A smart pre-configuration platform and method for integral catenary droppers

Abstract

This invention belongs to the field of dropper technology, specifically relating to an intelligent pre-assembly platform and method for overall droppers in contact wires. It includes an automatic feeding system, an automatic laser engraving system, a robotic arm flexible assembly system, a tension / length detection system, a crimping process detection system, a bundling and labeling system, a frame, and auxiliary devices. The dropper feeding system includes a wire feeding wheel, a winding device, a straightening device, a fusing device, and a servo length-fixing device. The robotic arm flexible assembly system includes a six-axis robotic arm and a crimping quick-change device. The auxiliary devices include a secondary positioning mechanism, a heart-shaped ring / crimping tube spacing control mechanism, and a pad printing device. The quick-change device consists of a hydraulic cylinder, a crimping mold, and a quick-change transition block. This invention shortens the pre-assembly time for a single dropper and the dropper assembly process, adapts to dropper pre-assembly requirements of different specifications, facilitates changing the crimping mold, and allows for easy identification by personnel while preventing damage to the finished product during the bundling process.

Description

Technical Field

[0001] This invention belongs to the field of dropper technology, specifically relating to an intelligent pre-configuration platform for the overall dropper of the overhead contact system and its pre-configuration method. Background Technology

[0002] As an important component of the overhead contact system, the dropper's main function is to suspend the contact wire onto the catenary cable, ensuring that the contact wire has a stable geometric position and good conductivity during train operation. The dropper is assembled and crimped from crimped tubes, crimped terminals, heart-shaped rings, and copper stranded wires of different lengths. Traditionally, dropper pre-assembly is mostly done manually on-site. This method has problems such as low pre-assembly accuracy, low production efficiency, and high labor costs, which brings inconvenience to the operation and maintenance of the overhead contact system.

[0003] Currently, dropper pre-assembly platforms on the market generally face the problem of low production efficiency, making it difficult to meet the high-efficiency and rapid production needs in the construction of high-speed railways. At the same time, the design fails to fully consider the diversity of part specifications, resulting in an inability to effectively adapt to the processing of dropper parts of multiple specifications, which limits the flexibility of production line adjustment and capacity improvement. In addition, existing platforms are inconvenient in terms of mold replacement, making it impossible to quickly and conveniently replace multiple sets of pressing molds to adapt to the production needs of different products.

[0004] In summary, developing a new intelligent pre-assembly platform for overhead contact line droppers that can significantly improve production efficiency, flexibly adapt to multiple specifications of parts, and facilitate the replacement of multiple sets of crimping molds has become an urgent technical challenge. The development of the new intelligent pre-assembly platform for overhead contact line droppers will help improve the installation quality and efficiency of overhead contact line, reduce maintenance costs, empower the acceleration of high-speed railway construction, and provide new solutions for the installation and maintenance of overhead contact line. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent pre-assembly platform and method for the overall catenary droppers, which can shorten the pre-assembly time of a single dropper and the dropper assembly process, adapt to dropper pre-assembly with different specifications, facilitate the replacement of pressing molds, and make it easy for personnel to distinguish the droppers while ensuring that the bundling process does not damage the finished product.

[0006] The specific technical solution adopted by this invention is as follows:

[0007] A smart pre-assembly platform for integrated catenary droppers includes an automatic feeding system, an automatic laser engraving system, a robotic arm flexible assembly system, a tension / length detection system, a crimping process detection system, a bundling and labeling system, a frame, and auxiliary devices.

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

[0009] The dropper wire feeding system includes a wire feeding wheel, a winding device, a straightening device, a fusing device, and a servo length fixing device.

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

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

[0012] The winding device includes a wire feeding motor. The output end of the wire feeding motor is connected to the wire feeding wheel via a synchronous toothed belt. Two sets of winding wheels are placed horizontally and vertically on one side of the wire feeding wheel. A limit switch and a roller are provided in the middle of the frame on which the winding wheels are installed. A material roll fixing handwheel for axially fixing the wire feeding wheel is provided at one end of the wire feeding wheel.

[0013] The straightening device includes multiple arrayed straightening rollers, and a spiral handle is provided above the straightening rollers. The drive roller in the straightening roller is equipped with a motor drive for auxiliary wire feeding, and the motor drive is equipped with an encoder.

[0014] The fusing device is a thermal fusing machine installed at the output of the hinged roller assembly, and the thermal fusing machine is used for thermal fusing and tapering of the dropper cable;

[0015] The servo length-fixing device includes a linear guide rail, and a moving platform is slidably assembled above the linear guide rail. An electric gripper is assembled on the surface of the moving platform. A moving cylinder is provided on one side of the thermal melting machine to guide the electric gripper to pick up the melted drop wire cable.

[0016] The cable is fed out as the feed wheel rotates. After the stress is released by the winding device, it enters the straightening device to straighten the cable. Finally, the moving end of the servo length-fixing device clamps a section of the cable and moves it to a specified length, which triggers the fuse device to fuse the cable to the specified length.

[0017] The heart-shaped ring / crimp tube / crimp terminal feeding system includes a hopper, a flexible vibratory feeder, a CCD camera, and a four-axis robotic arm.

[0018] The three hoppers are arranged in an array, and each hopper is equipped with a flexible vibrating plate at the bottom. The CCD camera is installed on the top of each hopper. The four-axis robotic arm is set on one side of the three hoppers, and the end of the four-axis robotic arm is equipped with a pneumatic gripper.

[0019] The corresponding heart-shaped rings, crimping tubes and crimping terminals are added to three different hoppers respectively. Under the action of the direct vibrator, each part falls into the flexible vibrating plate and disperses. A CCD camera detects the posture and position of the parts in the plate. Finally, the four-axis robot arm picks up the required qualified parts and transfers them to the assembly station.

[0020] The automatic laser engraving system is located on one side of the four-axis robotic arm. The automatic laser engraving system uses a laser engraving machine to engrave production numbers on the crimp terminals.

[0021] The quick-change crimping device includes a hydraulic cylinder, a crimping mold, a quick-change transition block, a limiting mechanism, a heart-shaped ring-shaped block, a lifting guide mechanism, a transition wheel, and a crimping platform.

