Intelligent pre-configuration platform and pre-configuration method for integral dropper of overhead line system

Abstract

The invention belongs to the technical field of droppers, and particularly relates to an intelligent pre-assembling platform and a pre-assembling method for an integral dropper of a contact network, and the intelligent pre-assembling platform comprises an automatic feeding system, an automatic laser etching system, a mechanical arm flexible assembling system, a tension / length detection system, a crimping process detection system, a bundling and labeling system, a rack, an auxiliary device and a quick-changing device, the dropper wire feeding system comprises a wire feeding wheel, a wire winding device, a straightening device, a fusing device and a servo length control device; the mechanical arm flexible assembly system comprises a six-axis mechanical arm and a crimping quick-change device; the auxiliary device comprises a secondary positioning mechanism, a heart-shaped ring / crimping pipe spacing control mechanism and a transfer printing device; the quick-change device is composed of a hydraulic cylinder, a crimping die and a quick-change transition block. According to the invention, the pre-assembling time of a single dropper is shortened, the dropper assembling process is shortened, the dropper pre-assembling device is suitable for dropper pre-assembling with different specification requirements, a crimping die is convenient to replace, meanwhile, personnel distinguishing is convenient, and finished products are not damaged in the bundling process.

Description

Technical Field

[0001] The invention belongs to the technical field of suspension strings, and in particular relates to an intelligent pre-configuration platform for integral suspension strings of a contact network and a pre-configuration method thereof. Background Art

[0002] As an important component of the contact network, the main function of the dropper is to hang the contact wire on the load-bearing cable to ensure that the contact wire has a stable geometric position and good conductivity during the operation of the train. The dropper string is assembled and crimped by crimping tubes, crimping terminals, heart-shaped rings and copper strands of different lengths. The traditional pre-assembly method of the dropper string is mostly manual installation on site. This method has the problems of low pre-assembly accuracy, low production efficiency, high labor cost, etc., which brings inconvenience to the operation and maintenance of the contact network.

[0003] The suspension string pre-assembly platforms currently on the market generally face the problem of low production efficiency, making it difficult to meet the efficient and rapid production needs during high-speed railway construction. At the same time, the design fails to fully take into account the diversity of parts specifications, resulting in the inability to effectively adapt to the processing of suspension string parts with multiple specifications, limiting the flexible adjustment of the production line and the improvement of production capacity. In addition, the existing platforms have inconveniences in mold replacement, and are unable to quickly and conveniently replace multiple sets of crimping molds to adapt to the production needs of different products.

[0004] To sum up, the development of a new intelligent pre-assembly platform for suspension strings that can significantly improve production efficiency, flexibly adapt to parts of multiple specifications, and facilitate the replacement of multiple sets of crimping dies has become a technical problem that needs to be solved urgently. The development of a new type of intelligent pre-assembly platform for overall contact network suspension strings will help improve the installation quality and efficiency of the contact network, reduce maintenance costs, empower the acceleration of high-speed railway construction, and provide new solutions for the installation and maintenance of the contact network. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent pre-assembly platform for overall suspension strings of a contact network and a pre-assembly method thereof, which can shorten the pre-assembly working hours and the assembly process of a single suspension string, adapt to the pre-assembly of suspension strings with different specifications, facilitate the replacement of crimping molds, and at the same time be convenient for personnel to distinguish and the bundling process will not damage the finished product.

[0006] The technical solution adopted by the present invention is as follows:

[0007] An intelligent pre-assembly platform for overall overhead wire suspension, including an automatic feeding system, an automatic laser engraving system, a mechanical arm flexible assembly system, a tension / length detection system, a crimping process detection system, a bundling and labeling system, a rack, an auxiliary device, and a quick-change device;

[0008] The automatic feeding system is arranged at one end inside the frame, and the automatic feeding system is divided into a hanging string feeding system and a heart-shaped ring / crimping tube / crimping terminal feeding system. The mechanical arm flexible assembly system is arranged on one side of the heart-shaped ring / crimping tube / crimping terminal feeding system. The tension / length detection system is located on the side of the mechanical arm flexible assembly system away from the automatic feeding system. The bundling and labeling system is located on the side of the hanging string feeding system away from the tension / length detection system.

[0009] The string feeding system comprises a wire feeding wheel, a wire winding device, a straightening device, a fusing device, and a servo length fixing device;

[0010] The robotic arm flexible assembly system comprises a six-axis robotic arm and a crimping quick-change device;

[0011] The auxiliary device includes a secondary positioning mechanism, a heart-shaped ring / crimping tube spacing control mechanism, and a pad printing device;

[0012] The quick-change device consists of a hydraulic cylinder, a crimping die, and a quick-change transition block.

[0013] The winding device includes a wire feeding motor, the output end of which is connected to the wire feeding wheel through a synchronous toothed belt, one side of the wire feeding wheel is provided with two sets of winding wheels placed horizontally and vertically, and a travel switch and a roller are arranged in the middle of the structure for installing the winding wheels, and one end of the wire feeding wheel is provided with a material roll fixing hand wheel for axially fixing the wire feeding wheel;

[0014] The straightening device comprises a plurality of straightening rollers arranged in an array, and a spiral handle is arranged above each straightening roller, wherein the driving wheel in the straightening roller is provided with a motor drive for assisting wire feeding, and the motor drive is equipped with an encoder;

[0015] The fusing device is a thermal fuse arranged at the output part of the hinge straight roller group, and the thermal fuse is used for thermal melting and tapered breaking of the suspension cable;

[0016] The servo length-fixing device comprises a linear guide rail, a mobile platform 1 is slidably assembled on the top of the linear guide rail, an electric clamp is assembled on the surface of the mobile platform 1, and a movable cylinder for guiding the electric clamp to clamp the fuse-broken suspension cable is arranged on one side of the thermal fuse machine;

[0017] The suspension cable is unwound as the feeding wheel rotates, and after the stress is released by the winding device, it enters the straightening device for cable straightening. Finally, the mobile end of the servo length-fixing device clamps the cable for a section and moves it to the specified length, activating the fuse device to fuse the cable to fix the length.

[0018] The heart-shaped ring / crimping tube / crimping terminal feeding system comprises a material bin, a flexible vibration plate, a CCD camera, and a four-axis robot arm;

[0019] The three silos are arranged in an array, and a flexible vibration plate is provided at the bottom of each silo. The CCD camera is installed at the top of each silo respectively. The four-axis robot arm is arranged on one side of the three silos, and a pneumatic gripper is provided at the execution end of the four-axis robot arm.

[0020] Corresponding models of heart-shaped rings, crimping tubes and crimping terminals are added to three different material bins respectively. Under the action of the direct vibrator, each part falls into the flexible vibration plate and spreads out. The CCD camera detects the posture and position of the parts in the plate. Finally, the four-axis robot arm grabs the required qualified parts and transfers them to the assembly station.

