end of the suspension string 3 to the contact wire 7. The end of the suspension string 3 itself is bent into a ring bend 8, and the ring bend 8 is connected with a line clamp 6 through a suspension ring 9. The line clamp 6 is U-shaped, and its notch should be clamped and assembled corresponding to the longitudinal groove 701 on the contact wire 7. The line clamp 6 is also penetrated with a fastening bolt 10 and a corresponding fastening nut 11. On the one hand, the fastening bolt 10 and the fastening nut 11 fix the base of the suspension ring 9 on the line clamp 6. On the other hand, after the notch of the line clamp 6 is inserted into the longitudinal groove 701, the fastening nut 11 can be screwed in to limit the opening degree of the notch of the line clamp 6, ensuring a tight clamping fit between the notch and the longitudinal groove 701 and avoiding loosening.

[0027] Such as Figure 1 And Figure 2As shown in the figure, a positioning and installation device for a catenary suspension clamp 6 of a catenary suspension 3 according to the present invention includes a rectangular platform 5 and a positioning system 2, a locking system 1, and a clamping system 4 provided on the platform 5 as installation execution mechanisms. A flange is provided at the right end of the platform 5 and is connected to a multi-degree-of-freedom robotic arm (a conventional prior art means, not shown in the figure) by screws. The installation execution mechanism is adjusted to the correct installation position through the lifting, telescoping, and rotation of the multi-degree-of-freedom robotic arm. The positioning system 2 positions the catenary suspension 7, the locking system 1 locks the installation wire in a hoop manner to avoid shaking, and the clamping system 4 fixes the notch of the clamp 6 in the longitudinal groove 701 on the catenary suspension 7. The positioning system 2, the locking system 1, and the clamping system 4 in the present invention are described separately as follows:

[0028] Positioning system

[0029] As Figure 3 and Figure 6 As shown in the figure, the positioning system 2 of the present invention mainly includes a V-shaped base block 202. A positioning groove 203 is formed on the left side of the base block 202. The width at the bottom of the positioning groove 203 corresponds to the outer diameter of the catenary suspension 7, and the positioning groove 203 gradually expands from the bottom to the notch, so as to be horizontally inserted onto the catenary suspension 7 under the control of the multi-degree-of-freedom robotic arm. Assembly holes are respectively provided on both sides of the notch of the positioning groove 203 on the base block 202. A positioning steel ball 204 and a clamping spring for pushing the corresponding positioning steel ball 204 towards the inner side of the positioning groove 203 are slidably provided in the assembly holes, so that when the catenary suspension 7 is located at the bottom of the positioning groove 203 and the positioning groove 203 is rotated around the catenary suspension 7 under the control of the multi-degree-of-freedom robotic arm, when the two positioning steel balls 204 respectively rotate into the corresponding longitudinal grooves 701, the clamping spring can push the positioning steel balls 204 to be clamped into the longitudinal grooves 701 to complete the subsequent positioning of the positioning system 2 and the clamping system 4 to the catenary suspension 7. The aperture of the assembly hole at the end towards the inner side of the positioning groove 203 gradually becomes smaller, which can avoid the positioning steel balls 204 from coming out of the assembly holes while ensuring that the positioning steel balls 204 can partially protrude to be clamped and matched with the longitudinal grooves 701.

