Double-end dropper production equipment

Abstract

The invention relates to double-end dropper production equipment. The double-end dropper production equipment comprises a feeding module and a workbench; the feeding module is arranged on the side of the workbench. The workbench is provided with a conveying module, a wire cutting module, a wire feeding module, a fixed side clamping and pressing module, a movable side clamping and pressing module, a fixed side clamping and pressing pipe feeding module, a fixed side heart-shaped ring feeding module, a fixed side wire nose feeding module, a movable side clamping and pressing pipe feeding module, a movable side heart-shaped ring feeding module and a movable side wire nose feeding module. The conveying module comprises a fixed side wire nose clamping and pressing module and a movable side wire nose clamping and pressing module, the feeding module comprises a pay-off part and a tensioning part, the pay-off part is used for releasing a dropper wire to the conveying module, and the tensioning part is used for tensioning the dropper wire between the feeding module and the conveying module; a truss mechanical arm module is further arranged on the workbench. The structure is more compact, the occupied area of equipment is saved, the design difficulty is reduced, and operation is more flexible.

Description

Technical Field

[0001] The invention relates to the technical field of overhead contact network suspension string processing, and in particular to double-end suspension string production equipment. Background Art

[0002] With the rapid development of my country's high-speed rail technology, it has put forward newer and higher requirements for the quality and standards of railway technology. In the electrified railway line, the contact network is an important part to ensure the normal operation of the railway. The contact network is connected to the electrified railway power supply line to provide power to the electric locomotive and its ancillary equipment. In the contact network system, the suspension string is one of the key factors for the good contact between the contact network and the locomotive pantograph. On the line, a set of integral suspension strings needs to be installed every 6 to 8 meters to suspend the contact wire on the load-bearing cable, so as to ensure the hanging height of the contact wire and keep the contact wire elastic to ensure that the contact network and the pantograph have a good contact relationship. The suspension string includes a suspension string, a heart-shaped ring and a clamping tube arranged on one side or both sides of the suspension string, and a wire nose arranged at one end or both ends of the suspension string. The production process of suspension strings is mainly divided into several steps, including wire cutting, threading, tensioning, crimping, marking and bundling. Threading includes passing the suspension string through the clamping tube, heart-shaped ring and wire nose. Tightening refers to tightening the heart-shaped ring and clamping tube with the suspension string. Crimping includes the clamping tube and wire nose and the suspension string. At present, the production method of suspension strings is still mainly manual, and generally four to five people are used as a shift to carry out the processes of the above steps. This production method has problems such as high labor cost and low precision of the finished suspension string products, especially in the two links of wire cutting and crimping of the suspension string. The manual production method has problems such as inconsistent and uneven length, weak crimping or excessive crimping force leading to cracking of the clamping tube and / or wire nose. In the process of wire feeding, since the suspension string is wound on the wire drum, it is necessary to manually release the wire and stretch it for correction, which is time-consuming and labor-intensive, and it is impossible to ensure that the suspension string is in a tensioned state, so it needs to be tensioned in the subsequent production process. In the wire cutting process, the wire cutting method is mainly shearing, that is, manually using tools such as steel pliers to cut the suspension string. The manual shearing wire cutting method, on the one hand, has low operating efficiency, and on the other hand, cannot meet the needs of mechanical automation production. More importantly, it will cause the suspension string to become loose, that is, the suspension string will appear to have loose strands at the cut point, which is not conducive to the subsequent threading operation, especially when the suspension string passes through the clamp tube and / or is inserted into the wire nose. The loose strands at the end of the suspension string will cause great interference. In the process of crimping the clamp tube and the suspension string, it is necessary to pre-press first, that is, to clamp and fix the clamp tube; then tighten the wire, that is, pull the two ends of the suspension string to make the heart-shaped ring and the clamp tube tightly abut; finally, press, that is, squeeze the clamp tube to make the suspension string and the clamp tube tightly fixed. In the existing crimping process, manual operation is mainly performed step by step, which leads to low working efficiency on the one hand and cannot meet the needs of mechanical automation production on the other hand. More importantly, insufficient tightening may cause the close contact between the heart-shaped ring and the clamp tube to loosen, insufficient compression may cause looseness between the suspension string and the clamp tube, or excessive compression may cause the clamp tube to crack.

[0003] Chinese patent CN115520068B discloses a double-headed suspension string production device, including a loading module, a correction module, a conveying module, a wire cutting module, a wire feeding module, a workbench and an assembly platform; the assembly platform is provided with a fixed side elbow manipulator, a fixed side clamping module, a mobile side clamping module, a fixed side line nose loading module, a fixed side heart-shaped ring loading module, a fixed side clamping tube loading module, a fixed side line nose clamping module, a mobile side heart-shaped ring loading module, and a mobile platform; the mobile platform is provided with a mobile side line nose clamping module, a mobile side line nose loading module, and a mobile side clamping tube loading module; the side of the assembly platform is provided with a mobile side elbow manipulator. The above-mentioned prior art realizes automatic feeding, correction and tensioning of the suspension string, and forms a cone-shaped end at the cutting point of the suspension string, which will not cause loose strands and is conducive to subsequent threading operations. At the same time, the clamping and pressing driver is used for crimping to replace manual crimping, thereby ensuring the crimping strength and force, avoiding the problem of looseness or cracking, and thus improving the yield rate of suspension string production.

[0004] However, in the aforementioned prior art, the loading module and the correction module are arranged in separate modules, which increases the floor space of the double-headed suspension string production line in the length direction; the mobile side elbow manipulator used to grab the suspension string line and realize multiple working steps of the suspension string line is arranged on the side of the workbench, which not only increases the floor space of the double-headed suspension string production line in the width direction, but also needs to consider the interference avoidance problem with other modules when the mobile side elbow manipulator moves, which leads to an increase in the design cost and production cost of the mobile side elbow manipulator.

[0005] In view of this, the present invention provides a double-headed suspension string production equipment, which integrates the pay-off part and the tensioning part into the loading module. Under the premise of realizing the functions of pay-off, correction and tensioning, the structure of the overall equipment is more compact, saving the floor space in the length direction of the equipment; a truss manipulator module is used to replace the mobile side elbow manipulator in the prior art, which utilizes the space at height, not only reducing the floor space of the equipment in the width direction, but also the truss manipulator module is located above the workbench, which can better avoid other working modules on the workbench when moving, and there is no need to consider the interference avoidance problem between the manipulator and other working modules in the same plane too much, which reduces the design difficulty to a certain extent and makes the operation more flexible. Summary of the invention

[0006] The present invention is intended to provide a double-ended suspension string production device to solve the deficiencies in the prior art. The technical problem to be solved by the present invention is achieved through the following technical solutions.

[0007] A double-end hanging string production equipment, including a feeding module and a workbench; the feeding module is arranged on the side of the workbench, and the workbench is provided with a conveying module, a wire cutting module, a wire feeding module, a fixed side clamping module, a mobile side clamping module, a fixed side clamping tube feeding module, a fixed side heart-shaped ring feeding module, a fixed side line nose feeding module, a mobile side clamping tube feeding module, a mobile side heart-shaped ring feeding module, a mobile side line nose feeding module, a fixed side line nose clamping module, and a mobile side line nose clamping module, and the feeding module includes a wire release part and a tensioning part The wire-releasing part is used for releasing the suspension wire to the conveying module, and the tensioning part is used for tensioning the suspension wire between the loading module and the conveying module; a truss manipulator module is also provided on the workbench, and the truss manipulator module comprises a truss part and a mechanical gripper part, and the truss part comprises a longitudinal truss and a transverse truss, and the longitudinal truss can move transversely along the transverse truss, and the mechanical gripper part is installed on the longitudinal truss, and the mechanical gripper part is used for grabbing the suspension wire on the workbench and moving longitudinally along the longitudinal truss.