[0021] The automatic laser engraving system is arranged on one side of the four-axis robot arm, and the automatic laser engraving system engraves the production number of the crimping terminal through the laser of the laser engraving machine.

[0022] The crimping quick-change device includes a hydraulic cylinder, a crimping die, a quick-change transition block, a limit mechanism, a heart-shaped ring spindle block, a lifting guide mechanism, a transition wheel and a crimping platform;

[0023] The surface of the crimping platform is connected to the hydraulic cylinder and the crimping die through a quick-change transition block, the limiting mechanism is arranged on one side of the hydraulic cylinder, the heart-shaped ring spindle block is arranged on one side of the crimping die, and the limiting mechanism is used to prevent the heart-shaped ring from slipping out of the heart-shaped ring spindle block, the lifting guide mechanism is arranged on the side of the crimping die away from the heart-shaped ring spindle block, and the transition wheel is adjacent to the lifting guide mechanism;

[0024] After completing the laser engraving process, the six-axis robotic arms at the fixed and mobile ends simultaneously insert the crimping tubes, wrap around the heart-shaped rings, and insert the crimping terminals at both ends of the suspension string. Finally, the crimping quick-change device uses the hydraulic pressing crimping die to crimp the suspension string, crimping tube, and crimping terminal to complete the assembly.

[0025] The tension / length detection system includes a guide rail 1 at the moving end, a servo motor 1, a lead screw 1, a tension sensor, a grating ruler and a moving platform 2;

[0026] The second moving platform is slidably assembled on the surface of the first guide rail, the first servo motor is fixedly installed on one end of the first guide rail and the output end is fixedly connected to the first lead screw, the first lead screw is screwed to the bottom of the second moving platform, the grating ruler is arranged on one side of the first lead screw, and the tension sensor is installed on the surface of the second moving platform;

[0027] After the six-axis robotic arms at the fixed end and the mobile end complete the assembly action, the crimping terminals on both sides are crimped first, and then the mobile end moves away from the fixed end under the action of the servo motor-driven lead screw to tighten the suspension string, completing the crimping of the fixed end crimping tube. The mobile end continues to move and obtains the length and tension information through the grating ruler and tension sensor. When the specified length and tension are reached, the crimping of the mobile end crimping tube is completed;

[0028] The crimping process detection system refers to CCD camera 2 above the crimping part of the crimping tube, which is used to detect whether the mold is closed, whether there is an offset between the heart-shaped ring and the crimping tube after crimping, and whether the spacing between parts meets the requirements.

[0029] The bundling and labeling system comprises a labeling machine, a labeling platform, a labeling mechanism, a labeling head, a strapping machine, a finished product bundling centralization platform, and a strapping feeder;

[0030] The labeling platform is arranged at the output end of the instant labeling machine, the labeling mechanism is installed on one side above the labeling platform, the finished product bundling concentration platform is placed on one side of the instant labeling machine, and the strapping machine is arranged at one end of the finished product bundling concentration platform, the labeling head is arranged at the bottom of the working end of the finished product bundling concentration platform, and the strapping feeder is adjacent to the automatic feeding system and is used to feed the strapping machine;

[0031] After the specified number of hanging strings are produced, the cable tie feeder feeds the strapping machine, which extends the cable tie and wraps it around once before locking one end of the hanging string. Then the print-and-stick labeling machine outputs the label containing the hanging string production information to the labeling platform, and the labeling mechanism's clamping plate takes the label and moves it to the labeling position and closes to complete the labeling.

[0032] The frame is a square steel welded main body, and the equipment is installed as a whole in a container-like structure. A lifting ring is welded on the top and meets the requirements of width and height limits, and heavy-load foot cups and casters are installed on the bottom.

[0033] The secondary positioning mechanism is composed of a positioning clamp, an angle adjustment motor, and a second synchronous toothed belt. The output end of the angle adjustment motor is connected to the positioning clamp through the second synchronous toothed belt.

[0034] The heart-shaped ring / crimping tube spacing control mechanism is composed of a servo motor 2, a lead screw 2, and a guide rail 2 under the crimping device; the crimping platform is slidably assembled above the guide rail 2, the servo motor 2 is fixedly installed at one end of the guide rail 2, and the output end of the servo motor 2 is fixedly connected to the lead screw 2, and the lead screw 2 is screwed to the bottom of the crimping platform;

[0035] The pad printing device consists of an oil cup, a pad printing steel plate, a pad printing mechanism and a pad printing rubber head; after ink is injected into the oil cup, the pad printing rubber head takes ink from the pad printing steel plate, and the pad printing rubber head moves to the specified position of the cable under the control of the pad printing mechanism to complete the marking to check the depth of the cable penetrating into the crimping terminal.

[0036] A method for pre-assembling a suspension string, the specific steps are as follows:

[0037] Step 1: Preparation and loading of the hanging string

[0038] 1.1) The wire feeding motor drives the wire feeding wheel to rotate and release the wire. The wire is firstly released by the roller and winding wheel for a specified number of turns to release the stress, and then enters the straightening roller to be straightened by the round pressing method, and then enters the thermal fuse and is pulled out to a certain length by the moving cylinder;

[0039] 1.2) The servo fixed-length motor drives the electric gripper to move and grab one end of the cable, and the pad printing device completes the thread end mark at this section; the motor drives the cable to move the specified length, and the thermal fuse is started to fuse the cable; after the fuse is completed, the motor drives the cable to be pulled out to the fuse length, and the pad printing device completes the thread end mark at the other end of the cable;

[0040] 1.3) The six-axis robotic arm grips both ends of the cable and moves the cable to the assembly position to complete the cable loading;

[0041] Step 2: Preparation and loading of heart-shaped ring, crimping tube and crimping terminal

[0042] 2.1) The silo is used to evenly scatter the three materials in their respective flexible vibration plates under the action of the direct vibrator, and the CCD camera determines the position and posture of the required qualified parts;

[0043] 2.2) The four-axis robot arm grabs the heart-shaped ring, crimping tube, and crimping terminal from three flexible vibration plates respectively, and moves the crimping terminal to the laser engraving machine for laser engraving;

[0044] 2.3) After laser engraving, the crimped terminal follows the secondary positioning mechanism for rotational positioning. Finally, the four-axis robot arm retrieves the crimped terminal, and loads the crimping tube and crimping terminal to their respective designated stations, and hydraulically pre-presses and fixes them;

[0045] Step 3: String assembly process

[0046] 3.1) The six-axis robot simultaneously pulls both ends of the suspension string through the compression tubes on both sides, and the lifting guide mechanism presses one side of the suspension string to fix it to prevent movement; the four-axis robot moves the heart-shaped ring to the designated station and pneumatically pre-presses it, and the six-axis robot pulls the wire around the heart-shaped ring and passes it back through the compression tube;