[0030] A pressure sensor, which is an electronic detection element, is also provided in the assembly hole. After the positioning groove 203 rotates with the multi-degree-of-freedom robotic arm and the positioning steel ball 204 is clamped into the longitudinal groove 701, an electrical signal is given. After the controller or the operator receives this electrical signal, the multi-degree-of-freedom robotic arm is braked, and then the locking system 1 and the clamping system 4 are started in sequence. The pressure sensor is fixed at one end of the assembly hole corresponding to the outside of the positioning groove 203 and cooperates with the end of the clamping spring away from the positioning steel ball 204. Thus, when the contact wire 7 is horizontally inserted into the bottom of the positioning groove 203 and the longitudinal groove 701 does not point to the positioning steel ball 204, the positioning steel ball 204 abuts against the outer edge of the contact wire 7, and the clamping spring is compressed, thereby generating a large pressure on the pressure sensor; when the longitudinal groove 701 points to the positioning steel ball 204 with the rotation of the positioning groove 203, the clamping spring pushes the positioning steel ball 204 into the longitudinal groove 701, the length of the clamping spring itself elongates, and a small pressure is generated on the pressure sensor, and an electrical signal can be generated through the pressure difference generated by the pressure sensor. In the present invention, two electrical signal lines 201 are provided on the right side of the base block 202. The left ends of the two electrical signal lines 201 are respectively connected to the pressure sensor, and the right ends are respectively extended to the controller or the display.

[0031] In another embodiment of the present invention, the electronic detection element is a proximity switch fixed in the assembly hole. The proximity switch is used to cooperate with the outside of the positioning steel ball 204 to detect the position of the positioning steel ball 204 in the assembly hole. Thus, when the contact wire 7 is horizontally inserted into the positioning groove 203 and the positioning steel ball 204 abuts against the outer wall of the contact wire 7 at a position other than the longitudinal groove 701, the positioning steel ball 204 closely adheres to the proximity switch, and the proximity switch generates a signal indicating that the position is reached; when the positioning groove 203 is rotated by a certain angle through the multi-degree-of-freedom robotic arm until the positioning clamping ball is clamped into the longitudinal groove 701, the positioning steel ball 204 moves away from the proximity switch along the assembly hole in the direction towards the inside of the positioning groove 203, and the signal indicating that the position is reached generated by the proximity switch disappears. That is, whether the positioning steel ball 204 is clamped into the longitudinal groove 701 and whether the positioning is achieved is judged according to the above rules.

[0032] Locking system

[0033] Combined with Figure 3 、 4As shown in FIGS. 5 and 6, the main body of the locking system 1 includes two identical groove plates 103 arranged in parallel at intervals, a spacer block 112 fixed between the bottoms of the two groove plates 103 by screws, and a locking bar plate 101 and a locking stop bar plate 107 hinged between the two groove plates 103. One of the groove plates 103 is fixed to the side edge of the platform 2, and the other groove plate 103 is fixedly connected to the base 202. Locking grooves 102 corresponding to the aforementioned positioning grooves 203 are provided at the upper parts of the two groove plates 103. The top of the locking groove 102 is tapered and flared to facilitate the lateral insertion of the contact wire 7. The locking bar plate 101 is used to block the locking groove 102 to achieve locking, and the locking stop bar plate 107 is used to maintain the non-locking state of the locking bar plate 101 with respect to the locking groove 102, facilitating the blocking and locking of the positioning groove 203 by driving the locking bar plate 101 after the contact wire 7 is positioned by the positioning mechanism.

[0034] One end of the locking bar plate 101 is rotatably connected to the two groove plates 103 through a first rotating shaft 104, and a locking hook 110 is provided in the middle of the locking bar plate 101. The locking hook 110 can rotate around the first rotating shaft 104 with the locking bar plate 101 to the position as shown in Figure 5 FIG. 7, so as to block the locking groove 102 and achieve the locking of the contact wire 7 in the locking groove 102, avoiding shaking or vibration. The locking system 1 further includes a locking spring 111. Hooks are provided at both ends of the locking spring 111. One hook is hooked to the groove plate 103, and the other hook is hooked to the locking bar plate 101, and the locking spring 111 is in a stretched state. Thus, in the state as shown in Figure 4 FIG. 8, after the locking bar plate 101 is unlocked by the locking stop bar plate 107, the locking spring 111 can pull the locking bar plate 101 to the locking state as shown in Figure 5 FIG. 9.