[0008] In the present invention, the suspension string released from the wire-releasing part enters the conveying module, and the suspension string between the feeding module and the conveying module is tensioned by the tensioning part. The suspension string is conveyed by the conveying module into the wire cutting module. The conveying module continues to convey the suspension string to the right so that it enters the wire feeding guide of the wire feeding module. The conveying module and the wire feeding module jointly convey the suspension string. After the suspension string reaches the predetermined wire feeding length, the wire cutting module heats, twists and breaks the suspension string to complete the fixed-length wire cutting operation. The wire feeding module continues to convey the suspension string to the right to the next workstation of the suspension string production line. The truss manipulator module is used to grab the suspension string delivered by the wire feeding module, and pass the suspension string around the heart-shaped ring a, through the clamping tube b and into the wire nose. The fixed side clamping module and the mobile side clamping module are used to crimp the suspension string and the clamping tube. The fixed side wire nose clamping module and the mobile side wire nose clamping module are used to crimp the suspension string and the wire nose. The fixed side clamping tube loading module, the fixed side heart-shaped ring loading module, the fixed side wire nose loading module, the mobile side clamping tube loading module, the mobile side heart-shaped ring loading module and the mobile side wire nose loading module are used for loading the wire nose, the heart-shaped ring and the clamping tube respectively.

[0009] In the present invention, the suspension string is automatically fed in and tensioned by the loading module and the conveying module, and the suspension string is conveyed to the next workstation by the wire feeding module. Compared with the prior art, the present embodiment cancels the separate correction module. Under the premise of realizing the functions of wire laying, correction and tensioning, the structure of the overall equipment is more compact, saving the floor space in the length direction of the equipment; a truss manipulator module is used to replace the mobile side elbow manipulator in the prior art, which utilizes the space at height, not only reducing the floor space of the equipment in the width direction, but also the truss manipulator module is located above the workbench, which can better avoid other working modules on the workbench when moving, and there is no need to consider the interference avoidance problem between the manipulator and other working modules in the same plane too much, which reduces the design difficulty to a certain extent and makes the operation more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a structural schematic diagram of the present invention;

[0011] Figure 2 It is a structural schematic diagram of the feeding module in the present invention;

[0012] Figure 3 It is a structural schematic diagram of the feeding module in the present invention from another angle;

[0013] Figure 4 It is a structural schematic diagram of the conveying module in the present invention;

[0014] Figure 5 It is a structural schematic diagram of the truss manipulator module in the present invention;

[0015] Figure 6 It is a structural schematic diagram of the mechanical gripper part in the present invention;

[0016] Figure 7 It is a structural schematic diagram of the wire feeding module in the present invention;

[0017] Figure 8 It is a structural schematic diagram of the wire cutting module in the present invention;

[0018] Fig. 9 It is a structural schematic diagram of the wire cutting and pressing part in the present invention;

[0019] Fig.10 It is a structural schematic diagram of the wire cutting and pressing part in the present invention from another angle;

[0020] Fig.11 It is a structural schematic diagram of the wire cutting and twisting part in the present invention;

[0021] Fig.12 It is a schematic structural diagram of the wire cutting and twisting portion in the present invention from another angle;

[0022] Fig.13It is a structural schematic diagram of another angle of the wire cutting and twisting part of the present invention;

[0023] Fig.14 It is a structural schematic diagram of the fixed side clamping module in the present invention;

[0024] Fig.15 It is a structural schematic diagram of the fixed side clamping fixture part in the present invention;

[0025] Fig.16 It is a structural schematic diagram of the fixed side clamping module in the present invention from another angle;

[0026] Fig.17 It is a structural schematic diagram of the mobile side clamping module in the present invention;

[0027] Fig.18 It is a structural schematic diagram of the mobile side clamping module in the present invention from another angle;

[0028] The reference numerals in the accompanying drawings are: a, heart-shaped ring, b, clamping tube, 10, feeding module, 11, feeding bottom bracket, 12, feeding swing bracket, 13, wire roller mounting bracket, 14, wire release part, 141, wire release drive motor, 142, wire roller, 143, hand wheel, 15, wire blocking column, 16, tensioning part, 161, handle, 162, bearing seat, 163, shaft seat bracket, 164, nut, 165, screw rod, 166, nut mounting seat, 17, wire storage wheel, 20, conveying module, 21, conveying base, 22, conveying guide, 23, conveying drive motor, 24, conveying driving wheel, 25, conveying driven cylinder, 26, conveying driven wheel slider, 27, conveying driven wheel, 30, truss manipulator module, 3 1. Truss part, 32. Mechanical gripper part, 321. Mechanical arm lifting frame, 322. Truss adapter plate, 323. Mechanical arm lifting motor, 324. Lifting motor mounting plate, 325. Mechanical arm rotating motor mounting plate, 3261. Mechanical arm rotating motor, 3262. Mechanical arm driving motor, 3263. Mechanical gripper, 3271. Mechanical arm lifting limit block II, 3272. Mechanical arm lifting anti-collision block II, 3281. Mechanical arm lifting limit block I, 3282. Mechanical arm lifting anti-collision block I, 3291. Mechanical arm lifting guide rail, 3292. Mechanical arm lifting slider, 40. Wire feeding module, 41. Wire feeding base, 42. Wire feeding guide, 43. Wire feeding threading tube, 44. Wire feeding active wheel mounting plate, 45. Wire driving motor, 46, wire feeding driving wheel, 47, wire feeding driven wheel, 48, wire feeding driven wheel lifting cylinder, 49, wire feeding lifting cylinder mounting frame, 50, workbench, 60, wire cutting module, 61, wire cutting clamping part, 611, wire cutting clamping mounting seat, 6111, wire cutting clamping insulating sheet, 612, wire cutting clamping fixed block, 613, wire cutting clamping movable block, 614, wire cutting clamping block, 615, wire cutting clamping support column, 616, wire cutting clamping connecting rod, 6161, wire cutting clamping insulating block, 617, wire cutting clamping cylinder, 618, wire cutting clamping guide column, 619, wire cutting clamping spring, 62, wire cutting breaking part, 6211, wire cutting breaking driver, 6212, wire cutting breaking reducer, 6213, wire cutting breaking chain , 6214, wire cutting and breaking sprocket, 6221, wire cutting and breaking clamping cylinder, 6222, wire cutting and breaking clamping rotating block, 6223, wire cutting and breaking clamping connecting plate, 62231, wire cutting and breaking clamping shaft A, 62232, wire cutting and breaking clamping shaft B, 623, wire cutting and breaking chuck, 624, wire cutting and breaking copper ring mounting seat, 6241, wire cutting and breaking copper ring insulating sheet, 625, wire cutting and breaking mounting vertical plate, 6251, wire cutting and breaking vertical plate insulating sheet, 626, wire cutting and breaking mounting bottom plate, 6261, wire cutting and breaking bottom plate push block, 627, wire cutting and breaking slider, 628, wire cutting and breaking slide rail, 629, wire cutting and breaking cylinder, 63, wire cutting mounting seat, 64, wire cutting power supply unit, 641, wire cutting power supply copper plate A,642. Wire cutting power supply copper plate B, 643. Wire cutting power supply copper plate C, 6431. Wire cutting power supply tension rod, 644. Wire cutting power supply copper ring A, 645. Wire cutting power supply copper ring B, 70. Fixed side clamping module, 71. Fixed side lower vertical plate, 72. Fixed side clamping fixture part, 721. Fixed side middle partition plate, 722. Fixed side fixture bracket, 723. Fixed side fixture lifting cylinder, 724. Fixed side lifting cylinder connector, 725. Fixed side pressure rod, 726. Fixed side support rod, 727. Fixed side lifting shaft, 728. Fixed side fixture supporting plate, 729. Fixed side fixture head, 731, telescopic oil cylinder on the fixed side, 732, connecting plate of oil cylinder on the fixed side, 733, sliding plate on the fixed side, 74, pressing part on the fixed side, 741, oil cylinder on the fixed side, 742, movable block on the fixed side, 7421, pipe pressing groove on the clamping side, 743, fixed block on the fixed side, 744, pipe seat on the fixed side, 751, ejecting cylinder on the fixed side, 752, ejector rod on the fixed side, 76, guiding part on the fixed side, 761, guiding cylinder on the fixed side, 762, guiding connecting plate on the fixed side, 763, guiding member on the fixed side, 80, clamping module on the movable side, 81, bottom plate on the movable side, 82 , mobile side clamping fixture part, 821, mobile side fixture bracket, 822, mobile side fixture cylinder, 823, mobile side fixture connecting plate, 824, mobile side fixture head, 825, mobile side guide block, 826, mobile side guide rod, 831, mobile side clamping cylinder, 832, mobile side clamping movable block, 833, mobile side clamping fixed block, 834, mobile side clamping pipe seat, 84, mobile side ejection part, 841, mobile side ejection cylinder, 842, mobile side ejector rod, 85, mobile side wire pressing part, 851, mobile side wire pressing cylinder, 852, mobile side wire pressing connecting plate, 853, Mobile side wire pressing connecting rod, 854, mobile side wire pressing crank, 855, mobile side wire pressing block, 86, mobile side guide part, 861, mobile side guide cylinder, 862, mobile side guide connecting plate, 863, mobile side guide, 87, mobile side clamp pressing sliding plate, 91, fixed side clamp pressing tube feeding module, 92, fixed side heart-shaped ring feeding module, 93, fixed side line nose feeding module, 94, mobile side clamp pressing tube feeding module, 95, mobile side heart-shaped ring feeding module, 96, mobile side line nose feeding module, 97, fixed side line nose clamp pressing module, 98, mobile side line nose clamp pressing module. , DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] Embodiment 1:

[0031] A double-headed string production equipment, the improvement of which is that it includes a loading module 10 and a workbench 50; the loading module 10 is arranged on the side of the workbench 50, and the workbench 50 is provided with a conveying module 20, a wire cutting module 60, a wire feeding module 40, a fixed side clamping module 70, a mobile side clamping module 80, a fixed side clamping tube loading module 91, a fixed side heart-shaped ring loading module 92, a fixed side line nose loading module 93, a mobile side clamping tube loading module 94, a mobile side heart-shaped ring loading module 95, a mobile side line nose loading module 96, a fixed side line nose clamping module 97, and a mobile side line nose clamping module 98, and the loading module 10 includes The workbench 50 includes a wire-releasing portion 14 and a tensioning portion 16, wherein the wire-releasing portion 14 is used to release the suspension wire to the conveying module 20, and the tensioning portion 16 is used to tension the suspension wire between the loading module 10 and the conveying module 20; a truss manipulator module 30 is also provided on the workbench 50, and the truss manipulator module 30 includes a truss portion 31 and a mechanical gripper portion 32, and the truss portion 31 includes a longitudinal truss and a transverse truss, and the longitudinal truss can move transversely along the transverse truss, and the mechanical gripper portion 32 is installed on the longitudinal truss, and the mechanical gripper portion 32 is used to grab the suspension wire on the workbench 50 and move longitudinally along the longitudinal truss.

[0032] In this embodiment, refer to Figure 1 and Figure 5 As shown, the loading module 10 is arranged on the left side of the workbench 50, the conveying module 20, the wire cutting module 60, and the wire feeding module 40 are arranged in sequence on the left half of the workbench 50 from left to right, the fixed side clamping tube loading module 91, the fixed side heart-shaped ring loading module 92, the fixed side line nose loading module 93, the mobile side clamping tube loading module 94, the mobile side heart-shaped ring loading module 95, the mobile side line nose loading module 96, the fixed side line nose clamping module 97, and the mobile side line nose clamping module 98 are arranged on the right half of the workbench 50, and the truss manipulator module 30 is erected above the right half of the workbench 50.

[0033] In this embodiment, the suspension string released from the pay-off section 14 enters the conveying module 20, and the suspension string between the loading module 10 and the conveying module 20 is tensioned by the tensioning section 16. The suspension string is conveyed by the conveying module 20 into the wire cutting module 60. The conveying module 20 continues to convey the suspension string to the right so that it enters the wire feeding guide 42 of the wire feeding module 40. The conveying module 20 and the wire feeding module 40 jointly convey the suspension string. After the suspension string reaches the predetermined length for wire feeding, the wire cutting module 60 heats, twists and breaks the suspension string to complete the fixed-length wire cutting operation. The wire feeding module 40 continues to convey the suspension string to the right to the next workstation of the suspension string production line. The truss manipulator module 30 is used to grab the suspension string delivered by the wire feeding module 40, and pass the suspension string around the heart-shaped ring a, through the clamping tube b and into the wire nose. The fixed side clamping module 70 and the mobile side clamping module 80 are used to crimp the suspension string and the clamping tube. The fixed side wire nose clamping module 97 and the mobile side wire nose clamping module 98 are used to crimp the suspension string and the wire nose. The fixed side clamping tube loading module 91, the fixed side heart-shaped ring loading module 92, the fixed side wire nose loading module 93, the mobile side clamping tube loading module 94, the mobile side heart-shaped ring loading module 95 and the mobile side wire nose loading module 96 are used for loading the wire nose, the heart-shaped ring and the clamping tube respectively.

[0034] In the present embodiment, the suspension string is automatically fed and tensioned by the loading module 10 and the conveying module 20, and the suspension string is conveyed to the next workstation by the wire feeding module. Compared with the prior art, the present embodiment cancels the separate correction module. Under the premise of realizing the functions of laying out, correction and tensioning, the structure of the overall equipment is more compact, saving the floor space in the length direction of the equipment; a truss manipulator module is used to replace the mobile side elbow manipulator in the prior art, which utilizes the space at height, not only reducing the floor space of the equipment in the width direction, but also the truss manipulator module is located above the workbench, which can better avoid other working modules on the workbench when moving, and there is no need to consider the interference avoidance problem between the manipulator and other working modules in the same plane, which reduces the design difficulty to a certain extent and makes the operation more flexible.

[0035] Embodiment 2:

[0036] Based on Example 1, Figure 2 and Figure 3As shown, the feeding module 10 includes a feeding bottom bracket 11, and a feeding swing bracket 12 is arranged above the front and rear ends of the feeding bottom bracket 11, a wire roller mounting frame 13 is connected to the feeding swing bracket 12, and the angle between the wire roller mounting frame 13 and the feeding bottom bracket 11 is adjustable, the wire pay-off portion 14 is mounted on the wire roller mounting frame 13, and two wire blocking columns 15 arranged in parallel front and back are arranged at the right end of the wire roller mounting frame 13, and a wire storage wheel 17 is movably installed on the right side of the feeding bottom bracket 11, and the height of the wire blocking column 15 is higher than the height of the wire storage wheel 17, and the positions of the two wire blocking columns 15 and the wire storage wheel 17 match each other, and the tensioning portion 16 is installed between the wire roller mounting frame 13 and the feeding bottom bracket 11, and is used to adjust the angle between the wire roller mounting frame 13 and the feeding bottom bracket 11.

[0037] Furthermore, the pay-off section 14 includes a pay-off drive motor 141, a line roller 142 and a hand wheel 143, the line roller 142 is mounted on the line roller mounting frame 13, one end of the rotating shaft of the line roller mounting frame 13 is fixedly connected to the output shaft of the pay-off drive motor 141, and the other end is fixedly connected to the central axis of the hand wheel 143.

[0038] Furthermore, the tensioning part 16 includes a screw rod 165, the upper end of which is rotatably connected to the right end of the wire roller mounting frame 13, and a nut mounting seat 166 is installed at the right end of the loading bottom bracket 11, and a nut 164 is obliquely installed at the upper end of the nut mounting seat 166. After the screw rod 165 and the nut 164 are screwed together, the lower end of the screw rod 165 is inclined to the left.

[0039] In this embodiment, when paying out the line, the line roller 142 of the suspension string is installed on the line roller mounting frame 13, the suspension string is passed between the two line blocking columns 15 and then wound around the line storage wheel 17, and then enters the conveying module 20. During the operation of the equipment, the suspension string is released by the line paying out drive motor 141, and the conveying drive motor 23 in the conveying module 20 is used to pull the suspension string, so as to achieve continuous and stable loading process.

[0040] In this embodiment, the center lines of the two wire retaining columns 15 match the position of the wire storage wheel 17, and the position of the wire storage wheel 17 matches the position of the conveying guide 22 of the conveying module 20. The setting of the wire retaining column 15, on the one hand, adjusts the position of the suspension string released from the wire roller 142 to a position that is unified with the subsequent conveying guide 22 of the conveying module 20 and the wire feeding guide 42 of the wire feeding module 40, thereby ensuring that the suspension string is in a straight and long state when it is tensioned.