[0047] 3.2) The six-axis robot simultaneously pulls both ends of the suspension string into the crimping terminals, and performs secondary threading to ensure that the suspension string is completely inserted into the crimping terminals; after the threading action is completed, the hydraulic cylinder is started to completely press the crimping terminals at both ends;

[0048] 3.3) The heart-shaped ring / crimping tube spacing control mechanism at the fixed end adjusts the spacing between the heart-shaped ring and the crimping tube. After the adjustment is completed, the fixed end completely presses the crimping tube; the mobile end moves to the specified length to perform tension and length tests. When the tension sensor and grating ruler feedback values ​​both reach the standard, the mobile end completely presses the crimping tube to complete the hanging string assembly process, and the six-axis robotic arm unloads the material to the finished product area;

[0049] Step 4: Baling and packaging process

[0050] 4.1) After the production of the suspension strings in one span is completed and transferred to the finished product area, the strapping machine starts to extend the strapping belt to wrap around the suspension string group once and then lock one end of the suspension string group;

[0051] 4.2) The labeling machine outputs a label containing the production information of the suspension string in one span to the labeling platform. The labeling head of the labeling mechanism takes the label from the labeling platform and moves to the labeling position. The clamping plates are closed to complete the labeling process.

[0052] 4.3) The inner hanging string of one span that has completed the baling and packaging process is then transferred to the discharge port.

[0053] The technical effects achieved by the present invention are:

[0054] (1) The preparation and loading of the suspension string wire, the preparation and loading of components such as the heart-shaped ring, and the suspension string assembly process are carried out in parallel, which significantly shortens the pre-assembly time of a single suspension string and improves processing efficiency.

[0055] (2) Six-axis robotic arms are installed on both the fixed end and the mobile end, and the assembly process of the suspension string and various components can be carried out on both sides simultaneously, which significantly shortens the suspension string assembly process and improves processing efficiency.

[0056] (3) Flexible vibration is used during the preparation and loading of heart-shaped rings, crimping tubes, and crimping terminals, effectively avoiding mechanical jamming problems that occur during the mixed loading of parts of different specifications. At the same time, the CCD vision above the flexible vibration plate can determine qualified parts of different specifications, adapt to the pre-assembly of hanging strings with different specifications, and reduce the scrap rate.

[0057] (4) For crimping dies of crimping tubes and crimping terminals of different dimensions produced by different manufacturers, transition blocks with different die shapes are designed to achieve quick replacement of crimping die-transition block-hydraulic crimping die, which is convenient for production personnel to replace crimping dies, reduce downtime and reduce labor intensity.

[0058] (5) The assembly process is carried out using a six-axis robotic arm, which has a wider working space and higher operating accuracy, making it easier to perform high-precision mechanical actions such as threading and wiring.

[0059] (6) The crimping process detection system realizes the defect identification of the eccentricity problem between the heart-shaped ring and the crimping tube. When the eccentricity problem occurs, the suspension string is judged as scrap, and qualified suspension strings are re-produced, thereby reducing the scrap rate of the production process.

[0060] (7) The heart-shaped ring / crimping tube spacing control mechanism can control the spacing between the two through a servo-driven screw. The secondary positioning mechanism realizes the pre-assembly of the suspension string with two requirements of parallel / vertical crimping terminals, meeting the pre-assembly requirements of the suspension string in different construction scenarios.

[0061] (8) The pad printing device can mark both ends of the suspension cable, making it easier for humans to determine whether the cable is fully inserted into the crimping terminal during the threading process.

[0062] (9) The automatic laser engraving system numbers and marks the crimped terminals to distinguish and mark the hanging strings in a single span (i.e. a bundle). The bundling and labeling system bundles the hanging strings in a single span and attaches a production information form including the number and length to the bundle of hanging strings, making it easier for on-site construction personnel of the contact network to identify and install the hanging strings, and the bundling and labeling process does not damage the finished product. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 This is the overall appearance structure diagram of the contact network integral hanging string pre-arrangement platform of the present invention;

[0064] Figure 2 It is a side view of the internal layout of the overall hanging string pre-arrangement platform of the contact network of the present invention;

[0065] Figure 3 It is a top view of the internal layout of the contact network integral hanging string pre-arrangement platform of the present invention;

[0066] Figure 4 It is a structural schematic diagram of the pay-off part of the suspension string feeding system of the present invention;

[0067] Figure 5 It is a structural schematic diagram of the fuse-fixed length portion of the suspension string feeding system of the present invention;

[0068] Figure 6 It is a schematic diagram of the fixed end structure of the present invention;

[0069] Figure 7 It is a schematic diagram of the structure of the mobile terminal of the present invention;

[0070] Figure 8 It is a structural schematic diagram of the bundling and labeling system of the present invention;

[0071] Fig. 9 It is a structural schematic diagram of the strapping machine of the present invention;

[0072] Fig.10 It is a structural schematic diagram of the secondary positioning mechanism of the present invention;

[0073] Fig.11 It is a schematic diagram of the structure of the crimping device and the quick-change device of the present invention;

[0074] Fig.12 It is a structural schematic diagram of the heart-shaped ring / compression tube spacing control system of the present invention;

[0075] Fig.13 It is a schematic structural diagram of the pad printing device of the present invention.

[0076] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0077] 1. Automatic feeding system; 11. String feeding system; 1101. Wire feeding motor; 1102. Synchronous toothed belt 1; 1103. Wire feeding wheel; 1104. Wire winding wheel; 1105. Material roll fixing hand wheel; 1106. Travel switch; 1107. Straightening roller; 1108. Thermal fuse; 1109. Linear guide; 1110. Mobile platform 1; 1111. Electric gripper; 1112. Mobile cylinder;

[0078] 12. Heart-shaped ring / crimping tube / crimping terminal feeding system; 121. Material bin; 122. Flexible vibration plate; 123. CCD camera 1; 124. Four-axis robot arm; 125. Pneumatic gripper;

[0079] 2. Automatic laser engraving system; 21. Laser engraving machine;

[0080] 3. Flexible assembly system of robotic arm; 31. Six-axis robotic arm; 32. Crimping quick-change device; 321. Hydraulic cylinder; 322. Crimping die; 323. Quick-change transition block; 324. Limiting mechanism; 325. Heart-shaped ring spindle block; 326. Lifting guide mechanism; 327. Transition wheel; 328. Crimping platform;

[0081] 4. Tension / length detection system; 41. Guide rail 1; 42. Servo motor 1; 43. Lead screw 1; 44. Tension sensor; 45. Grating ruler; 46. Mobile platform 2;

[0082] 5. Crimping process detection system; 51. CCD camera 2;