[0035] One end of the locking stop bar plate 107 is rotatably connected to the two groove plates 103 through a second rotating shaft 105. The second rotating shaft 105 is located at the lower right position of the first rotating shaft 104. A locking stop hook 114 is provided at the other end of the locking stop bar plate 107. The locking stop hook 114 is used for hooking and cooperating with a hook rod 108 on the side of the locking bar plate 101 opposite to the locking stop hook 114 to maintain the non-locking state as shown in Figure 4 FIG. 4. The pulling force of the locking stop hook 114 on the hook rod 108 comes from the locking stop spring 113. One end of the locking stop spring 113 is hooked and fixed to the groove plate 103, and the other end is hooked to the middle of the locking stop bar plate 107. The locking stop spring 113 is in a stretched state, and the hook rod 108 is pulled by the pulling force generated by it to maintain the locking bar plate 101 in the non-locking state as shown in FIG. 4. A first handle 106 is further provided on the right side of the locking stop bar plate 107. Figure 4By pressing the first lever 106 downward, the locking strip 107 is driven to rotate in a clockwise direction, so that the locking hook 114 is disengaged from the hook rod 108 to unlock the locking strip 101, and the locking strip 101 blocks the locking groove 102 under the pulling force of the locking spring 111.

[0036] In this embodiment, a back groove 109 is provided on the right side of the locking strip 101, and the hook rod 108 is distributed in the horizontal direction through the back groove 109, and its two ends extend out of the locking strip 101 and form a limit rod. Figure 5 In the locked state shown, the limit rod cooperates with the right side of the slot plate 103 to prevent the locking hook 110 from excessively rotating to the left under the pulling force of the locking spring 111, and to prevent the inner edge of the locking hook 110 from forming a locking pressure on the contact line 7.

[0037] A wedge-shaped guide surface is provided at the hook head of the locking hook 114 on the locking strip 107 to facilitate the resetting of the locking strip 101 . Figure 5 In this state, the locking strip 101 is driven by an external force to rotate clockwise, so that the portion of the hook rod 108 located in the back groove 109 contacts and slides with the wedge-shaped guide surface and pushes the locking strip 107 to rotate clockwise. After the hook rod 108 rotates to bypass the hook head of the locking hook 114, the locking strip 107 rotates counterclockwise under the tension of the locking spring 113, and the locking hook 114 hooks the hook rod 108 to reach the initial state shown in the figure. Figure 5 The upper right part of the pad 112 is an inclined surface for the locking strip 107 to limit the position and resist the locking strip 107 to maintain Figure 5 In the state shown in FIG. 1 , it is ensured that the hook rod 108 cooperates with the wedge-shaped guide surface during the counterclockwise rotation and resetting process of the locking strip 101 .

[0038] Card mounting system

[0039] like Figure 7 and 8 As shown, the clamping system 4 includes a positioning seat 409 and a driving mechanism. The positioning seat 409 is used for positioning and clamping the end of the corresponding contact wire 7 on the suspension string 3, and the driving mechanism is used to push the positioning seat 409 toward the contact wire 7 positioned by the positioning system 2 and locked by the locking system 1, so as to install the wire clamp 6 positioned and fixed by the positioning seat 409 on the contact wire 7 by clamping.