[0022] The surface of the pressing platform is connected to the hydraulic cylinder and the pressing mold via a quick-change transition block. The limiting mechanism is located on one side of the hydraulic cylinder, and the heart-shaped ring spinning block is located on one side of the pressing mold. The limiting mechanism is used to prevent the heart-shaped ring from slipping out of the heart-shaped ring spinning block. The lifting and guiding mechanism is located on the side of the pressing mold away from the heart-shaped ring spinning block, and the transition wheel is adjacent to the lifting and guiding mechanism.

[0023] After the laser engraving process is completed, the six-axis robotic arms at the fixed and moving ends simultaneously perform actions such as threading the crimping pipe, wrapping the heart-shaped ring, and threading the crimping terminal at both ends of the drop wire. Finally, the crimping quick-change device completes the assembly by crimping the drop wire with the crimping pipe and crimping terminal through hydraulic pressing of the crimping mold.

[0024] The tension / length detection system includes a guide rail, a servo motor, a lead screw, a tension sensor, a grating ruler, and a moving platform.

[0025] The second mobile 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 its output end is fixedly connected to the first lead screw. The first lead screw is screwed to the bottom of the second mobile platform. The grating ruler is set on one side of the first lead screw, and the tension sensor is installed on the surface of the second mobile platform.

[0026] After the six-axis robotic arm at the fixed end and the moving end completes the assembly action, the crimping terminals on both sides are crimped first. Then, the moving end moves away from the fixed end under the action of the servo motor and the lead screw to tighten the suspension string, thus completing the crimping of the fixed end crimping tube. The moving end continues to move and obtains length and tension information through the grating ruler and tension sensor. When the specified length and tension are reached, the crimping of the moving end crimping tube is completed.

[0027] The crimping process detection system refers to the CCD camera two above the crimping part of the crimping tube, used to detect whether the mold is closed, and to determine whether there is any offset between the heart-shaped ring and the crimping tube after crimping and whether the distance between the parts meets the requirements.

[0028] The bundling and labeling system includes an instant labeling machine, a labeling platform, a labeling mechanism, a labeling head, a bundling machine, a finished product bundling central table, and a cable tie feeder;

[0029] The labeling platform is located 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 station is located on one side of the instant labeling machine, and the strapping machine is located at one end of the finished product bundling station. The labeling head is located at the bottom of the working end of the finished product bundling station. The cable tie feeder is adjacent to the automatic feeding system and is used to feed the strapping machine.

[0030] After a specified number of droppers are produced, the cable tie feeder supplies material to the strapping machine. The strapping machine extends the cable tie, wraps it around once, and locks one end of the dropper. Then, the labeling machine outputs a label containing dropper production information to the labeling platform. The labeling mechanism's clamp picks up the label and moves it to the labeling position to close and complete the labeling.

[0031] The frame is a welded square steel body, and the equipment is installed in a container-like structure. The top is welded with lifting rings and meets the width and height restrictions, while the bottom is equipped with heavy-duty feet and casters.

[0032] The secondary positioning mechanism consists of a positioning gripper, an angle-adjusting motor, and a second synchronous toothed belt. The output end of the angle-adjusting motor is connected to the positioning gripper via the second synchronous toothed belt.

[0033] The heart-shaped ring / crimping tube spacing control mechanism consists of a second servo motor, a second lead screw, and a second guide rail located below the crimping device; the crimping platform is slidably assembled above the second guide rail, the second servo motor is fixedly installed at one end of the second guide rail, and the output end of the second servo motor is fixedly connected to the second lead screw, and the second lead screw is screwed to the bottom of the crimping platform;

[0034] The pad printing device consists of an ink cup, a pad printing steel plate, a pad printing mechanism, and a pad printing head. After ink is injected into the ink cup, the pad printing head picks up the ink from the pad printing steel plate. Under the control of the pad printing mechanism, the pad printing head moves to a designated position on the cable to complete the marking to check the depth of the cable penetration into the crimp terminal.

[0035] A method for pre-fitting suspension strings, the specific steps of which are as follows:

[0036] Step 1: Preparation and feeding of suspension wire

[0037] 1.1) The wire feeding motor drives the wire feeding wheel to rotate and feed the wire. The cable first passes through the roller and the winding wheel to release stress by turning a specified number of times before entering the straightening roller. It is straightened by the round pressing method, and then enters the thermal melting machine and is pulled out to a certain length by the moving cylinder.

[0038] 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 end marking at this section; the motor drives the cable to move a specified length, and the thermal fuse machine is started to melt the cable; after melting, the motor drives the cable to pull out the melted length, and the pad printing device completes the end marking at the other end of the cable.

[0039] 1.3) The six-axis robotic arm grippers pick up both ends of the cable, move the cable to the assembly position, and complete the cable loading;

[0040] Step 2: Preparation and feeding of heart-shaped ring, crimp tube, and crimp terminal

[0041] 2.1) Under the action of the direct vibrator, the three materials in the silo are evenly scattered in their respective flexible vibrating plates, and the position and orientation of the required qualified parts are determined by the CCD camera.

[0042] 2.2) The four-axis robotic arm picks up three materials—heart-shaped ring, crimping tube, and crimping terminal—from three flexible vibrating plates, and moves the crimping terminal to the laser engraving machine for laser engraving.

[0043] 2.3) After laser engraving is completed, the crimping terminal is rotated and positioned by the secondary positioning mechanism. Finally, the four-axis robot arm retrieves the crimping terminal and loads the crimping tube and crimping terminal to their respective designated workstations for hydraulic pre-pressing and fixing.

[0044] Step 3: Plumb line assembly process

[0045] 3.1) The six-axis robotic arm simultaneously pulls the two ends of the suspension cable through the pressure pipes on both sides, and the lifting guide mechanism tightens one side of the suspension cable to prevent movement; the four-axis robotic arm moves the heart-shaped ring to the designated work position and pneumatically pre-presses it, and the six-axis robotic arm pulls the cable around the heart-shaped ring and then passes it back through the pressure pipe.