[0083] 6. Bundling and labeling system; 61. Labeling machine; 62. Labeling platform; 63. Labeling mechanism; 64. Labeling head; 65. Bundling machine; 66. Finished product bundling center; 67. Tie feeder;

[0084] 7. Rack;

[0085] 8. Auxiliary device; 81. Secondary positioning mechanism; 811. Positioning clamp; 812. Angle adjustment motor; 813. Synchronous toothed belt 2; 82. Heart-shaped ring / crimping tube spacing control mechanism; 821. Servo motor 2; 822. Lead screw 2; 823. Guide rail 2; 83. Pad printing device; 831. Oil cup; 832. Pad printing steel plate; 833. Pad printing mechanism; 834. Pad printing rubber head;

[0086] 9. Quick change device. DETAILED DESCRIPTION

[0087] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0088] like Figure 1-Figure 13 As shown, an intelligent pre-assembly platform for overall suspension strings of a contact network includes an automatic feeding system 1, an automatic laser engraving system 2, a robotic arm flexible assembly system 3, a tension / length detection system 4, a crimping process detection system 5, a bundling and labeling system 6, a frame 7, an auxiliary device 8 and a quick-change device 9. The automatic feeding system 1 is arranged at one end inside the frame 7, and the automatic feeding system 1 is divided into a suspension string feeding system 11 and a heart-shaped ring / crimping tube / crimping terminal feeding system 12. The robotic arm flexible assembly system 3 is arranged on one side of the heart-shaped ring / crimping tube / crimping terminal feeding system 12, the tension / length detection system 4 is located on the side of the robotic arm flexible assembly system 3 away from the automatic feeding system 1, and the bundling and labeling system 6 is located on the side of the suspension string feeding system 11 away from the tension / length detection system 4.

[0089] See attached Figure 4-Figure 5 The string feeding system 11 includes a wire feeding wheel 1103, a winding device, a straightening device, a fuse device, and a servo fixed length device; the winding device includes a wire feeding motor 1101, and the output end of the wire feeding motor 1101 is connected to the wire feeding wheel 1103 through a synchronous toothed belt 1102. Two groups of winding wheels 1104 are placed horizontally and vertically on one side of the wire feeding wheel 1103, and a travel switch 1106 and a roller are arranged in the middle of the structure for installing the winding wheel 1104. A material roll fixing handwheel 1105 for axially fixing the wire feeding wheel 1103 is arranged at one end of the wire feeding wheel 1103; the straightening device includes a plurality of groups of straightening rollers 1107 arranged in an array, corresponding to the straightening rollers A spiral handle is arranged above 1107, wherein the driving wheel in the hinge straightening roller 1107 is provided with a motor drive for assisting wire feeding, and the motor drive is equipped with an encoder; the fusing device is a thermal fuse 1108 arranged at the output position of the hinge straightening roller 1107 group, and the thermal fuse 1108 is used for thermal melting and tapered wire breaking of the suspension cable; the servo fixed length device includes a linear guide rail 1109, and a mobile platform 1110 is slidably assembled above the linear guide rail 1109, and an electric clamp 1111 is assembled on the surface of the mobile platform 1110, and a mobile cylinder 1112 for guiding the electric clamp 1111 to clamp the suspension cable after the fuse is provided on one side of the thermal fuse 1108;

[0090] According to the above structure, the wire feeding motor 1101 in the hanging string feeding system 11 drives the synchronous toothed belt 1102 to drive the wire feeding wheel 1103 to rotate and unwind the wire, and the material roll fixing handwheel 1105 is responsible for the axial fixation of the wire feeding wheel 1103 to prevent the material roll from falling; the cable first passes through two sets of winding wheels 1104 placed horizontally and vertically, and the middle roller prevents the cable from moving on the winding wheel 1104, and then it goes around the two winding wheels 1104 for several turns to release the stress, and when the travel switch 1106 detects that the released cable meets the margin, the wire feeding motor 1101 is turned off and stops. Stop the wire from being released; the cable after winding is straightened by three sets of straightening rollers 1107. A spiral handle is provided above the straightening rollers 1107 to control the straightening pressure and diameter. At the same time, the driving wheel in the straightening rollers 1107 is provided with a motor drive for auxiliary wire feeding, and an encoder is installed to obtain the length of the released wire; the thermal fuse machine 1108 is used for thermal melting and tapered wire breaking of the suspension cable, the mobile cylinder 1112 pulls out the fused suspension cable to facilitate the electric clamp 1111 to clamp it, and the mobile platform 1110 on the linear guide 1109 performs servo mobile traction.

[0091] Refer to the attached Figure 6 The heart-shaped ring / crimping tube / crimping terminal feeding system 12 comprises a material bin 121, a flexible vibration plate 122, a CCD camera 123, and a four-axis robot arm 124; the three material bins 121 are arranged in an array, and the bottom of each material bin 121 is equipped with a flexible vibration plate 122, and the CCD camera 123 is respectively installed on the top of each material bin 121, and the four-axis robot arm 124 is arranged on one side of the three material bins 121, and the execution end of the four-axis robot arm 124 is provided with a pneumatic gripper 125;

[0092] According to the above structure, the silos 121 for the three types of parts in the heart-shaped ring / crimping tube / crimping terminal feeding system 12 can each accommodate 5L of parts of different specifications. The parts in the silo 121 fall into the flexible vibration plate 122 under the action of vibration, and the upper CCD camera 123 will perform posture detection on the parts therein, and transmit the relevant information of qualified parts that meet the requirements to the four-axis robot arm 124 for clamping. The end effector of the four-axis robot arm 124 is a pneumatic gripper 125 that can clamp three different parts.

[0093] Refer to the attached Figure 5 The automatic laser engraving system 2 is arranged on one side of the four-axis robot arm 124. The automatic laser engraving system 2 engraves the production number of the crimping terminal through the laser engraving machine 21 laser. The content format is the number of a single hanging string, such as elastic hanging strings: T1, T2,...; integral hanging strings: D1, D2,...