[0040] The positioning seat 409 is generally rectangular, and the positioning seat 409 and the platform 5 are distributed along the same length direction. A linear guide 407 is provided along the length direction of the platform 5 at its upper edge, and a slider 406 that is slidably engaged with the linear guide 407 is fixedly provided at the lower edge of the positioning seat 409, so that the positioning seat 409 can flexibly slide along the length direction of the platform 5 under the action of an external force through the cooperation of the linear guide 407 and the slider 406. A positioning assembly for the end of the suspension string 3 corresponding to the contact wire 7 to be positioned and clamped is provided at the upper edge of the positioning seat 409. The positioning assembly includes a positioning groove 403, a first positioning post 404, a positioning block 405, and a second positioning post 402 that are sequentially arranged on the positioning seat 409 from the head to the tail. The positioning groove 403 is opened at the front end of the positioning seat 409, and both the front part and the top are open. The shape of the groove is adapted to the shape of the bolt head 12 of the fastening bolt 10 that fixes the suspension ring 9 and the wire clamp 6, and the height of the groove corresponds to the thickness of the bolt head 12, so that after the bolt head 12 is inserted into the positioning groove 403 in an adapted manner, a clamping and positioning fit of the fastening bolt 10 is formed by the positioning groove 403. The number of the first positioning posts 404 is two, and the two first positioning posts 404 are spaced along the width direction of the positioning seat 409 and are located on both sides behind the positioning groove 403. During the positioning and installation process, the suspension ring 9 passes through the gap between the two first positioning posts 404, and the two sides of the outside of the front end of the loop bend 8 on the suspension string 3 respectively abut against the rear of the two first positioning posts 404, so that a clamping and positioning of the outside of the head of the loop bend 8 is formed by the two first positioning posts 404. An arc section is provided on the front side of the positioning block 405, and the arc section is adapted to the bending arc specification of the tail of the suspension ring 9. During the positioning and installation process, the tail of the suspension ring 9 is clamped and positioned in the arc section on the front side of the positioning block 405. The second positioning post 402 is located directly behind the positioning block 405 and is for the tail of the loop bend 8 to be inserted and then to be in a clamping and positioning fit with the inner side of the loop bend 8.

[0041] The driving mechanism includes a first tension spring 408 and a clamping assembly. In the initial state of the present invention, the above-mentioned positioning seat 409 is fixed on the platform 5 by the clamping assembly, and the first tension spring 408 is in a stretched state; when the wire clamp 6 is installed, after the contact wire 7 is positioned and locked by the positioning system 2 and the locking system 1, an external force is used to release the positioning seat 409 by the clamping assembly, and the positioning seat 409 moves forward under the pulling force of the first tension spring 408, so that the wire clamp 6 thereon is engaged and butted with the longitudinal groove 701 on the contact wire 7.

[0042] The number of the first tension springs 408 is two, and the two first tension springs 408 are respectively arranged on both sides of the positioning seat 409 and both first tension springs 408 are distributed along the longitudinal direction of the platform 5. One end of the first tension spring 408 is hooked and fixed to the first spring seat provided at the front part of the platform 5, and the other end is hooked and fixed to the second spring seat provided on the positioning seat 409.

[0043] The main body of the clamping assembly is an L-shaped clamping strip 414, and a third rotating shaft 413 is provided in the middle of the clamping strip 414. The third rotating shaft 413 is rotatably matched with the shaft seat arranged at the side of the platform 5, so that both ends of the clamping strip 414 can rotate around the third rotating shaft 413 under the action of external force. One end of the clamping strip 414 is connected to the middle of the platform 5 through the second tension spring 410, and the other end is bent in the opposite direction to form a rotating hook 412. The rotating hook 412 can be hooked and matched with the fixed hook 401 arranged at the side of the positioning seat 409, and maintain the tension state of the first tension spring 408 under the tension of the second tension spring 410. A protruding second lever 411 is also provided on the clamping strip 414 near the rotating hook 412. The second lever 411 is used to cooperate with an external force to rotate the clamping strip 414, so that the rotating hook 412 is separated from the fixed hook 401, that is, the positioning seat 409 is released, so that the positioning seat 409 moves rapidly toward the front of the platform 5 under the tension of the first tension spring 408, and the clamping and fixing between the wire clamp 6 and the contact wire 7 is completed. In addition, the hook head of the rotating hook 412 and the fixed hook 401 are respectively provided with wedge-shaped surfaces that can cooperate with each other to allow the fixed hook 401 to slide into the rotating hook 412.