[0041] A wire storage wheel mounting column is installed on the right side of the feeding bottom bracket 11, and the wire storage wheel 17 is movably installed on the wire storage wheel mounting column. In the initial state, the wire storage wheel 17 is located at the upper end limit position of the wire storage wheel mounting column. When the string line between the wire roller 142 and the conveying module 20 is tensioned by the tensioning part 16, the screw rod 165 is screwed to adjust the length of the screw rod 165 extending out of the nut 164, thereby adjusting the angle between the wire roller mounting frame 13 and the feeding bottom bracket 11, thereby adjusting the path distance between the center axis of the wire roller 142 and the center axis of the wire storage wheel 17, which not only tensions the string line between the wire roller 142 and the conveying module 20, but also ensures that the wire storage wheel 17 is located at the upper end limit position of the wire storage wheel mounting column.

[0042] When the equipment is in operation, as the wire roller 142 continuously releases the wire, the string line between the wire roller 142 and the conveying module 20 may become loose. At this time, the wire storage wheel 17 drops due to gravity, thereby tightening the string line again. That is, before the equipment is operated, the string line is tightened by the tensioning part 16, and the setting of the wire storage wheel 17 can tighten the string line according to the tightness of the string line between the wire roller 142 and the conveying module 20 during the operation of the equipment. This replaces the correction module 20 in the prior art, and through clever design, the function of correcting the string line during the operation of the equipment is realized by the movable wire storage wheel 17, and the structure is more simple and compact.

[0043] Embodiment 3:

[0044] Based on Example 1 or 2, Figure 5 and Figure 6 As shown, the transverse trusses are arranged above the workbench 50 at intervals in the front and rear, and the longitudinal trusses are longitudinally arranged between the two transverse trusses. Mobile motors are installed at the front and rear ends of the longitudinal trusses, and the output end of the mobile motor extends downward from the longitudinal truss and a gear is fixedly installed at the end. Racks are respectively provided on the two transverse trusses, and the gears are meshed with the racks. The mobile motor is used to drive the gears to rotate, thereby driving the longitudinal trusses to move laterally along the transverse trusses.

[0045] Furthermore, movable guide rails are respectively provided on the two transverse trusses, and movable sliders are installed at the bottom of the front and rear ends of the longitudinal trusses, and the movable sliders are cooperatively connected with the movable guide rails.

[0046] Furthermore, a longitudinal drive motor is installed at the end of the longitudinal truss, the output end of the longitudinal drive motor is fixedly connected to the gripper moving screw rod, the mechanical gripper part 32 is fixedly connected to the gripper moving nut, the gripper moving screw rod and the gripper moving nut are connected to each other in a cooperative manner, and the longitudinal drive motor drives the gripper moving screw rod to rotate, thereby driving the mechanical gripper part 32 to move longitudinally along the longitudinal truss.

[0047] Furthermore, the mechanical gripper part 32 includes a mechanical arm lifting frame 321, a mechanical arm lifting motor 323, a truss adapter plate 322, and a mechanical gripper 3263. The mechanical gripper 3263 is installed at the lower end of the mechanical arm lifting frame 321, and the mechanical gripper 3263 can rotate in a horizontal plane. The mechanical gripper 3263 includes two clamps arranged opposite to each other, and the clamps can move relative to each other to clamp the suspension string or move away from each other to release the suspension string; the mechanical arm lifting motor 323 is respectively connected to the truss adapter plate 322 and the mechanical arm lifting frame 321, and is used to drive the mechanical arm lifting frame 321 to move up and down relative to the truss adapter plate 322, thereby driving the mechanical gripper 3263 to move up and down; the truss adapter plate 322 is connected to the longitudinal truss and can move longitudinally relative to the longitudinal truss.

[0048] Furthermore, the output shaft of the manipulator lifting motor 323 is perpendicular to the manipulator lifting frame 321, and a lifting rack is installed on the outer side of the manipulator lifting frame 321. The end of the output shaft of the manipulator lifting motor 323 is fixedly connected with a lifting gear, and the lifting gear and the lifting rack are meshed with each other; a manipulator rotating motor 3261 is installed above the manipulator gripper 3263, and the manipulator rotating motor 3261 is used to drive the manipulator gripper 3263 to rotate in a horizontal plane; a manipulator driving motor 3262 is installed between the manipulator rotating motor 3261 and the manipulator gripper 3263, and the manipulator driving motor 3262 is used to drive the grippers to move relative to or away from each other.

[0049] In this embodiment, when the mechanical gripper 3263 grabs the suspension string and moves to the target position, the longitudinal truss can be driven to move horizontally to the target position by the moving motor, and the mechanical gripper part 32 can be driven to move longitudinally to the target position by the longitudinal driving motor, and then the mechanical gripper 3263 can be driven to be lifted and lowered to the target position by the mechanical arm lifting motor 323, and the mechanical gripper 3263 can be driven to rotate to a suitable angle in the horizontal plane by the mechanical arm rotation motor 3261, and then the clamping claw can be driven to clamp the suspension string by the mechanical arm driving motor 3262, and then the above-mentioned operation is repeated, so that the mechanical gripper 3263 clamps the suspension string and moves to the target position to complete the operation of threading it around the heart-shaped ring, passing through the clamping tube or inserting it into the wire nose.

[0050] Furthermore, a lifting motor mounting plate 324 is installed above the truss adapter plate 322 , and the manipulator lifting motor 323 is installed on the lifting motor mounting plate 324 .

[0051] Furthermore, a manipulator lifting slider 3292 is installed on the inner side of the lifting motor mounting plate 324, a manipulator lifting guide rail 3291 is installed on the outer surface of the manipulator lifting frame 321, and the manipulator lifting slider 3292 and the manipulator lifting guide rail 3291 are mutually cooperatively connected.

[0052] Furthermore, the manipulator lifting frame 321 is installed with a manipulator lifting limit block I3281 and a manipulator lifting limit block II3271, and the manipulator lifting limit block I3281 and the manipulator lifting limit block II3271 are respectively used to limit the lower limit position and the upper limit position of the movement of the manipulator lifting frame 321, and the lower end of the manipulator lifting limit block I3281 and the upper end of the manipulator lifting limit block II3271 are respectively installed with a manipulator lifting anti-collision block I3282 and a manipulator lifting anti-collision block II3272.

[0053] Furthermore, a manipulator rotating motor mounting plate 325 is installed at the bottom end of the manipulator lifting frame 321 , and the manipulator rotating motor 3261 is installed on the manipulator rotating motor mounting plate 325 .

[0054] Embodiment 4:

[0055] Based on any of the above embodiments, Figure 7 As shown, the wire feeding module 40 includes a wire feeding base 41 installed on a workbench 50, a wire feeding guide 42 installed on the wire feeding base 41, no less than two wire feeding driving wheel mounting plates 44 are installed on the wire feeding driving wheel mounting plates 44, a wire feeding driving wheel 46 is installed on the wire feeding driving wheel mounting plates 44, a wire feeding driving motor 45 is installed on the wire feeding driving wheel mounting plates 44, the wire feeding driving motor 45 is used to drive the wire feeding driving wheel 46 to rotate, and a wire feeding driven wheel 47 is installed above the wire feeding driving wheel 46.

[0056] Furthermore, a wire feeding driven wheel mounting plate is provided above the wire feeding active wheel mounting plate 44, and the wire feeding driven wheel 47 is mounted on the wire feeding driven wheel mounting plate.

[0057] Furthermore, a wire feeding lifting cylinder mounting frame 49 is installed above the wire feeding active wheel mounting plate 44, and a wire feeding driven wheel lifting cylinder 48 is installed on the wire feeding lifting cylinder mounting frame 49, and the output end of the wire feeding driven wheel lifting cylinder 48 is fixedly connected to the driven wheel mounting plate.

[0058] Furthermore, a wire feeding threading tube 43 is provided between adjacent wire feeding driving wheels 46 , and the height of the wire feeding threading tube 43 matches the height of the wire feeding guide 42 .