[0094] Refer to the attached Fig.11, the robot arm flexible assembly system 3 includes a six-axis robot arm 31 and a crimping quick-change device 32; the crimping quick-change device 32 includes a hydraulic cylinder 321, a crimping die 322, a quick-change transition block 323, a limiting mechanism 324, a heart-shaped ring spindle block 325, a lifting guide mechanism 326, a transition wheel 327 and a crimping platform 328; the surface of the crimping platform 328 connects the hydraulic cylinder 321 and the crimping die 322 through the quick-change transition block 323, the limiting mechanism 324 is arranged on one side of the hydraulic cylinder 321, the heart-shaped ring spindle block 325 is arranged on one side of the crimping die 322, and the limiting mechanism 324 is used to prevent the heart-shaped ring from slipping out of the heart-shaped ring spindle block 325, the lifting guide mechanism 326 is arranged on the side of the crimping die 322 away from the heart-shaped ring spindle block 325, and the transition wheel 327 is adjacent to the lifting guide mechanism 326;

[0095] According to the above structure, the six-axis robot arm 31 simultaneously passes the two ends of the transferred suspension string through the crimping tube, around the heart-shaped ring, back through the crimping tube and finally into the crimping terminal. Finally, the crimping quick-change device 32 presses the crimping die 322 under the action of hydraulic pressure to crimp the suspension string with the crimping tube and the crimping terminal to complete the assembly; the crimping quick-change device 32 includes a hydraulic cylinder 321, a crimping die 322, a quick-change transition block 323, a limiting mechanism 324, a heart-shaped ring spindle block 325, a lifting guide mechanism 326, a transition wheel 327, and a crimping platform 328; on the crimping platform 328, the hydraulic cylinder 321 is connected to the crimping die 322 through the quick-change transition block 323. The cylinder 321 and the crimping die 322 realize the hydraulic crimping process of the crimping tube and the crimping terminal; the limiting mechanism 324 is used to block the heart-shaped ring during the suspension string assembly process and the tension measurement link to prevent it from slipping out of the heart-shaped ring spindle block 325; the heart-shaped ring spindle block 325 is used to fix the heart-shaped ring and reduce its deflection; the lifting guide mechanism 326 is used to lift and support the cable after the suspension string passes through the crimping tube to prevent the cable from moving and causing the robot arm to be unable to grasp it; in order to prevent the cable from being damaged due to excessive bending angle between the suspension string cable and the crimping tube, a transition wheel 327 is designed to reduce the bending angle and make the force directions on both sides of the heart-shaped ring as parallel as possible, thereby reducing the deflection of the heart-shaped ring.

[0096] See attached Figure 7 The tension / length detection system 4 includes a guide rail 41, a servo motor 42, a lead screw 43, a tension sensor 44, a grating ruler 45 and a mobile platform 46 at the mobile end; the mobile platform 46 is slidably assembled on the surface of the guide rail 41, the servo motor 42 is fixedly installed at one end of the guide rail 41 and the output end is fixedly connected to the lead screw 43, the lead screw 43 is screwed to the bottom of the mobile platform 46, the grating ruler 45 is arranged on one side of the lead screw 43, and the tension sensor 44 is installed on the surface of the mobile platform 46;

[0097] According to the above structure, the tension / length detection system 4 includes a guide rail 41, a servo motor 42, a screw 43, a tension sensor 44, a grating ruler 45, and a mobile platform 46 at the mobile end; the servo motor 42 drives the screw 43 to rotate, driving the mobile platform 46 to move and stretch the suspension string to form tension; the tension sensor 44 and the grating ruler 45 synchronously measure the tension and length data; when the tension and length reach the indicators, the subsequent mobile end crimping link is entered.

[0098] Refer to the attached Figure 7 The crimping process detection system 5 specifically refers to the CCD camera 2 51 above the crimping tube crimping device, which is used to detect whether the mold is closed, whether there is an offset between the heart-shaped ring and the crimping tube after crimping, and whether the spacing between parts meets the requirements. When the crimping of the crimping tube is completed, the CCD camera 2 51 takes a picture of the crimping tube and the heart-shaped ring to detect its crimping state, eccentricity, etc.

[0099] Refer to the attached Figure 8-Figure 9 The bundling and labeling system 6 comprises a punch-and-stick labeling machine 61, a labeling platform 62, a labeling mechanism 63, a labeling head 64, a strapping machine 65, a finished product bundling centralizing platform 66, and a tie feeder 67; the labeling platform 62 is arranged at the output end of the punch-and-stick labeling machine 61, the labeling mechanism 63 is installed on one side above the labeling platform 62, the finished product bundling centralizing platform 66 is placed on one side of the punch-and-stick labeling machine 61, and the strapping machine 65 is arranged at one end of the finished product bundling centralizing platform 66, the labeling head 64 is arranged at the bottom of the working end of the finished product bundling centralizing platform 66, and the tie feeder 67 is adjacent to the automatic feeding system 1 and is used to feed the strapping machine 65;

[0100] According to the above structure, after the production is completed, the hanging strings are transported to the finished product bundling concentration platform 66. When the specified number is reached, the hanging strings will be pushed to one side, and the strapping machine 65 will extend the cable tie and wrap it around for a circle to lock a bundle of hanging strings, completing the bundling process; the labeling machine 61 outputs the label containing the production information to the labeling platform 62, and the labeling head 64 of the labeling mechanism 63 moves to the labeling platform 62 to take the label, and then moves to the specified position of the hanging strings to close the clamping plate, completing the labeling process.

[0101] Refer to the attached Figure 1 The frame 7 is a square steel welded main body, and the equipment is installed as a whole in a container-like structure; a lifting ring is welded on the top of the structure and meets the width and height limit requirements of the equipment for long-distance transportation, which is convenient for the overall lifting and transportation of the equipment; in order to ensure the stability of the structure during transportation and production, M30 heavy-duty foot cups and heavy-duty casters are installed at the bottom to enhance the structural rigidity and prevent damage.

[0102] Refer to the attached Fig.10 , Figure 12-13The auxiliary device 8 includes a secondary positioning mechanism 81, a heart-shaped ring / crimping tube spacing control mechanism 82, and a pad printing device 83. The secondary positioning mechanism 81 is composed of a positioning clamp 811, an angle adjustment motor 812, and a synchronous toothed belt 813. The output end of the angle adjustment motor 812 is connected to the positioning clamp 811 through a synchronous toothed belt 813; the heart-shaped ring / crimping tube spacing control mechanism 82 is composed of a servo motor 821, a lead screw 822, and a guide rail 823 under the crimping device; the crimping platform 328 is slidably assembled above the guide rail 823, and the servo motor 821 is connected to the guide rail 823. The servo motor 821 is fixedly installed at one end of the guide rail 823, and the output end of the servo motor 821 is fixedly connected to the lead screw 822, and the lead screw 822 is screwed to the bottom of the crimping platform 328; the pad printing device 83 is composed of an oil cup 831, a pad printing steel plate 832, a pad printing mechanism 833 and a pad printing rubber head 834; after the ink is injected into the oil cup 831, the pad printing rubber head 834 takes the ink from the pad printing steel plate 832, and the pad printing rubber head 834 moves to the specified position of the cable under the control of the pad printing mechanism 833 to complete the marking to check the depth of the cable penetrating into the crimping terminal;

[0103] According to the above structure, the secondary positioning process is mainly used to adjust the direction of the crimping terminal. After laser marking, if the heart-shaped ring / crimping terminal are parallel, the crimping terminal after marking can be directly transferred to the assembly station; if the heart-shaped ring / crimping terminal are vertical, the angle adjustment motor 812 rotates and is transmitted to the positioning jaw 811 through the synchronous toothed belt 813 to rotate it 90° and then transfer it;