[0044] The implementation process of the present invention is as follows:

[0045] First, manually fix the ring bend 8, the ring 9, and the wire clamp 6 of the suspension string 3 corresponding to the contact line 7 on the ground through the positioning assembly and fasten them to the positioning seat 409. Then pull the positioning seat 409 backward to accumulate the elastic potential energy of the first tension spring 408 until Figure 9 After the state shown, the positioning seat 409 is continuously pulled back, and the two wedge-shaped surfaces cooperate to enable the fixed hook 401 to push the rotating hook 412 to rotate in the counterclockwise direction until the fixed hook 401 moves back to the hook mouth of the rotating hook 412, and the rotating hook 412 quickly rotates in the clockwise direction under the pulling force of the second tension spring 410 and hooks the fixed hook 401, locking the position of the positioning seat 409.

[0046] Then, the multi-degree-of-freedom mechanical arm controls the platform 5 to move so that the contact wire 7 is laterally inserted into the positioning groove 203 and the locking groove 102. The platform 5 is rotated to rotate the positioning groove 203 and the locking groove 102 around the contact wire 7, and the positioning state is adjusted by continuous and slow rotation until the output value of the pressure sensor suddenly decreases, and the multi-degree-of-freedom mechanical arm is stopped, so that the positioning steel ball 204 is inserted into the longitudinal groove 701 of the contact wire 7, so that the notch of the wire clamp 6 in the clamping device faces the two longitudinal grooves 701. At this time, another mechanical arm is linked or manually controlled to move. Figure 4 In the state shown, the first lever 106 is pressed downward, so that the locking strip 101 is disengaged from the locking hook 114 and rotated counterclockwise, and the contact wire 7 in the locking groove 102 in the positioned state is locked by the locking hook 110 to prevent it from oscillating.

[0047] Finally, by pressing down the second lever 411, the rotating hook 412 is driven to rotate counterclockwise again to disengage from the fixed hook 401. After the hook is disengaged, the positioning seat 409 is quickly pulled forward under the pulling force of the first tension spring 408, so that the front slot of the wire clamp 6 is clamped into the longitudinal slot 701 on the contact wire 7. Tightening the fastening nut 11 on the fastening bolt 10 by the tightening device realizes the installation of the suspension 3 to the contact wire 7.

Claims

1. A positioning and installation device for a contact wire clamp used in the installation of catenary droppers, characterized in that: It includes a multi-degree-of-freedom robotic arm and a platform (5) arranged on the multi-degree-of-freedom robotic arm. A positioning system (2), a locking system (1), and a clamping system (4) are provided on the platform (5); the positioning system (2) and the locking system (1) are fixedly connected to each other and respectively have a positioning groove (203) and a locking groove (102) that are arranged in correspondence for the contact wire (7) to pass through. The positioning system (2) is used to position the relative position between the free end of the multi-degree-of-freedom robotic arm and the contact wire (7) based on the longitudinal groove (701) on the contact wire (7), and the locking system (1) is used to lock the relative position between the free end of the multi-degree-of-freedom robotic arm and the contact wire (7) after the positioning system (2) completes the positioning; the clamping system (4) has a positioning seat (409) and a driving mechanism. A positioning component for positioning and fixing the end of the suspension clamp (3) is provided on the positioning seat (409), and the driving mechanism is used to push the positioning seat (409) towards the direction of the contact wire (7) locked by the locking system (1), so that the wire clamp (6) at the end of the suspension clamp (3) fixed by the positioning component is clamped and fixed on the longitudinal groove (701) on the contact wire (7); The positioning system (2) includes a base block (202) provided with the positioning groove (203). Assembly holes are respectively arranged on both sides of the notch of the positioning groove (203) on the base block (202). A positioning steel ball (204) and a clamping spring are arranged in the assembly holes. The clamping spring is used to push the positioning steel ball (204) towards the inner side of the notch of the positioning groove (203) so that the positioning steel ball (204) is clamped in the longitudinal groove (701) on the contact wire (7); An electronic detection element is also provided on the base block (202), and the electronic detection element is used to detect the clamping state of the positioning steel ball (204); The locking system (1) includes a groove plate (103) provided with the locking groove (102), a locking strip plate (101), and a locking stop strip plate (107) rotatably connected to the groove plate (103); The locking strip plate (101) has a locking hook (110). The locking hook (110) is used to block the locking groove (102) during the rotation of the locking strip plate (101) to achieve the locking of the contact wire (7). A locking spring (111) for maintaining the locked state of the locking groove (102) is arranged between the groove plate (103) and the locking strip plate (101); The locking stop strip plate (107) has a locking stop hook (114). The locking stop hook (114) can be hooked on a hook rod (108) fixed to the locking strip plate (101) during the rotation of the locking stop strip plate (107) to maintain the non-locked state where the locking hook (110) is away from the locking stop groove. A locking stop spring (113) for maintaining the non-locked state of the locking groove (102) is arranged between the groove plate (103) and the locking stop strip plate (107); The driving mechanism comprises a first tension spring (408) and a clamping assembly arranged between the positioning seat (409) and the platform (5); the clamping assembly is used to clamp and position the positioning seat (409) to a stretched state of the first tension spring (408); and the clamping assembly can be moved under the action of an external force to release the positioning seat (409), so that the positioning seat (409) slides along the platform (5) under the action of the tension of the first tension spring (408); The clamping assembly comprises a second tension spring (410) and an L-shaped clamping strip (414); the inflection point of the clamping strip (414) is rotatably mounted on the platform (5); one end of the clamping strip (414) is connected to the platform (5) via the second tension spring (410); the other end of the clamping strip (414) is provided with a rotating hook (412); the rotating hook (412) is used to clamp with a fixed hook (401) fixed on the positioning seat (409) to clamp and position the positioning seat (409) in a stretched state of the first tension spring (408); and the rotating hook (412) can rotate with the clamping strip (414) to disengage from the fixed hook (401) to release the positioning seat (409).