[0059] In this embodiment, the position of the wire feeding driven wheel 47 relative to the wire feeding driving wheel 46 is adjusted by the wire feeding driven wheel lifting cylinder 48, so as to adjust the clamping degree of the delivered suspension wire and adapt to suspension wires of different thicknesses. The provision of the wire feeding guide 42 facilitates the suspension wire to enter between the wire feeding driving wheel 46 and the wire feeding driven wheel 47 and the subsequent wire feeding threading tube 43.

[0060] Embodiment 5:

[0061] Based on any of the above embodiments, Figures 8 to 13 As shown, the wire cutting module 60 includes a wire cutting mounting seat 63, a wire cutting pressing portion 61 and a wire cutting breaking portion 62 arranged on the wire cutting mounting seat 63, and a wire cutting power supply portion 64 electrically connected to the wire cutting pressing portion 61 and the wire cutting breaking portion 62 through a wire cutting power supply copper plate A641 and a wire cutting power supply copper plate B642, respectively. The wire cutting pressing portion 61 and the wire cutting breaking portion 62 are arranged opposite to each other. After the suspension string passes through the wire cutting pressing portion 61, it is pressed by the wire cutting pressing movable block 613 of the wire cutting pressing portion 61. After the suspension string passes through the wire cutting breaking chuck 623 of the wire cutting breaking portion 62, the wire cutting breaking clamping cylinder 6221 pulls the wire cutting breaking chuck 623 to clamp the suspension string. The wire cutting power supply portion 64 , the wire cutting power supply copper plate A641, the wire cutting pressing part 61, the suspension string between the wire cutting pressing part 61 and the wire cutting breaking part 62, the wire cutting breaking part 62 and the wire cutting power supply copper plate B642 form a circuit, the wire cutting power supply part 64 supplies power, the suspension string between the wire cutting pressing part 61 and the wire cutting breaking part 62 is heated and softened, the wire cutting breaking driver 6211 of the wire cutting breaking part 62 drives the wire cutting breaking chuck 623 to rotate to twist the suspension string between the wire cutting pressing part 61 and the wire cutting breaking part 62, and the wire cutting breaking cylinder 629 fixed on the wire cutting mounting seat 63 pushes the wire cutting breaking part 62 away from the wire cutting pressing part 61 to break the suspension string to complete the wire cutting operation.

[0062] In this embodiment, the wire cutting and pressing part 61 is used to press the suspension string to provide a fixed end for twisting and breaking the suspension string; the wire cutting and twisting part 62 is used to press the suspension string and twist and break it; the wire cutting power supply part 64 is used to provide power for heating the suspension string located between the wire cutting and pressing part 61 and the wire cutting and twisting part 62.

[0063] When the present embodiment is used, after the suspension string passes through the wire cutting pressing part 61 and the wire cutting breaking part 62, the wire cutting pressing movable block 613 of the wire cutting pressing part 61 presses the suspension string to fix one end thereof; the wire cutting breaking chuck 623 of the wire cutting breaking part 62 clamps the other end of the suspension string under the drive of the wire cutting breaking clamping cylinder 6221; the wire cutting power supply part 64, the wire cutting power supply copper plate A641, the wire cutting pressing part 61, the suspension string located between the wire cutting pressing part 61 and the wire cutting breaking part 62, the wire cutting breaking part 62 and the wire cutting power supply copper plate B642 form a circuit, and the wire cutting power supply part 64 starts to supply power; the cross-sectional area of ​​the suspension string located between the wire cutting pressing part 61 and the wire cutting breaking part 62 in the entire circuit is the smallest, and according to the principle that the smaller the cross-sectional area of ​​the conductor, the greater the resistance and Joule's law Q=I 2 Rt, the heat generated by the suspension string between the wire cutting pressing part 61 and the wire cutting breaking part 62 is the greatest, so that the suspension string at this location is softened by heat; the wire cutting breaking driver 6211 of the wire cutting breaking part 62 drives the wire cutting breaking chuck 623 to rotate to twist the suspension string between the wire cutting pressing part 61 and the wire cutting breaking part 62. After the twisting is completed, the wire cutting breaking and pulling cylinder 629 fixed on the wire cutting mounting seat 63 pushes the wire cutting breaking part 62 away from the wire cutting pressing part 61 to pull the suspension string apart to complete the wire cutting operation.

[0064] During specific use of this embodiment, the wire cutting module 60 is installed on the workbench 50 and is located between the conveying module 20 and the wire feeding module 40. The suspension string is laid out and loaded by the loading module 10, and the conveying module 20 conveys the suspension string. After the suspension string conveyed by the conveying module 20 reaches a predetermined length, this embodiment performs a wire cutting operation of twisting and fusing. After the wire cutting operation is completed, the wire feeding module 40 conveys the cut suspension string to the next workstation for subsequent operations.

[0065] When the suspension string is cut by the present embodiment, a frustum-shaped end is formed at the cutting position of the suspension string, so that the string will not be scattered and the subsequent threading operation is facilitated.

[0066] Embodiment 6:

[0067] Based on Example 5, Fig. 9 , 10As shown, the wire cutting pressing part 61 includes a wire cutting pressing mounting seat 611 arranged on the wire cutting mounting seat 63, a wire cutting pressing fixed block 612 arranged on the wire cutting pressing mounting seat 611, a wire cutting pressing movable block 613 slidably arranged on the wire cutting pressing fixed block 612, a wire cutting pressing support column 615 arranged on the wire cutting pressing mounting seat 611, a wire cutting pressing connecting rod 616 rotatably connected to the wire cutting pressing supporting column 615, and a wire cutting pressing cylinder 617 arranged on the wire cutting mounting seat 63, wherein the telescopic rod of the wire cutting pressing cylinder 617 extends out and pushes the wire cutting pressing cylinder 617 to push ... One end of the wire cutting clamping connecting rod 616, the wire cutting clamping connecting rod 616 rotates around the wire cutting clamping support column 615, and the other end of the wire cutting clamping connecting rod 616 presses the wire cutting clamping movable block 613 to make it slide toward the wire cutting clamping fixed block 612, thereby clamping the suspension string passing through the wire cutting clamping movable block 613 and the wire cutting clamping fixed block 612, the telescopic rod of the wire cutting clamping cylinder 617 retracts, and the wire cutting clamping movable block 613 rebounds and resets to loosen the suspension string passing through the wire cutting clamping movable block 613 and the wire cutting clamping fixed block 612.

[0068] In this embodiment, the telescopic rod of the wire cutting clamping cylinder 617 extends out and pushes one end of the wire cutting clamping connecting rod 616, and the wire cutting clamping connecting rod 616 rotates around the wire cutting clamping support column 615, and the other end of the wire cutting clamping connecting rod 616 presses the wire cutting clamping movable block 613 to make it slide toward the wire cutting clamping fixed block 612, thereby clamping the suspension string passing through the wire cutting clamping movable block 613 and the wire cutting clamping fixed block 612; after the wire cutting operation is completed, the telescopic rod of the wire cutting clamping cylinder 617 retracts, and the wire cutting clamping movable block 613 rebounds and resets to loosen the suspension string passing through the wire cutting clamping movable block 613 and the wire cutting clamping fixed block 612, and the suspension string continues to be fed, and the cycle is repeated to continue the next wire cutting operation.

[0069] Furthermore, a wire cutting pressing insulating sheet 6111 is provided between the wire cutting pressing mounting seat 611 and the wire cutting mounting seat 63 , and the wire cutting pressing insulating sheet 6111 is used to isolate the current from flowing to the wire cutting mounting seat 63 .

[0070] Furthermore, the wire cutting clamping fixed block 612 is provided with a wire cutting clamping guide column 618, the wire cutting clamping movable block 613 is slidably mounted on the wire cutting clamping guide column 618, and the wire cutting clamping guide column 618 is sleeved with a wire cutting clamping spring 619, and the wire cutting clamping spring 619 is located between the wire cutting clamping fixed block 612 and the wire cutting clamping movable block 613.

[0071] In this embodiment, the wire cutting clamping spring 619 is used to make the wire cutting clamping movable block 613 rebound and reset, thereby facilitating the wire feeding operation before the next wire cutting operation.

[0072] Furthermore, a wire cutting pressing insulating block 6161 is provided on the end of the wire cutting pressing connecting rod 616 located above the wire cutting pressing cylinder 617 , and the wire cutting pressing insulating block 6161 is used to isolate the current from flowing to the wire cutting pressing cylinder 617 .