[0104] A servo motor 821, a screw rod 822, a guide rail 823, and a crimping platform 328 are arranged below the heart-shaped ring / crimping tube spacing control mechanism 82; the servo motor 821 drives the screw rod 822 to rotate, and can control the crimping platform 328 above, which is responsible for crimping the crimping tube, to move horizontally along the guide rail 823, so as to realize the production of the hanging string with a specified spacing; in order to prevent the heart-shaped ring from deflecting during the crimping tube pressing process and causing assembly quality problems, the heart-shaped ring is positioned by a profiling jig to ensure that the heart-shaped ring does not deflect arbitrarily during the crimping tube pressing process;

[0105] The pad printing device 83 is composed of an oil cup 831, a pad printing steel plate 832, a pad printing mechanism 833, and a pad printing rubber head 834; ink is injected into the oil cup 831, and the pad printing mechanism 833 moves the pad printing rubber head 834 to the pad printing steel plate 832 to take the shape, and then the pad printing rubber head 834 moves to the end of the suspension string cable for marking.

[0106] Refer to the attached Fig.11 , the quick-change device 9 is composed of a hydraulic cylinder 321, a crimping die 322, and a quick-change transition block 323;

[0107] According to the above structure, in the crimping system, different quick-change transition blocks 323 are designed according to different crimping tubes / crimping terminal molds provided by the supplier; the quick-change transition block 323 mainly accommodates the external dimensions of different molds, connects the hydraulic cylinder 321 and the crimping mold 322, and transmits the crimping force to the crimping tube / crimping terminal; by adopting the three-level connection strategy of crimping mold 322-quick-change transition block 323-hydraulic cylinder 321, the purpose of adapting different crimping molds 322 is achieved without changing the overall crimping device.

[0108] The present invention also provides a method for pre-assembling a suspension string, the steps of which are as follows:

[0109] Step 1: Preparation and loading of the hanging string

[0110] 1.1) The wire feeding motor 1101 drives the wire feeding wheel 1103 to rotate and release the wire. The wire is firstly wound around the roller and winding wheel 1104 for a specified number of times to release the stress, and then enters the straightening roller 1107 to be straightened by a round-to-round method, and then enters the thermal fuse 1108 and is pulled out to a certain length by the moving cylinder 1112;

[0111] 1.2) The servo fixed-length motor drives the electric gripper 1111 to move and grab one end of the cable, and the pad printing device 83 completes the thread end marking in this section; the motor drives the cable to move the specified length, and the thermal fuse 1108 is started to fuse the cable; after the fusing is completed, the motor drives the cable to be pulled out to the length after the fusing, and the pad printing device 83 completes the thread end marking at the other end of the cable;

[0112] 1.3) The six-axis robot arm 31 grips both ends of the cable and moves the cable to the assembly position to complete the cable loading;

[0113] Step 2: Preparation and loading of heart-shaped ring, crimping tube and crimping terminal

[0114] 2.1) The silo 121 makes the three materials evenly scattered in their respective flexible vibration plates 122 under the action of the direct vibrator, and the position and posture of the required qualified parts are determined by the CCD camera 123;

[0115] 2.2) The four-axis robot arm 124 grabs the heart-shaped ring, the crimping tube, and the crimping terminal from the three flexible vibration plates 122 respectively, and moves the crimping terminal to the laser engraving machine 21 for laser engraving;

[0116] 2.3) After laser engraving, the crimped terminal follows the secondary positioning mechanism 81 for rotational positioning, and finally the four-axis robot arm 124 retrieves the crimped terminal, and respectively loads the crimping tube and the crimping terminal to their respective designated stations, and hydraulically pre-presses and fixes them.

[0117] Step 3: String assembly process

[0118] 3.1) The six-axis robot arm 31 pulls both ends of the suspension string through the compression tubes on both sides at the same time, and the lifting guide mechanism 326 presses one side of the suspension string to fix it to prevent movement; the four-axis robot arm 124 transfers the heart-shaped ring to the designated station and pneumatically pre-presses it, and the six-axis robot arm 31 pulls the wire around the heart-shaped ring and then passes it back through the compression tube;

[0119] 3.2) The six-axis robot arm 31 simultaneously pulls both ends of the suspension string into the crimping terminals, and performs secondary threading to ensure that the suspension string is completely inserted into the crimping terminals; after the threading action is completed, the hydraulic cylinder 321 is started to completely press the crimping terminals at both ends;

[0120] 3.3) The heart-shaped ring / crimping tube spacing control mechanism 82 at the fixed end adjusts the spacing between the heart-shaped ring and the crimping tube. After the adjustment is completed, the fixed end completely presses the crimping tube; the mobile end moves to the specified length and performs tension and length tests. When the feedback values ​​of the tension sensor 44 and the grating ruler 45 reach the standard, the mobile end completely presses the crimping tube to complete the hanging string assembly process, and the six-axis robot arm 31 unloads the material to the finished product area.

[0121] Step 4: Baling and packaging process

[0122] 4.1) After the production of the suspension strings in one span is completed and transferred to the finished product area, the strapping machine 65 starts to extend the strapping tape to wrap around the suspension string group once and then lock one end of the suspension string group;

[0123] 4.2) The instant labeling machine 61 outputs a label containing the production information of the suspension string within a span to the labeling platform, and the labeling head 64 of the labeling mechanism 63 takes the label from the labeling platform 62 and transfers it to the labeling position, and the clamping plates are closed to complete the labeling process;

[0124] 4.3) The inner hanging string of one span that has completed the baling and packaging process is then transferred to the discharge port.

[0125] It should be noted that the preparation and loading of the suspension string, the preparation and loading of the heart-shaped ring, etc., and the assembly of the suspension string are parallel operations; among them, the assembly of the suspension string requires the longest working time, while the preparation and loading of the suspension string, the preparation and loading of the heart-shaped ring, etc. require a shorter working time, which is significantly lower than the assembly of the suspension string; therefore, the working time consumed in the production of a single suspension string is the working time consumed in the assembly of the suspension string;

[0126] Furthermore, while the assembly process of this suspension string is being carried out, the preparation of the suspension string line, heart-shaped ring and other components of the next suspension string can be carried out at the same time. After the preparation is completed and the assembly of this suspension string is completed, the prepared materials are immediately transferred to the assembly station, and the assembly process of the next suspension string and the preparation process of another suspension string component are started.