[0046] 3.2) The six-axis robotic arm simultaneously pulls both ends of the drop wire through the crimp terminals and performs a second threading to ensure that the drop wire is completely threaded through the crimp terminals; after the threading action is completed, the hydraulic cylinder is activated to fully press the crimp terminals at both ends.

[0047] 3.3) The fixed end heart-shaped ring / press tube spacing control mechanism adjusts the spacing between the heart-shaped ring and the press tube. After the adjustment is completed, the fixed end fully presses the press tube. After the moving end moves to the specified length, tension and length tests are performed. When the values ​​fed back by the tension sensor and the grating ruler both reach the standard, the moving end fully presses the press tube, completing the suspension wire assembly process. The six-axis robotic arm unloads the material to the finished product area.

[0048] Step 4: Bundling and Packing Process

[0049] 4.1) After the production of the droppers in one span is completed and transferred to the finished product area, the strapping machine is started, the strapping is extended and wrapped around the dropper assembly once, and then one end of the dropper assembly is locked.

[0050] 4.2) The instant labeling machine outputs a label containing production information of the inner span of the hanging cable to the labeling platform. The labeling head of the labeling mechanism picks up the label from the labeling platform and transfers it to the labeling position. The clamps close to complete the labeling process.

[0051] 4.3) The inner hanger of the span that has completed the bundling and packaging process is then transferred to the discharge port.

[0052] The technical effects achieved by this invention are as follows:

[0053] (1) The preparation and feeding of dropper wires, the preparation and feeding of components such as heart-shaped rings and the assembly of dropper wires are carried out in parallel, which significantly shortens the pre-assembly time of a single dropper wire and improves the processing efficiency.

[0054] (2) Both the fixed end and the moving end are equipped with six-axis robotic arms, which can simultaneously perform the assembly process of the drop wire and each component, significantly shortening the drop wire assembly process and improving processing efficiency.

[0055] (3) The feeding process of heart-shaped rings, crimped tubes and crimped terminals adopts flexible vibration to effectively avoid mechanical jamming problems that occur during the feeding of mixed parts of different specifications. At the same time, the CCD vision above the flexible vibratory plate can identify qualified parts of different specifications and adapt to the pre-matching of hangers with different specifications, thereby reducing the scrap rate.

[0056] (4) For crimping molds of crimping tubes and crimping terminals of different shapes and sizes produced by different manufacturers, a transition block is designed to accommodate different mold shapes, so as to realize the quick change of crimping mold - transition block - hydraulic pressure, which makes it convenient for production personnel to change crimping molds, reduce downtime and reduce labor intensity.

[0057] (5) The assembly process is carried out using a six-axis robotic arm, which has a wider working space and higher operating precision, making it easy to perform high-precision mechanical actions such as threading and wire pulling.

[0058] (6) The crimping process detection system realizes the defect identification of the eccentricity problem between the heart-shaped ring and the crimping pipe. When the eccentricity problem occurs, the dropper is judged to be a scrap product and a qualified dropper is reproduced to reduce the scrap rate in the production process.

[0059] (7) The spacing control mechanism of the heart-shaped ring / crimping pipe can control the spacing between the two through the servo drive screw. The secondary positioning mechanism realizes the pre-fitting of the droppers with two requirements of parallel / vertical crimping terminals, meeting the dropper pre-fitting requirements under different construction scenarios.

[0060] (8) The pad printing device can mark both ends of the cable, which makes it easier for manual judgment later to determine whether the cable has been fully inserted into the crimping terminal depth during the threading process.

[0061] (9) The automatic laser engraving system marks the crimp terminals with numbers to distinguish and label the droppers within a single span (i.e., a bundle). The bundling and labeling system bundles the droppers within a single span and attaches production information forms, including numbers and lengths, to the bundle of droppers, making it convenient for on-site construction personnel of the contact network to identify and install the droppers, and the bundling and labeling process does not damage the finished product. Attached Figure Description

[0062] Figure 1 This is a structural diagram of the overall shape of the catenary dropper pre-assembly platform of the present invention;

[0063] Figure 2 This is a side view of the internal layout of the overall catenary dropper pre-assembly platform of the present invention;

[0064] Figure 3 This is a top view of the internal layout of the overall catenary dropper pre-assembly platform of the present invention;

[0065] Figure 4 This is a schematic diagram of the wire feeding section of the dropper wire feeding system of the present invention;

[0066] Figure 5 This is a schematic diagram of the structure of the fixed-length section of the dropper wire feeding system of the present invention;

[0067] Figure 6 This is a schematic diagram of the fixed end structure of the present invention;

[0068] Figure 7 This is a schematic diagram of the mobile terminal structure of the present invention;

[0069] Figure 8 This is a schematic diagram of the bundling and labeling system of the present invention;

[0070] Figure 9 This is a schematic diagram of the strapping machine of the present invention;

[0071] Figure 10 This is a schematic diagram of the secondary positioning mechanism of the present invention;

[0072] Figure 11 This is a schematic diagram of the crimping device and quick-change device of the present invention;

[0073] Figure 12 This is a schematic diagram of the heart-shaped ring / pressure pipe spacing control system of the present invention;

[0074] Figure 13 This is a schematic diagram of the pad printing device of the present invention.