[0073] Furthermore, a wire cutting pressing block 614 is provided on the end of the wire cutting pressing connecting rod 616 located above the wire cutting pressing movable block 613 , and the wire cutting pressing block 614 is used to press the wire cutting pressing movable block 613 .

[0074] Embodiment 7:

[0075] Based on Example 5 or 6, Figures 11 to 13 As shown, the wire cutting and twisting part 62 includes a wire cutting and twisting installation base plate 626 slidably arranged on the wire cutting installation seat 63, a wire cutting and twisting installation vertical plate 625 arranged on the wire cutting and twisting installation base plate 626, a wire cutting power copper plate C643 arranged on the wire cutting and twisting installation vertical plate 625 and electrically connected to the wire cutting power copper plate B642, a wire cutting and twisting clamping connecting plate 6223 which is rotatably connected to the wire cutting and twisting clamping cylinder 6221 and rotatably connected to the wire cutting and twisting installation vertical plate 625 and rotatably connected to the wire cutting and twisting chuck 623, the wire cutting and twisting driver 6211 is arranged on the wire cutting and twisting installation base plate 626, the wire cutting and twisting clamping cylinder 6221 is arranged on the wire cutting and twisting installation vertical plate 625, the wire cutting and twisting chuck 623 The wire cutting device is slidingly arranged in the wire cutting installation vertical plate 625 and can rotate relative to the wire cutting installation vertical plate 625 and is electrically connected to the wire cutting power supply copper plate C643. The wire cutting clamping cylinder 6221 drives the wire cutting chuck 623 to slide relative to the wire cutting installation vertical plate 625 through the wire cutting clamping connecting plate 6223 to clamp the suspension string passing through the wire cutting chuck 623. The wire cutting driver 6211 drives the wire cutting chuck 623 to rotate relative to the wire cutting installation vertical plate 625 to twist the suspension string located between the wire cutting pressing part 61 and the wire cutting part 62. The wire cutting pulling cylinder 629 pushes the wire cutting installation base plate 626 to slide relative to the wire cutting mounting seat 63.

[0076] In this embodiment, the wire cutting and twisting clamping cylinder 6221 drives the wire cutting and twisting chuck 623 to slide relative to the wire cutting and twisting installation vertical plate 625 through the wire cutting and twisting clamping connecting plate 6223 to clamp the suspension string threaded through the wire cutting and twisting chuck 623, the wire cutting and twisting driver 6211 drives the wire cutting and twisting chuck 623 to rotate relative to the wire cutting and twisting installation vertical plate 625 to twist the suspension string between the wire cutting pressing part 61 and the wire cutting and twisting part 62, and the wire cutting and twisting cylinder 629 pushes the wire cutting and twisting installation bottom plate 626 to slide relative to the wire cutting installation seat 63 to pull the suspension string between the wire cutting pressing part 61 and the wire cutting and twisting part 62. Because the twisting operation is performed before the suspension string is pulled, the suspension string forms a cone-shaped end at the pulling position, thereby avoiding the phenomenon of loose strands and facilitating the subsequent threading operation.

[0077] Furthermore, a wire cutting and twisting vertical plate insulating sheet 6251 is provided between the wire cutting and twisting installation vertical plate 625 and the wire cutting and twisting installation bottom plate 626 , and the wire cutting and twisting vertical plate insulating sheet 6251 is used to isolate the current from flowing to the wire cutting and twisting installation bottom plate 626 .

[0078] Furthermore, a wire cutting and twisting copper ring mounting seat 624 is provided on the wire cutting and twisting mounting vertical plate 625, and the wire cutting and twisting copper ring mounting seat 624 is arranged opposite to the wire cutting power copper plate C643 so that a wire cutting power copper ring A644 is clamped between the two, and the wire cutting power copper ring A644 is electrically connected to the wire cutting power copper plate C643, and a wire cutting power copper ring B645 is rotatably sleeved in the wire cutting power copper ring A644, and the wire cutting power copper ring B645 is electrically connected to the wire cutting power copper ring A644, and the wire cutting twisting chuck 623 is slidably sleeved in the wire cutting power copper ring B645 and is connected to the wire cutting power copper ring C643. The wire cutting power supply copper ring B645 is electrically connected. When the wire cutting and twisting chuck 623 is driven by the wire cutting and twisting clamping cylinder 6221 to clamp the suspension string, the elastic clamping claws of the wire cutting and twisting chuck 623 are restricted by the wire cutting power supply copper ring B645 and are compressed so that the wire cutting and twisting chuck 623 can clamp the suspension string. When the wire cutting and twisting chuck 623 is driven by the wire cutting and twisting driver 6211 to twist the suspension string, the wire cutting power supply copper ring B645 rotates with the wire cutting and twisting chuck 623 and maintains the electrical connection between the wire cutting and twisting chuck 623 and the wire cutting power supply copper ring A644.

[0079] In this embodiment, the wire cutting power supply copper ring A644 provides a rotation space and a rotation track for the rotation of the wire cutting power supply copper ring B645 and ensures that the current can smoothly flow to the suspension string clamped in the wire cutting and twisting chuck 623; the wire cutting power supply copper ring B645 provides a sliding track for the sliding of the wire cutting and twisting chuck 623 on the one hand, and provides a rotation track for the rotation of the wire cutting and twisting chuck 623 on the other hand, and provides a pressure clamping path for the elastic clamping claws of the wire cutting and twisting chuck 623 on the other hand, and ensures that the current can smoothly flow to the suspension string clamped in the wire cutting and twisting chuck 623.

[0080] Furthermore, a wire cutting and twisting copper ring insulating sheet 6241 is provided between the wire cutting and twisting copper ring mounting seat 624 and the wire cutting and twisting mounting vertical plate 625 .

[0081] Furthermore, the wire cutting power supply copper plate C643 is connected to the wire cutting and twisting copper ring mounting seat 624 through a wire cutting power supply tensioning rod 6431, and a tension spring is sleeved on the wire cutting power supply tensioning rod 6431, so that the wire cutting power supply copper ring A644 is clamped between the wire cutting power supply copper plate C643 and the wire cutting and twisting copper ring mounting seat 624 through the tension spring.

[0082] Furthermore, the upper end of the wire cutting and clamping connecting plate 6223 is provided with a wire cutting and clamping rotating block 6222 and is rotatably connected to the wire cutting and clamping cylinder 6221 through the wire cutting and clamping rotating block 6222, the middle part of the wire cutting and clamping connecting plate 6223 is rotatably connected to the wire cutting and clamping chuck 623 through the wire cutting and clamping rotating shaft A62231, and the lower end of the wire cutting and clamping connecting plate 6223 is rotatably connected to the wire cutting mounting vertical plate 625 through the wire cutting and clamping rotating shaft B62232.

[0083] Furthermore, a wire cutting slider 627 is provided at the bottom of the wire cutting installation base plate 626 , and the wire cutting slider 627 is slidably arranged on a wire cutting slide rail 628 , and the wire cutting slide rail 628 is arranged on the wire cutting installation seat 63 .

[0084] Furthermore, a wire cutting bottom plate push block 6261 is provided on the wire cutting and twisting installation base plate 626, and the telescopic rod of the wire cutting and twisting cylinder 629 is connected to the wire cutting and twisting bottom plate push block 6261. The telescopic rod of the wire cutting and twisting cylinder 629 telescopes to drive the wire cutting and twisting installation base plate 626 to slide relative to the wire cutting mounting seat 63.

[0085] Furthermore, the wire cutting and twisting driver 6211 is connected to the wire cutting and twisting reducer 6212, and the output end of the wire cutting and twisting reducer 6212 is connected to the wire cutting and twisting sprocket 6214 mounted on the wire cutting and twisting chuck 623 through the wire cutting and twisting chain 6213.

[0086] Embodiment 8:

[0087] Based on any of the above embodiments, Figures 14 to 16 As shown, the fixed side clamping module 70 includes a fixed side lower vertical plate 71, a fixed side clamping fixture part 72 and a fixed side clamping pressing part 74. The fixed side lower vertical plate 71 is fixedly installed on the workbench 50 with a front and rear interval. The fixed side clamping fixture part 72 includes a fixed side fixture head 729. The fixed side fixture head 729 is used to support the heart-shaped ring a. The height of the fixed side fixture head 729 is adjustable. The fixed side clamping fixture part 72 can slide relative to the fixed side lower vertical plate 71. The fixed side clamping pressing part 74 is used to carry the clamping tube b and clamp the clamping tube b.