2. The positioning and installation device for the contact wire clamp used in the installation of catenary suspension strings according to claim 1, wherein: The electronic detection element is a pressure sensor fixed in the assembly hole; one end of the clamping spring is fixed to the positioning steel ball (204), and the other end is connected to the pressure sensor.

3. The positioning and installation device for the contact wire clamp used in the installation of catenary droppers according to claim 1, characterized in that: There are two slot plates (103) arranged in parallel and at intervals, the bottoms of the two slot plates (103) are connected, and corresponding locking slots (102) are respectively provided on the tops, and the locking strip plate (101), the locking strip plate (107), the locking spring (111) and the locking spring (113) are all arranged between the two slot plates (103); a back slot (109) is provided on the side of the locking strip plate (101) opposite to the locking hook (110), and the hook rod (108) runs through the width of the back slot (109), and the part of the hook rod (108) extending from the back slot (109) and the side of the slot plate (103) form a limiter for preventing the locking hook (110) from excessively squeezing the contact line (7) in the locking slot (102).

4. The positioning and installation device for the catenary wire clamp used in the installation of catenary droppers according to claim 1, characterized in that: A first lever (106) is provided on the locking strip (107) so as to drive the locking hook (114) to disengage from the hook rod (108) by levering the first lever (106).

5. The positioning and installation device for the catenary wire clamp used in the installation of catenary suspension strings according to claim 1, wherein: The positioning seat (409) is rectangular, and the positioning assembly comprises a positioning groove (403), a first positioning column (404), a positioning block (405), and a second positioning column (402) which are sequentially arranged on the positioning seat (409) along the length direction of the positioning seat (409); the positioning groove (403) is provided for the bolt head (12) of the fastening bolt (10) on the wire clamp (6) to be clamped and positioned, the number of the first positioning columns (404) is two, the two first positioning columns (404) are spaced apart along the width direction of the positioning seat (409) and are provided for the outer side of the head of the annular bend (8) to be clamped and positioned, the positioning block (405) is provided with an arc section adapted to the lifting ring (9) on one side facing the first positioning column (404) for the lifting ring (9) to be clamped and positioned, and the second positioning column (402) is provided for the inner side of the tail of the annular bend (8) to be clamped and positioned.

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