[0075] The attached diagram lists the components represented by each number as follows:

[0076] 1. Automatic feeding system; 11. Suspension wire feeding system; 1101. Wire feeding motor; 1102. Synchronous toothed belt; 1103. Wire feeding wheel; 1104. Winding wheel; 1105. Material roll fixing handwheel; 1106. Limit switch; 1107. Helical roller; 1108. Thermal fusion cutter; 1109. Linear guide rail; 1110. Moving platform; 1111. Electric gripper; 1112. Moving cylinder;

[0077] 12. Heart-shaped ring / crimp tube / crimp terminal feeding system; 121. Hopper; 122. Flexible vibratory feeder; 123. CCD camera; 124. Four-axis robotic arm; 125. Pneumatic gripper;

[0078] 2. Automatic laser engraving system; 21. Laser engraving machine;

[0079] 3. Flexible assembly system for robotic arms; 31. Six-axis robotic arm; 32. Quick-change crimping device; 321. Hydraulic cylinder; 322. Crimping die; 323. Quick-change transition block; 324. Limiting mechanism; 325. Heart-shaped ring-shaped block; 326. Lifting guide mechanism; 327. Transition wheel; 328. Crimping platform;

[0080] 4. Tension / Length Detection System; 41. Guide Rail 1; 42. Servo Motor 1; 43. Lead Screw 1; 44. Tension Sensor; 45. Grating Ruler; 46. Moving Platform 2;

[0081] 5. Crimping process detection system; 51. CCD camera II;

[0082] 6. Bundling and labeling system; 61. Instant labeling machine; 62. Labeling platform; 63. Labeling mechanism; 64. Labeling head; 65. Bundling machine; 66. Finished product bundling station; 67. Cable tie feeder;

[0083] 7. Frame;

[0084] 8. Auxiliary device; 81. Secondary positioning mechanism; 811. Positioning gripper; 812. Angle adjustment motor; 813. Synchronous toothed belt II; 82. Heart-shaped ring / pressure tube spacing control mechanism; 821. Servo motor II; 822. Lead screw II; 823. Guide rail II; 83. Pad printing device; 831. Ink cup; 832. Pad printing steel plate; 833. Pad printing mechanism; 834. Pad printing pad. Detailed Implementation

[0085] To make the objectives and advantages of this invention clearer, the invention will be specifically described below with reference to embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of the invention and does not strictly limit the scope of protection specifically claimed by the invention.

[0086] like Figures 1-13 As shown, an intelligent pre-assembly platform for the overall dropper wire 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, and auxiliary devices 8. The automatic feeding system 1 is located at one end inside the frame 7, and is divided into a dropper wire feeding system 11 and a heart-shaped ring / crimping pipe / crimping terminal feeding system 12. The robotic arm flexible assembly system 3 is located on one side of the heart-shaped ring / crimping pipe / 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 dropper wire feeding system 11 away from the tension / length detection system 4.

[0087] See attached document Figures 4-5 The drop wire feeding system 11 includes a wire feeding wheel 1103, a winding device, a straightening device, a fuse device, and a servo length fixing device. The winding device includes a wire feeding motor 1101, the output end of which is connected to the wire feeding wheel 1103 via a synchronous toothed belt 1102. Two sets of winding wheels 1104 are placed horizontally and vertically on one side of the wire feeding wheel 1103, and a limit switch 1106 and a roller are provided in the middle of the frame on which the winding wheels 1104 are mounted. A material roll fixing handwheel 1105 for axially fixing the wire feeding wheel 1103 is provided at one end of the wire feeding wheel 1103. The straightening device includes multiple sets of arrayed straightening rollers 1107, corresponding to the straightening rollers. A spiral handle is provided above 1107. The drive wheel in the articulated roller 1107 is equipped with a motor drive for auxiliary wire feeding, and the motor drive is equipped with an encoder. The fusing device is a thermal fusing machine 1108 located at the output of the articulated roller 1107 group, and the thermal fusing machine 1108 is used for thermal fusing and tapering of the drop wire. The servo length fixing device includes a linear guide rail 1109, and a moving platform 1110 is slidably assembled above the linear guide rail 1109. An electric gripper 1111 is assembled on the surface of the moving platform 1110. A moving cylinder 1112 is provided on one side of the thermal fusing machine 1108 to guide the electric gripper 1111 to clamp the fused drop wire.

[0088] According to the above structure, in the drop wire feeding system 11, the wire feeding motor 1101 drives the synchronous toothed belt 1102 to rotate the wire feeding wheel 1103 to feed the wire. 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. The roller in the middle prevents the cable from shifting on the winding wheel 1104. Then, the cable is wound several times between the two winding wheels 1104 to release stress. When the limit switch 1106 detects that the released cable has sufficient margin, the wire feeding motor 1101 is turned off and stopped. The cable is straightened by three sets of straightening rollers 1107 after winding. A screw handle above the straightening rollers 1107 controls the straightening pressure and diameter. The drive wheel in the straightening rollers 1107 is driven by a motor to assist in cable feeding. An encoder is installed to obtain the cable length. The thermal melting and tapering cutting machine 1108 is used for the thermal melting and tapering cutting of the dropper cable. The moving cylinder 1112 pulls out the fused dropper cable for easy clamping by the electric gripper 1111. The moving platform 1110 on the linear guide rail 1109 performs servo-driven traction.

[0089] See attached document Figure 6 The heart-shaped ring / crimp tube / crimp terminal feeding system 12 includes a hopper 121, a flexible vibratory feeder 122, a CCD camera 123, and a four-axis robotic arm 124. The three hoppers 121 are arranged in an array, and each hopper 121 is equipped with a flexible vibratory feeder 122 at its bottom. The CCD camera 123 is installed on the top of each hopper 121. The four-axis robotic arm 124 is located on one side of the three hoppers 121, and the execution end of the four-axis robotic arm 124 is equipped with a pneumatic gripper 125.

[0090] According to the above structure, the hoppers 121 of the three types of parts in the heart-shaped ring / crimp tube / crimp terminal feeding system 12 can each hold 5L of parts of different specifications. The parts in the hoppers 121 fall into the flexible vibratory feeder 122 under the action of vibration. The CCD camera 123 above will perform position and pose detection on the parts and transmit the relevant information of qualified parts that meet the requirements to the four-axis robot arm 124 for gripping. The end effector of the four-axis robot arm 124 is a pneumatic gripper 125 that can grip the three different parts.

[0091] See attached document Figure 5 The automatic laser engraving system 2 is located on one side of the four-axis robotic arm 124. The automatic laser engraving system 2 uses the laser of the laser engraving machine 21 to engrave the production number on the crimping terminal. The content format is the number of a single suspension string, such as elastic suspension string: T1, T2, ... ...; integral suspension string: D1, D2, ... ....