[0127] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. An intelligent pre-arrangement platform for overall overhead wire suspension, characterized in that: It includes an automatic feeding system (1), an automatic laser engraving system (2), a mechanical arm flexible assembly system (3), a tension / length detection system (4), a crimping process detection system (5), a bundling and labeling system (6), a frame (7), an auxiliary device (8) and a quick-change device (9); The automatic feeding system (1) is arranged at one end inside the frame (7), and the automatic feeding system (1) is divided into a hanging string feeding system (11) and a heart-shaped ring / crimping tube / crimping terminal feeding system (12); the mechanical arm flexible assembly system (3) is arranged on one side of the heart-shaped ring / crimping tube / crimping terminal feeding system (12); the tension / length detection system (4) is located on the side of the mechanical arm flexible assembly system (3) away from the automatic feeding system (1); and the bundling and labeling system (6) is located on the side of the hanging string feeding system (11) away from the tension / length detection system (4); The suspension string feeding system (11) comprises a wire feeding wheel (1103), a wire winding device, a straightening device, a fusing device, and a servo length fixing device; The mechanical arm flexible assembly system (3) comprises a six-axis mechanical arm (31) and a crimping quick-change device (32); The auxiliary device (8) comprises a secondary positioning mechanism (81), a heart-shaped ring / crimping tube spacing control mechanism (82), and a pad printing device (83); The quick-change device (9) is composed of a hydraulic cylinder (321), a crimping die (322), and a quick-change transition block (323).

2. According to claim 1, the intelligent pre-arrangement platform for the overall suspension string of the contact network is characterized by: The winding device comprises a wire feeding motor (1101), the output end of the wire feeding motor (1101) is connected to a wire feeding wheel (1103) through a synchronous toothed belt (1102), two groups of winding wheels (1104) are placed horizontally and vertically on one side of the wire feeding wheel (1103), and a travel switch (1106) and a roller are arranged in the middle of a structure for mounting the winding wheels (1104), and a material roll fixing hand wheel (1105) for axially fixing the wire feeding wheel (1103) is arranged at one end of the wire feeding wheel (1103); The straightening device comprises a plurality of straightening rollers (1107) arranged in an array, and a spiral handle is arranged above each straightening roller (1107), wherein a driving wheel in the straightening roller (1107) is provided with a motor drive for assisting wire feeding, and an encoder is arranged on the motor drive; The fusing device is a thermal fuse (1108) arranged at the output position of the hinge straight roller (1107) group, and the thermal fuse (1108) is used for thermal melting and tapered wire breaking of the suspension cable; The servo length-fixing device comprises a linear guide rail (1109), a movable platform (1110) is slidably assembled on the top of the linear guide rail (1109), an electric clamp (1111) is assembled on the surface of the movable platform (1110), and a movable cylinder (1112) for guiding the electric clamp (1111) to clamp the fused suspension cable is arranged on one side of the thermal fuse machine (1108); The suspension cable is unwound as the feeding wheel (1103) rotates, and after the stress is released by the winding device, it enters the straightening device for cable straightening. Finally, the mobile end of the servo length-fixing device clamps the cable for a section and moves it to a specified length to activate the fuse device to fuse the cable to fix the length.

3. The intelligent pre-arrangement platform for overall overhead wire suspension according to claim 2 is characterized by: The heart-shaped ring / crimping tube / crimping terminal feeding system (12) comprises a material bin (121), a flexible vibration plate (122), a CCD camera (123), and a four-axis robot arm (124); The three silos (121) are arranged in an array, and the bottom of each silo (121) is equipped with a flexible vibration plate (122), the CCD camera (123) is respectively installed on the top of each silo (121), the four-axis robot arm (124) is arranged on one side of the three silos (121), and the execution end of the four-axis robot arm (124) is provided with a pneumatic clamp (125); Corresponding models of heart-shaped rings, crimping tubes and crimping terminals are added to three different silos (121) respectively. Under the action of the straight vibrator, each part falls into the flexible vibration plate (122) and spreads out. The CCD camera 1 (123) detects the posture and position of the parts in the plate. Finally, the four-axis robot arm (124) grabs the required qualified parts and transfers them to the assembly station.

4. The intelligent pre-arrangement platform for overall suspension strings of a contact network according to claim 3 is characterized by: The automatic laser engraving system (2) is arranged on one side of the four-axis robot arm (124), and the automatic laser engraving system (2) uses a laser engraving machine (21) to engrave the production number of the crimping terminal.

5. The intelligent pre-arrangement platform for overall suspension strings of a contact network according to claim 4 is characterized by: The crimping quick-change device (32) comprises a hydraulic cylinder (321), a crimping die (322), a quick-change transition block (323), a limit mechanism (324), a heart-shaped ring spindle block (325), a lifting guide mechanism (326), a transition wheel (327) and a crimping platform (328); The surface of the crimping platform (328) is connected to the hydraulic cylinder (321) and the crimping die (322) via a quick-change transition block (323); the limiting mechanism (324) is arranged on one side of the hydraulic cylinder (321); the heart-shaped ring spindle block (325) is arranged on one side of the crimping die (322); and the limiting mechanism (324) is used to prevent the heart-shaped ring from slipping out of the heart-shaped ring spindle block (325); the lifting guide mechanism (326) is arranged on a side of the crimping die (322) away from the heart-shaped ring spindle block (325); and the transition wheel (327) is adjacent to the lifting guide mechanism (326); After the laser engraving process is completed, the six-axis robot arms (31) at the fixed end and the movable end simultaneously insert the two ends of the suspension string into the crimping tube, surround the heart-shaped ring, and insert the crimping terminal. Finally, the crimping quick-change device (32) hydraulically presses the crimping mold (322) to crimp the suspension string, the crimping tube, and the crimping terminal to complete the assembly.

6. The intelligent pre-arrangement platform for overall overhead wire suspension according to claim 5 is characterized by: The tension / length detection system (4) comprises a guide rail (41) at the moving end, a servo motor (42), a lead screw (43), a tension sensor (44), a grating ruler (45) and a moving platform (46); The second moving platform (46) is slidably assembled on the surface of the first guide rail (41), the first servo motor (42) is fixedly mounted on one end of the first guide rail (41) and the output end is fixedly connected to the first lead screw (43), the first lead screw (43) is screwed to the bottom of the second moving platform (46), the grating ruler (45) is arranged on one side of the first lead screw (43), and the tension sensor (44) is installed on the surface of the second moving platform (46); After the six-axis robot arm (31) at the fixed end and the movable end completes the assembly action, the crimping terminals on both sides are crimped first, and then the movable end moves to the side away from the fixed end under the action of the servo motor (42) driving the lead screw (43) to tighten the suspension string, completing the crimping of the crimping tube at the fixed end. The movable end continues to move and obtains length and tension information through the grating ruler (45) and the tension sensor (44). When the specified length and tension are reached, the crimping of the crimping tube at the movable end is completed; The crimping process detection system (5) refers to a second CCD camera (51) above the crimping part of the crimping tube, which is used to detect whether the mold is closed, determine whether there is an offset between the heart-shaped ring and the crimping tube after crimping, and whether the spacing between parts meets the requirements.