[0088] In this embodiment, the heart-shaped ring a is clamped on the fixed side clamp head 729 by a robot, the clamp tube b is transferred to the fixed side clamping and pressing part 74 by the robot and clamped by the fixed side clamping and pressing part 74, the suspension string is passed through the clamp tube b by the robot gripper 3263, passed through the heart-shaped ring a and passed back into the clamp tube b, and then pulled at both ends by the robot gripper 3263 so that the heart-shaped ring a and the clamp tube are tightly abutted against each other, and the clamp tube b and the suspension string are pressed by the fixed side clamping and pressing part 74 to complete the crimping operation of the clamp tube b.

[0089] In this embodiment, the fixed side clamping fixture part 72 is used to clamp the heart-shaped ring a and provide positioning for it, and the clamping and pressing part 74 is used to press the suspension string and the clamping tube b. The fixed side clamping fixture part 72 needs to be able to slide relative to the fixed side lower vertical plate 71 because when the two ends of the suspension string are pulled, the heart-shaped ring a located on the fixed side clamping fixture part 72 will move toward the fixed side clamping and pressing part 74 and abut against the fixed side clamping and pressing part 74, and the movement of the fixed side clamping fixture part 72 relative to the fixed side lower vertical plate 71 provides a travel space and a guide track for the movement of the fixed side clamping fixture part 72, thereby avoiding damage to the clamping fixture part when the suspension string is pulled.

[0090] This embodiment can realize the automated production of double-ended suspension strings to improve production efficiency. At the same time, the fixed side clamp pressing part 74 is used for crimping to replace manual crimping, thereby ensuring the crimping strength and force, avoiding the problem of looseness or cracking, and thus improving the yield rate of double-ended suspension string production.

[0091] Furthermore, the fixed side clamping fixture part 72 includes a fixed side middle partition 721 installed between the two fixed side lower vertical plates 71, a fixed side fixture bracket 722 is slidably installed above the middle partition 721, and a fixed side fixture lifting cylinder 723 is installed on the fixed side fixture bracket 722, the output end of the fixed side fixture lifting cylinder 723 is fixedly connected to one end of the fixed side lifting cylinder connecting piece 724, the other end of the lifting cylinder connecting piece 724 is rotatably connected to one end of the fixed side pressure rod 725, the other end of the fixed side pressure rod 725 is rotatably connected to the lower end of the fixed side lifting shaft 727, the upper end of the fixed side lifting shaft 727 is fixedly connected to the fixed side fixture head 729, the middle part of the fixed side pressure rod 725 is rotatably connected to the fixed side support rod 725, and the fixed side support rod 725 is fixedly installed on the fixed side fixture bracket 722.

[0092] Furthermore, a fixed side fixture moving guide rail is installed above the fixed side middle partition 721, and a fixed side fixture moving slider is installed at the bottom of the fixed side fixture bracket 722. The fixed side fixture moving guide rail and the fixed side fixture moving slider are connected to each other in a cooperative manner.

[0093] In this embodiment, when the suspension string is pulled to make the heart-shaped ring a and the clamping tube b closely abut, the fixed side clamp head 729 is in a raised state; after the crimping operation of the clamping tube b and the suspension string is completed, the fixed side clamp head 729 is in a lowered state, thereby avoiding interference with subsequent suspension string production operations. When the fixed side clamp head 729 is in a raised state, the fixed side clamp head 729 protrudes from the fixed side clamp support plate 728 to clamp the heart-shaped ring a; when the fixed side clamp head 729 is in a lowered state, the upper end surface of the fixed side clamp head 729 does not exceed the upper surface of the fixed side clamp support plate 728.

[0094] In this embodiment, when the fixed side fixture head 729 is raised, the output end of the fixed side fixture lifting cylinder 723 is lowered to a low position, so that the right end of the fixed side pressure rod 725 is raised to a high position, thereby driving the fixed side lifting shaft 727 to rise to a high position, and finally the fixed side fixture head 729 is raised to the target position. Similarly, when the fixed side fixture giant 729 is lowered, the output end of the fixed side fixture lifting cylinder 723 is raised, so that the left end of the fixed side pressure rod 725 is raised and the right end is lowered, thereby driving the fixed side lifting shaft 727 to fall, and finally the fixed side fixture giant 729 is lowered below the fixed side fixture support plate 728.

[0095] Furthermore, the fixed side clamping and pressing part 74 includes a fixed side clamping pipe seat 744 which is slidably connected to the fixed side lower vertical plate 71, a fixed side clamping cylinder 741 is installed on the rear side of the fixed side clamping pipe seat 744, the output end of the fixed side clamping cylinder 741 faces forward and a fixed side clamping movable block 742 is fixedly installed on the end, a fixed side clamping fixed block 743 is installed on the front side of the fixed side clamping pipe seat 744 at a position corresponding to the fixed side clamping movable block 742, and clamping pipe pressing grooves 7421 are respectively provided on the opposite sides of the fixed side clamping movable block 742 and the fixed side clamping fixed block 743.

[0096] In this embodiment, when the fixed side clamping pressing part 74 clamps the clamping tube b, the clamping tube b is placed between the fixed side clamping movable block 742 and the fixed side clamping fixed block 743 by a manipulator and the height is adapted to the clamping tube pressing groove 7421, and the fixed side clamping cylinder 741 pushes the fixed side clamping movable block 742 toward the fixed side clamping fixed block 743 to clamp the clamping tube b; the fixed side clamping cylinder 741 continues to push the fixed side clamping movable block 742 toward the fixed side clamping fixed block 743 to crimp the clamping tube b and the suspension string.

[0097] Furthermore, the front and rear sides of the fixed side clamping pipe seat 744 are respectively installed with a fixed side sliding plate 733 and a fixed side cylinder connecting plate 732, the opposite sides of the fixed side sliding plate 733 and the fixed side cylinder connecting plate 732 are respectively installed with fixed side sliding blocks, the opposite sides of the two fixed side lower vertical plates 71 are respectively installed with fixed side sliding rails, and the fixed side sliding blocks and the fixed side sliding rails are connected to each other in a coordinated manner.

[0098] In this embodiment, the reason why the fixed-side clamping and pressing part 74 needs to be able to slide relative to the fixed-side vertical plate 71 is that when the two ends of the suspension string are pulled, the heart-shaped ring a located on the fixed-side clamp head 729 will move toward the clamp tube b located on the fixed-side clamping and pressing part 74, thereby causing the fixed-side clamping clamp part 72 to move toward the fixed-side clamping and pressing part 74 and abut against the fixed-side clamping and pressing part 74. The ability of the fixed-side clamping clamp part 72 to slide relative to the fixed-side vertical plate 71 provides a travel space and a guide track for the movement of the fixed-side clamping clamp part 72, thereby avoiding damage to the fixed-side clamping clamp part 72 when the suspension string is pulled.

[0099] Furthermore, a fixed-side telescopic oil cylinder 731 is installed on the outer side wall of the fixed-side lower vertical plate 71 located at the rear side, and the output end of the fixed-side telescopic oil cylinder 731 is fixedly connected to the fixed-side oil cylinder connecting plate 732 .

[0100] In this embodiment, the setting of the fixed side telescopic cylinder 731 can drive the fixed side clamping and pressing part 74 to move left and right. After the clamping tube b and the suspension string are pressed together, the fixed side clamping and pressing part 74 can be pushed to the right by the fixed side telescopic cylinder 731, so that the fixed side clamping and pressing part 74 and the fixed side clamping fixture part 72 are separated from each other by a certain distance, so as to facilitate the subsequent double-head suspension string production operation.

[0101] Furthermore, the fixed side clamping module 70 also includes a fixed side clamping ejection part, which includes a fixed side ejection cylinder 751 installed on the fixed side clamping pipe seat 744, and the output end of the fixed side ejection cylinder 751 passes through the fixed side clamping pipe seat 744 and a fixed side push rod 752 is fixedly provided on the end, and the fixed side push rod 752 is used to push the clamping tube b so that the clamping tube b can be detached from the fixed side clamping fixed block 743 after the clamping operation is completed.