[0092] See attached document Figure 11The robotic arm flexible assembly system 3 includes a six-axis robotic arm 31 and a pressing quick-change device 32. The pressing quick-change device 32 includes a hydraulic cylinder 321, a pressing mold 322, a quick-change transition block 323, a limiting mechanism 324, a heart-shaped ring spinning block 325, a lifting guide mechanism 326, a transition wheel 327, and a pressing platform 328. The surface of the pressing platform 328 is connected to the hydraulic cylinder 321 and the pressing mold 322 through the quick-change transition block 323. The limiting mechanism 324 is located on one side of the hydraulic cylinder 321, and the heart-shaped ring spinning block 325 is located on one side of the pressing mold 322. The limiting mechanism 324 is used to prevent the heart-shaped ring from slipping out of the heart-shaped ring spinning block 325. The lifting guide mechanism 326 is located on the side of the pressing mold 322 away from the heart-shaped ring spinning block 325, and the transition wheel 327 is adjacent to the lifting guide mechanism 326.

[0093] According to the above structure, the six-axis robotic arm 31 simultaneously passes both ends of the transferred dropper wire through the crimping tube, around the heart-shaped ring, back through the crimping tube, and finally into the crimping terminal. Finally, the quick-change crimping device 32, under hydraulic pressure, presses against the crimping mold 322 to crimp the dropper wire to the crimping tube and crimping terminal, thus completing the assembly. The quick-change crimping device 32 includes a hydraulic cylinder 321, a crimping mold 322, a quick-change transition block 323, a limiting mechanism 324, a heart-shaped ring forming block 325, a lifting guide mechanism 326, a transition wheel 327, and a crimping platform 328. On the crimping platform 328, a hydraulic cylinder is connected via the quick-change transition block 323. Cylinder 321 and crimping mold 322 realize the hydraulic crimping process between crimping tube and crimping terminal; limiting mechanism 324 is used to block the heart-shaped ring during the assembly process of the dropper and the tension measurement process to prevent it from slipping out of the heart-shaped ring spinning block 325; heart-shaped ring spinning block 325 is used to fix the heart-shaped ring and reduce its deflection; lifting guide mechanism 326 is used to lift and hold the cable after the dropper passes through the crimping tube to prevent the cable from moving and causing the robotic arm to be unable to grasp it; in order to prevent the dropper cable from being damaged due to excessive bending angle between the dropper 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.

[0094] See attached document 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 moving platform 46. The moving 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 its output end is fixedly connected to the lead screw 43. The lead screw 43 is screwed to the bottom of the moving platform 46. The grating ruler 45 is set on one side of the lead screw 43. The tension sensor 44 is installed on the surface of the moving platform 46.

[0095] According to the above structure, the tension / length detection system 4 includes a guide rail 41 on 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 servo motor 42 drives the lead screw 43 to rotate, which in turn moves the moving platform 46 to stretch the suspension wire and generate tension. The tension sensor 44 and the grating ruler 45 simultaneously measure the tension and length data. When both the tension and length reach the specified values, the subsequent pressing stage on the moving end begins.

[0096] See attached document Figure 7 The crimping process detection system 5 specifically refers to the CCD camera 51 above the crimping device of the crimping tube. It is used to detect whether the mold is closed, to determine whether there is any offset between the heart-shaped ring and the crimping tube after crimping, and whether the distance between the parts meets the requirements. After the crimping of the crimping tube is completed, the CCD camera 51 takes pictures of the crimping tube and the heart-shaped ring to detect its crimping status, eccentricity, etc.

[0097] See attached document Figures 8-9 The bundling and labeling system 6 includes an instant labeling machine 61, a labeling platform 62, a labeling mechanism 63, a labeling head 64, a strapping machine 65, a finished product bundling concentrator 66, and a cable tie feeder 67. The labeling platform 62 is located 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 concentrator 66 is located on one side of the instant labeling machine 61, and the strapping machine 65 is located at one end of the finished product bundling concentrator 66. The labeling head 64 is located at the bottom of the working end of the finished product bundling concentrator 66. The cable tie feeder 67 is adjacent to the automatic feeding system 1 and is used to feed the strapping machine 65.

[0098] According to the above structure, after production is completed, the hanging wires are transported to the finished product bundling platform 66. When the specified quantity is reached, the hanging wires will be pushed to one side, and the bundling machine 65 will extend the strap and wrap it around once to lock a bundle of hanging wires, thus completing the bundling process. The labeling machine 61 outputs labels containing production information to the labeling platform 62. The labeling head 64 of the labeling mechanism 63 moves to the labeling platform 62 to pick up the label, and then moves it to the designated position of the hanging wire to close the clamp, thus completing the labeling process.

[0099] See attached document Figure 1 The frame 7 is a welded square steel main body, and the equipment is installed in a container-like structure. The top of the structure is welded with lifting rings and meets the width and height restrictions for long-distance transportation of the equipment, which facilitates the overall hoisting and transportation of the equipment. To ensure the stability of the structure during transportation and production, M30 heavy-duty feet and heavy-duty casters are added to the bottom to enhance the structural rigidity and prevent damage.

[0100] See attached document Figure 10 , Figures 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 consists of a positioning gripper 811, an angle-adjusting motor 812, and a synchronous toothed belt 813. The output end of the angle-adjusting motor 812 is connected to the positioning gripper 811 via the synchronous toothed belt 813. The heart-shaped ring / crimping tube spacing control mechanism 82 consists of a servo motor 821, a lead screw 822, and a guide rail 823 below the crimping device. The crimping platform 328 is slidably assembled above the guide rail 823. Servo motor 821 is fixedly installed at one end of guide rail 823, and the output end of servo motor 821 is fixedly connected to lead screw 822. Lead screw 822 is screwed to the bottom of crimping platform 328. Pad printing device 83 consists of ink cup 831, pad printing steel plate 832, pad printing mechanism 833 and pad printing head 834. After ink is injected into ink cup 831, pad printing head 834 takes ink from pad printing steel plate 832. Under the control of pad printing mechanism 833, pad printing head 834 moves to the designated position of cable to complete the marking to check the depth of cable penetration into crimping terminal.