7. The intelligent pre-arrangement platform for overall suspension strings of a contact network according to claim 6 is characterized by: The bundling and labeling system (6) comprises a labeling machine (61), a labeling platform (62), a labeling mechanism (63), a labeling head (64), a strapping machine (65), a finished product bundling centralization platform (66), and a strapping feeder (67); The labeling platform (62) is arranged at the output end of the instant labeling machine (61), the labeling mechanism (63) is installed on one side above the labeling platform (62), the finished product bundling and concentrating platform (66) is placed on one side of the instant labeling machine (61), and the strapping machine (65) is arranged at one end of the finished product bundling and concentrating platform (66), the labeling head (64) is arranged at the bottom of the working end of the finished product bundling and concentrating platform (66), and the strapping feeder (67) is adjacent to the automatic feeding system (1) and is used to feed the strapping machine (65); After the specified number of suspension strings are produced, the cable tie feeder (67) feeds the strapping machine (65), which extends the cable tie and wraps it around the suspension string for a circle to lock one end of the suspension string. Then, the labeling machine (61) outputs the label containing the production information of the suspension string to the labeling platform (62), and the clamping plate of the labeling mechanism (63) takes the label and moves it to the labeling position to close and complete the labeling.

8. The intelligent pre-arrangement platform for overall overhead wire suspension according to claim 7 is characterized by: The frame (7) is a square steel welded main body, and the equipment is installed as a whole in a container-like structure. A lifting ring is welded on the top and meets the requirements of width and height limits, and heavy-load foot cups and casters are installed on the bottom.

9. The intelligent pre-arrangement platform for overall suspension strings of a contact network according to claim 8, characterized in that: The secondary positioning mechanism (81) is composed of a positioning clamp (811), an angle adjustment motor (812), and a second synchronous toothed belt (813); the output end of the angle adjustment motor (812) is transmission-connected to the positioning clamp (811) via the second synchronous toothed belt (813); The heart-shaped ring / crimping tube spacing control mechanism (82) is composed of a servo motor 2 (821), a lead screw 2 (822), and a guide rail 2 (823) below the crimping device; the crimping platform (328) is slidably assembled above the guide rail 2 (823), the servo motor 2 (821) is fixedly installed on one end of the guide rail 2 (823), and the output end of the servo motor 2 (821) is fixedly connected to the lead screw 2 (822), and the lead screw 2 (822) is screwed to the bottom of the crimping platform (328); The pad printing device (83) is composed of an oil cup (831), a pad printing steel plate (832), a pad printing mechanism (833) and a pad printing rubber head (834); after ink is injected into the oil cup (831), the pad printing rubber head (834) takes ink from the pad printing steel plate (832), and the pad printing rubber head (834) is moved to a designated position of the cable under the control of the pad printing mechanism (833) to complete marking so as to check the depth of the cable inserted into the crimping terminal.

10. A method for pre-arranging suspension strings, for using the contact network integral suspension string intelligent pre-arranging platform according to any one of claims 1 to 9, characterized in that: The specific steps are as follows: Step 1: Preparation and loading of the hanging string 1.1) The wire feeding motor (1101) drives the wire feeding wheel (1103) to rotate and release the wire. The wire is firstly wound around the roller and the winding wheel (1104) for a specified number of turns to release the stress and then enters the straightening roller (1107) to be straightened by a round-to-round method. Then, the wire is entered into the thermal fuse (1108) and pulled out to a certain length by the moving cylinder (1112). 1.2) The servo fixed-length motor drives the electric clamp (1111) to move and grab one end of the cable, and the pad printing device (83) completes the thread end mark at this section; the motor drives the cable to move a specified length, and the thermal fuse (1108) is started to fuse the cable; after the fuse is completed, the motor drives the cable to be pulled out to the length after the fuse, and the pad printing device (83) completes the thread end mark at the other end of the cable; 1.3) The six-axis robot arm (31) grips both ends of the cable and moves the cable to the assembly position to complete the cable loading; Step 2: Preparation and loading of heart-shaped ring, crimping tube and crimping terminal 2.1) The silo (121) is used to evenly scatter the three materials in the respective flexible vibration plates (122) under the action of the direct vibrator, and the position and posture of the required qualified parts are determined by a CCD camera (123); 2.2) The four-axis robot arm (124) grabs the three materials, namely the heart-shaped ring, the crimping tube and the crimping terminal, from the three flexible vibration plates (122) respectively, and moves the crimping terminal to the laser engraving machine (21) for laser engraving; 2.3) After laser engraving is completed, the crimped terminal follows the secondary positioning mechanism (81) for rotation positioning, and finally the four-axis robot arm (124) retrieves the crimped terminal, and respectively loads the crimping tube and the crimping terminal to their respective designated positions, and hydraulically pre-presses and fixes them; Step 3: String assembly process 3.1) The six-axis robot arm (31) simultaneously pulls both ends of the suspension string through the compression tubes on both sides, and the lifting guide mechanism (326) presses one side of the suspension string to fix it to prevent it from moving; the four-axis robot arm (124) moves the heart-shaped ring to the designated station and pneumatically pre-presses it, and the six-axis robot arm (31) pulls the wire around the heart-shaped ring and then passes it back through the compression tube; 3.2) The six-axis robot arm (31) simultaneously pulls both ends of the suspension string into the crimping terminals, and performs secondary threading to ensure that the suspension string is completely inserted into the crimping terminals; after the threading action is completed, the hydraulic cylinder (321) is started to completely press the crimping terminals at both ends; 3.3) The heart-shaped ring / compression tube spacing control mechanism (82) at the fixed end adjusts the spacing between the heart-shaped ring and the compression tube. After the adjustment is completed, the fixed end completely compresses the compression tube; the mobile end moves to a specified length and performs tension and length tests. When the feedback values ​​of the tension sensor (44) and the grating ruler (45) both reach the standard, the mobile end completely compresses the compression tube, completing the hanging string assembly process, and the six-axis robot arm (31) unloads the material to the finished product area; Step 4: Baling and packaging process 4.1) After the production of the suspension strings in one span is completed and transferred to the finished product area, the strapping machine (65) is started to extend the strapping band to wrap around the suspension string group once and then lock one end of the suspension string group; 4.2) The instant labeling machine (61) outputs a label containing the production information of the suspension string within a span to the labeling platform, and the labeling head (64) of the labeling mechanism (63) takes the label from the labeling platform (62) and transfers it to the labeling position, and the clamping plates are closed to complete the labeling process; 4.3) The inner hanging string of one span that has completed the baling and packaging process is then transferred to the discharge port.

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