[0101] According to the above structure, the secondary positioning process is mainly used to adjust the direction of the crimp terminal. After laser marking, if the direction of the heart-shaped ring / crimp terminal is parallel, the marked crimp terminal can be directly transferred to the assembly station; if the direction of the heart-shaped ring / crimp terminal is perpendicular, the rotation of the angle adjustment motor 812 is transmitted to the positioning gripper 811 through the synchronous toothed belt 813, causing it to rotate 90° before being transferred.

[0102] Below the heart-shaped ring / crimping tube spacing control mechanism 82 are a servo motor 821, a lead screw 822, a guide rail 823, and a crimping platform 328. The servo motor 821 drives the lead screw 822 to rotate, which controls the crimping platform 328 responsible for crimping the tube to move along the guide rail 823, thus realizing the production of hangers at specified spacing. To prevent the heart-shaped ring from deflecting during the crimping process and causing assembly quality problems, the heart-shaped ring is positioned using a contour jig to ensure that it does not deflect arbitrarily during the crimping process.

[0103] The pad printing device 83 consists of an ink cup 831, a pad printing steel plate 832, a pad printing mechanism 833, and a pad printing head 834. Ink is injected into the ink cup 831, the pad printing mechanism 833 moves the pad printing head 834 to the pad printing steel plate 832 to take the shape, and then the pad printing head 834 moves to the end of the suspension cable to mark it.

[0104] Based on the above structure, in the crimping system, different quick-change transition blocks 323 are designed according to different crimping tube / crimping terminal molds provided by the supplier. The main function of the quick-change transition block 323 is to accommodate the different mold dimensions, connect the hydraulic cylinder 321 and the crimping mold 322, and transmit the crimping force to the crimping tube / crimping terminal. By adopting a three-level connection strategy of crimping mold 322-quick-change transition block 323-hydraulic cylinder 321, the purpose of adapting to different crimping molds 322 is achieved without changing the overall crimping device.

[0105] The present invention also provides a method for pre-fitting suspension strings, the steps of which are as follows:

[0106] Step 1: Preparation and feeding of suspension wire

[0107] 1.1) The wire feeding motor 1101 drives the wire feeding wheel 1103 to rotate and feed the wire. The cable first passes through the roller and the winding wheel 1104 to release stress by winding around a specified number of times and then enters the straightening roller 1107. It is straightened by the round pressing method and then enters the thermal melting machine 1108 and is pulled out to a certain length by the moving cylinder 1112.

[0108] 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 end marking at this section; the motor drives the cable to move a specified length, and the thermal fuse 1108 starts to fuse the cable; after the fuse is completed, the motor drives the cable to pull out the length after the fuse is completed, and the pad printing device 83 completes the end marking at the other end of the cable.

[0109] 1.3) The six-axis robotic arm with 31 grippers picks up both ends of the cable, moves the cable to the assembly position, and completes the cable loading;

[0110] Step 2: Preparation and feeding of heart-shaped ring, crimp tube, and crimp terminal

[0111] 2.1) Under the action of the direct vibrator, the three materials in the hopper 121 are evenly scattered in their respective flexible vibrating plates 122, and the position and posture of the required qualified parts are determined by the CCD camera 123.

[0112] 2.2) The four-axis robotic arm 124 picks up three materials—heart-shaped ring, crimping tube, and crimping terminal—from three flexible vibrating plates 122, and moves the crimping terminal to the laser engraving machine 21 for laser engraving.

[0113] 2.3) After laser engraving is completed, the crimp terminal is rotated and positioned by the secondary positioning mechanism 81. Finally, the four-axis robot arm 124 retrieves the crimp terminal and loads the crimp tube and crimp terminal to their respective designated workstations for hydraulic pre-pressing and fixing.

[0114] Step 3: Plumb line assembly process

[0115] 3.1) The six-axis robotic arm 31 simultaneously pulls the two ends of the suspension wire through the pressure pipes on both sides, and the lifting guide mechanism 326 tightens one side of the suspension wire to prevent it from moving; the four-axis robotic arm 124 moves the heart-shaped ring to the designated work position and pneumatically pre-presses it, and the six-axis robotic arm 31 pulls the wire around the heart-shaped ring and then passes it back through the pressure pipe.

[0116] 3.2) The six-axis robotic arm 31 simultaneously pulls both ends of the drop wire into the crimping terminal and performs a second threading to ensure that the drop wire is completely threaded into the crimping terminal; after the threading action is completed, the hydraulic cylinder 321 is activated to fully press the crimping terminals at both ends.

[0117] 3.3) The fixed end heart-shaped ring / pressure tube spacing control mechanism 82 adjusts the spacing between the heart-shaped ring and the pressure tube. After the adjustment is completed, the fixed end fully presses the pressure tube. After the moving end moves to the specified length, tension and length tests are performed. When the values ​​fed back by the tension sensor 44 and the grating ruler 45 both reach the standard, the moving end fully presses the pressure tube, completing the suspension wire assembly process. The six-axis robotic arm 31 unloads the material into the finished product area.

[0118] Step 4: Bundling and Packing Process

[0119] 4.1) After the production of the droppers in one span is completed and transferred to the finished product area, the strapping machine 65 starts, extends the strapping tape, wraps around the dropper assembly once, and then locks one end of the dropper assembly.

[0120] 4.2) The instant labeling machine 61 outputs a label containing production information of the inner span of the hanging wire to the labeling platform. The labeling head 64 of the labeling mechanism 63 picks up the label from the labeling platform 62 and transfers it to the labeling position. The clamping plates close to complete the labeling process.

[0121] 4.3) The inner hanger of the span that has completed the bundling and packaging process is then transferred to the discharge port.

[0122] It should be noted that the processes of preparing and feeding the dropper wire, preparing and feeding the heart-shaped ring, and assembling the dropper wire are parallel processes. Among them, the dropper wire assembly process requires the longest working time, while the processes of preparing and feeding the dropper wire and heart-shaped ring require a shorter working time, which is significantly shorter than the dropper wire assembly process. Therefore, the working time consumed in producing a single dropper wire is the same as the working time consumed in the dropper wire assembly process.

[0123] Furthermore, during the assembly of this dropper, the preparation of components such as the dropper wire and heart-shaped ring of the next dropper can be carried out simultaneously. After the preparation is completed and the dropper is assembled, the materials are immediately transferred to the assembly station to begin the assembly of the next dropper and the preparation of the next dropper component.

[0124] The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this invention are implemented according to conventional methods in the art unless otherwise specified or limited.

Claims

1. A smart pre-assembly platform for integral catenary droppers, characterized in that: It 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), and auxiliary devices (8). The automatic feeding system (1) is located at one end inside the frame (7), and the automatic feeding system (1) is divided into a drop wire feeding system (11) and a heart-shaped ring / crimping tube / crimping terminal feeding system (12). The robotic arm flexible assembly system (3) is located 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). The bundling and labeling system (6) is located on the side of the drop wire feeding system (11) away from the tension / length detection system (4). The drop wire feeding system (11) includes a wire feeding wheel (1103), a winding device, a straightening device, a fusing device, and a servo length fixing device. The robotic arm flexible assembly system (3) includes a six-axis robotic arm (31) and a crimping quick-change device (32). The auxiliary device (8) includes a secondary positioning mechanism (81), a heart-shaped ring / pressure tube spacing control mechanism (82), and a pad printing device (83). The winding device includes a wire feeding motor (1101), the output end of which is connected to the wire feeding wheel (1103) via a synchronous toothed belt (1102). Two sets of winding wheels (1104) are placed horizontally and vertically on one side of the wire feeding wheel (1103). A limit switch (1106) and a roller are provided in the middle of the frame on which the winding wheels (1104) are mounted. A material roll fixing handwheel (1105) for axially fixing the wire feeding wheel (1103) is provided at one end of the wire feeding wheel (1103). The straightening device includes multiple arrayed straightening rollers (1107), and a spiral handle is provided above the straightening rollers (1107). The drive wheel of the straightening rollers (1107) is equipped with a motor drive for auxiliary wire feeding, and the motor drive is equipped with an encoder. The fuse is a thermal fuser (1108) installed at the output of the hinged roller (1107) group, and the thermal fuser (1108) is used for thermal melting and tapering of the drop wire cable; The servo length-fixing device includes a linear guide rail (1109), a movable platform (1110) is slidably assembled above the linear guide rail (1109), an electric gripper (1111) is assembled on the surface of the movable platform (1110), and a movable cylinder (1112) is provided on one side of the thermal fuse (1108) for guiding the electric gripper (1111) to clamp the fused cable. The cable is fed out as the feed wheel (1103) rotates. After the stress is released by the winding device, it enters the straightening device to straighten the cable. Finally, the moving end of the servo length-fixing device clamps a section of the cable and moves it to a specified length to activate the fuse device to fuse the cable to a fixed length. The quick-change crimping device (32) includes a hydraulic cylinder (321), a crimping mold (322), a quick-change transition block (323), a limiting mechanism (324), a heart-shaped ring-shaped block (325), a lifting guide mechanism (326), a transition wheel (327), and a crimping platform (328). The surface of the pressing platform (328) is connected to the hydraulic cylinder (321) and the pressing mold (322) via a quick-change transition block (323). The limiting mechanism (324) is located on one side of the hydraulic cylinder (321), and the heart-shaped ring spinning block (325) is located on one side of the pressing mold (322). The limiting mechanism (324) is used to prevent the heart-shaped ring from slipping out of the heart-shaped ring spinning block (325). The lifting guide mechanism (326) is located on the side of the pressing mold (322) away from the heart-shaped ring spinning 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 robotic arm (31) at the fixed end and the moving end simultaneously performs the actions of threading the crimping pipe, wrapping the heart-shaped ring, and threading the crimping terminal at both ends of the drop wire. Finally, the crimping quick-change device (32) completes the assembly by crimping the drop wire with the crimping pipe and crimping terminal through the hydraulic crimping mold (322).

2. The intelligent pre-assembly platform for integral catenary droppers according to claim 1, characterized in that: The heart-shaped ring / crimp tube / crimp terminal feeding system (12) includes a hopper (121), a flexible vibratory feeder (122), a CCD camera (123), and a four-axis robotic arm (124). The three hoppers (121) are arranged in an array, and each hopper (121) is equipped with a flexible vibrating plate (122) at the bottom. The CCD camera (123) is installed on the top of each hopper (121). The four-axis robotic arm (124) is set on one side of the three hoppers (121), and the execution end of the four-axis robotic arm (124) is equipped with a pneumatic gripper (125). The corresponding heart-shaped ring, crimping tube and crimping terminal are added to three different hoppers (121). Under the action of the straight vibrator, each part falls into the flexible vibrating plate (122) and disperses. CCD camera (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.

3. The intelligent pre-assembly platform for integral catenary droppers according to claim 2, characterized in that: The automatic laser engraving system (2) is located on one side of the four-axis robotic arm (124). The automatic laser engraving system (2) uses a laser engraving machine (21) to engrave the production number on the crimping terminal.

4. The intelligent pre-assembly platform for integral catenary droppers according to claim 3, characterized in that: The tension / length detection system (4) includes a guide rail (41) on 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 mobile platform (46) is slidably assembled on the surface of the first guide rail (41). The first servo motor (42) is fixedly installed on one end of the first guide rail (41) and its output end is fixedly connected to the first lead screw (43). The first lead screw (43) is screwed to the bottom of the second mobile platform (46). The grating ruler (45) is set on one side of the first lead screw (43). The tension sensor (44) is installed on the surface of the second mobile platform (46). After the six-axis robotic arm (31) at the fixed end and the moving end completes the assembly action, the two sides of the crimping terminal are crimped first. Then, the moving end moves away from the fixed end under the action of the servo motor (42) driving the lead screw (43) to tighten the suspension string, thus completing the crimping of the fixed end crimping tube. The moving end continues to move and obtains length and tension information through the grating ruler (45) and tension sensor (44). When the specified length and tension are reached, the crimping of the moving end crimping tube is completed. The crimping process detection system (5) refers to the CCD camera (51) above the crimping part of the crimping tube, which is used to detect whether the mold is closed and to determine whether there is any offset between the heart-shaped ring and the crimping tube after crimping and whether the distance between the parts meets the requirements.

5. The intelligent pre-assembly platform for integral catenary droppers according to claim 4, characterized in that: The bundling and labeling system (6) includes an instant labeling machine (61), a labeling platform (62), a labeling mechanism (63), a labeling head (64), a bundling machine (65), a finished product bundling concentrator (66), and a cable tie feeder (67). The labeling platform (62) is located 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 station (66) is located on one side of the instant labeling machine (61), and the strapping machine (65) is located at one end of the finished product bundling station (66). The labeling head (64) is located at the bottom of the working end of the finished product bundling station (66). The cable tie feeder (67) is adjacent to the automatic feeding system (1) and is used to feed the strapping machine (65). After a specified number of droppers are produced, the cable tie feeder (67) feeds the cable tie to the strapping machine (65). The strapping machine (65) extends the cable tie, wraps it around once, and locks one end of the dropper. Then, the labeling machine (61) outputs a label containing dropper production information to the labeling platform (62). The clamp of the labeling mechanism (63) picks up the label and moves it to the labeling position to close and complete the labeling.

6. The intelligent pre-assembly platform for integral catenary droppers according to claim 5, characterized in that: The frame (7) is a square steel welded main body. The equipment is installed in a container-like structure. The top is welded with lifting rings and meets the width and height restrictions. The bottom is equipped with heavy-duty feet and casters.

7. The intelligent pre-assembly platform for integral catenary droppers according to claim 6, characterized in that: The secondary positioning mechanism (81) consists of a positioning gripper (811), an angle-adjusting motor (812), and a synchronous toothed belt (813). The output end of the angle-adjusting motor (812) is connected to the positioning gripper (811) via the synchronous toothed belt (813). The heart-shaped ring / crimping pipe spacing control mechanism (82) consists of a second servo motor (821), a second lead screw (822), and a second guide rail (823) located below the crimping device; the crimping platform (328) is slidably assembled above the second guide rail (823), the second servo motor (821) is fixedly installed at one end of the second guide rail (823), and the output end of the second servo motor (821) is fixedly connected to the second lead screw (822), and the second lead screw (822) is screwed to the bottom of the crimping platform (328); The pad printing device (83) consists of an ink cup (831), a pad printing steel plate (832), a pad printing mechanism (833), and a pad printing head (834). After ink is injected into the ink cup (831), the pad printing head (834) takes ink from the pad printing steel plate (832). Under the control of the pad printing mechanism (833), the pad printing head (834) moves to the designated position of the cable to complete the marking to check the depth of the cable through the crimp terminal.

8. A method for pre-assembling droppers, used with the intelligent pre-assembly platform for the overall droppers of the contact network as described in any one of claims 1-7, characterized in that, The specific steps are as follows: Step 1: Preparation and feeding of suspension wire 1.1) The wire feeding motor (1101) drives the wire feeding wheel (1103) to rotate and feed the wire. The wire first passes through the roller and the winding wheel (1104) to release the stress by winding around a specified number of times and then enters the straightening roller (1107) to be straightened by the round pressing method. Then it enters the thermal melting machine (1108) and is pulled out to a certain length by the moving cylinder (1112). 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 end marking of the cable end in this section; the motor drives the cable to move a specified length, and the thermal fuser (1108) is started to fuse the cable; after the fuse is completed, the motor drives the cable to pull out the length after the fuse is completed, and the pad printing device (83) completes the end marking of the cable end at the other end of the cable. 1.3) The six-axis robotic arm (31) grips both ends of the cable, moves the cable to the assembly position, and completes the cable loading; Step 2: Preparation and feeding of heart-shaped ring, crimp tube, and crimp terminal 2.1) The hopper (121) makes the three materials evenly dispersed in their respective flexible vibrating plates (122) under the action of the direct vibrator. The position and posture of the required qualified parts are determined by the CCD camera (123). 2.2) The four-axis robotic arm (124) picks up three materials, namely heart-shaped ring, crimping tube and crimping terminal, from three flexible vibrating 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 crimping terminal is rotated and positioned by the secondary positioning mechanism (81). Finally, the four-axis robot arm (124) retrieves the crimping terminal and loads the crimping tube and crimping terminal to their respective designated workstations for hydraulic pre-pressing and fixing. Step 3: Plumb line assembly process 3.1) The six-axis robotic arm (31) simultaneously pulls the two ends of the suspension wire through the pressure pipes on both sides, and the lifting guide mechanism (326) tightens one side of the suspension wire to prevent it from moving; the four-axis robotic arm (124) moves the heart-shaped ring to the designated work position and pneumatically pre-presses it, and the six-axis robotic arm (31) pulls the wire around the heart-shaped ring and then passes it back through the pressure pipe. 3.2) The six-axis robotic arm (31) simultaneously pulls the two ends of the suspension wire into the crimping terminal and performs secondary wire threading to ensure that the suspension wire is completely threaded into the crimping terminal; after the wire threading action is completed, the hydraulic cylinder (321) is started to fully press the crimping terminals at both ends. 3.3) The fixed end heart-shaped ring / press tube spacing control mechanism (82) adjusts the spacing between the heart-shaped ring and the press tube. After the adjustment is completed, the fixed end fully presses the press tube. After the moving end moves to the specified length, the tension and length tests are performed. When the values ​​fed back by the tension sensor (44) and the grating ruler (45) both reach the standard, the moving end fully presses the press tube, and the suspension wire assembly process is completed. The six-axis robotic arm (31) unloads the material to the finished product area. Step 4: Bundling and Packing Process 4.1) After the production of the droppers in one span is completed and transferred to the finished product area, the strapping machine (65) starts, extends the strapping tape around the dropper assembly once, and then locks one end of the dropper assembly. 4.2) The instant labeling machine (61) outputs a label containing the production information of the inner suspension cable to the labeling platform. The labeling head (64) of the labeling mechanism (63) picks up the label from the labeling platform (62) and transfers it to the labeling position. The clamps close to realize the labeling process. 4.3) The inner hanger of the span that has completed the bundling and packaging process is then transferred to the discharge port.

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