[0102] Furthermore, the fixed side clamping module 70 also includes a fixed side clamping guide part 76, which includes a fixed side guide cylinder 761 arranged on the fixed side clamping tube seat 744, and the output end of the fixed side guide cylinder 761 is fixedly connected to a fixed side guide connecting plate 762, and a fixed side guide member 763 is arranged on the guide connecting plate 762, and the fixed side guide member 763 is used to guide the suspension string to pass through the clamping tube b.

[0103] Embodiment 9:

[0104] Based on any of the above embodiments, Fig.17 and Fig.18 As shown, the mobile side clamping module 80 includes a mobile side bottom plate 81, a mobile side clamping sliding plate 87 slidably arranged on the mobile side bottom plate 81, a mobile side clamping fixture part 82 slidably arranged on the mobile side clamping sliding plate 87, and a mobile side clamping pressing part arranged on the mobile side clamping sliding plate 87. The heart-shaped ring a is arranged on the mobile side fixture head 824 of the mobile side clamping fixture part 82 through a mechanical glove, and the clamping tube b is transported to the mobile side clamping pressing part by a mechanical hand and is moved by the mobile side clamping pressing part. The side clamping movable block 832 and the mobile side clamping fixed block 833 are clamped, and the suspension string is passed through the clamping tube b through the mechanical gripper 3263, passed through the heart-shaped ring a and returned to the clamping tube b, and then the two ends of the suspension string are pulled by the mechanical gripper 3263 to make the heart-shaped ring a and the clamping tube b tightly abut against each other, and the mobile side clamping cylinder 831 of the mobile side clamping pressing part pushes the mobile side clamping movable block 832 toward the mobile side clamping fixed block 833 to press the clamping tube b and the suspension string to complete the crimping operation of the clamping tube b.

[0105] In this embodiment, the movable side bottom plate 81 is used to carry the movable side clamping sliding plate and the movable side clamping fixture part 72 and the movable side clamping pressing part thereon, the movable side clamping fixture part 72 is used to clamp the heart-shaped ring a and provide positioning for it, and the movable side clamping pressing part is used to crimp the suspension string and the clamping tube b. The reason why the movable side clamping fixture part 82 needs to be able to slide relative to the movable side clamping sliding plate 87 is that when the two ends of the suspension string are pulled, the heart-shaped ring a located on the movable side fixture head 824 will move toward the clamping tube b located at the movable side clamping pressing part, so that the movable side clamping fixture part 82 moves toward the movable side clamping pressing part and abuts against the movable side clamping pressing part, and the movable side clamping fixture part 82 can slide relative to the movable side clamping sliding plate 87, which provides a travel space and a guide track for the movement of the movable side clamping fixture part 82, thereby avoiding damage to the movable side clamping fixture part 82 when the suspension string is pulled.

[0106] Furthermore, a movable side clamping bottom plate slide rail is provided on the movable side bottom plate 81, a movable side clamping slider is provided at the bottom of the movable side clamping sliding plate 87, and the movable side clamping bottom plate slide rail and the movable side clamping slider are connected to each other in a coordinated manner.

[0107] Furthermore, the movable side clamping fixture part 82 includes a movable side fixture bracket 821 slidably arranged on the movable side clamping sliding plate 87, a movable side fixture connecting plate 823 movably arranged on the movable side fixture bracket 821, and a movable side fixture cylinder 822 arranged on the movable side fixture bracket 821 and pushing the movable side fixture connecting plate 823 to move up and down, and the movable side fixture head 824 is arranged on the movable side fixture connecting plate 823; when the suspension string is pulled to make the heart-shaped ring a and the clamping tube b tightly abut, the movable side fixture head 824 is in a raised state; when the crimping operation of the clamping tube b and the suspension string is completed, the movable side fixture head 824 is in a lowered state, thereby avoiding interference with subsequent suspension string production operations.

[0108] Furthermore, a mobile side guide block 825 is provided on the mobile side fixture bracket 821, and a mobile side guide rod 826 is slidably provided in the mobile side guide block 825. The mobile side guide rod 826 is fixedly connected to the mobile side fixture connecting plate 823. The mobile side guide rod 826 and the mobile side guide block 825 provide travel guidance for the mobile side fixture cylinder 822 to push the mobile side fixture connecting plate 823 to move up and down.

[0109] Furthermore, the mobile side clamping pressing part includes a mobile side clamping pipe seat 834 arranged on the mobile side clamping sliding plate 87, a mobile side clamping cylinder 831 is installed on the rear side of the mobile side clamping pipe seat 834, the output end of the mobile side clamping cylinder 831 is fixedly connected in advance with a mobile side clamping movable block 832, and a mobile side clamping fixed block 833 is installed on the mobile side clamping pipe seat 834 on the side opposite to the mobile side clamping movable block 832.

[0110] Furthermore, the mobile side clamping module 80 also includes a mobile side clamping wire pressing part 85, which includes a mobile side clamping wire pressing cylinder 851 arranged on the mobile side clamping tube seat 834, and a mobile side wire pressing block 855 driven by the mobile side wire pressing cylinder 851 to press against or move away from the suspension string wire passed through the heart-shaped ring a. The mobile side wire pressing block 855 is used to press against the suspension string wire to prevent the suspension string wire from detaching from the heart-shaped ring a, thereby allowing the suspension string wire to be wound around the heart-shaped ring a under the drive of the mechanical gripper 3263.

[0111] Furthermore, the output end of the mobile side wire pressing cylinder 851 is fixedly connected to a mobile side wire pressing connecting plate 852, the mobile side wire pressing connecting plate 852 is rotatably connected to a mobile side wire pressing connecting rod 853, the mobile side wire pressing connecting rod 853 is rotatably connected to a mobile side wire pressing crank 854, the mobile side wire pressing crank 854 is rotatably connected to the mobile side clamping pipe seat 834, and the mobile side wire pressing block 855 is arranged at the end of the mobile side wire pressing crank 854; when the output end of the mobile side wire pressing cylinder 851 is extended, the mobile side wire pressing block 855 presses against the suspension string; when the output end of the mobile side wire pressing cylinder 851 is contracted, the mobile side wire pressing block 855 is away from the suspension string.

[0112] Furthermore, the mobile side clamping module 80 also includes a mobile side ejection part 84, and the mobile side ejection part 84 includes a mobile side ejection cylinder 841 arranged on the mobile side clamping tube seat 834, and the output end of the mobile side ejection cylinder 841 passes through the mobile side clamping tube seat 834 and is fixedly connected to a mobile side ejector rod 842, and the mobile side ejector rod 842 is used to push the clamping tube b so that the clamping tube b can be detached from the mobile side clamping fixed block 833 after the crimping operation is completed.

[0113] Furthermore, the mobile side clamping module 80 also includes a mobile side guide part 86, which includes a mobile side guide cylinder 861 arranged on the mobile side clamping tube seat 834, a mobile side guide connecting plate 862 connected to the telescopic rod of the mobile side guide cylinder 861, and a mobile side guide member 863 arranged on the mobile side guide connecting plate 862, and the mobile side guide member 863 is used to guide the suspension string to pass through the clamping tube b.

[0114] It should be noted that the above detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present application belongs.

[0115] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments described in the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0116] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0117] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products, or apparatuses.

[0118] For ease of description, spatially relative terms, such as "above", "above", "on the upper surface of", "above", etc., may be used herein to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways, such as rotated 90 degrees or in other orientations, and the spatially relative descriptions used herein are interpreted accordingly.

[0119] In the above detailed description, reference is made to the accompanying drawings, which form a part of this document. In the accompanying drawings, similar symbols typically identify similar components unless the context indicates otherwise. The illustrated embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be used, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein.

[0120] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A double-ended suspension string production equipment, characterized in that: The invention comprises a feeding module (10) and a workbench (50); the feeding module (10) is arranged on the side of the workbench (50); the workbench (50) is provided with a conveying module (20), a wire cutting module (60), a wire feeding module (40), a fixed side clamping module (70), a mobile side clamping module (80), a fixed side clamping tube feeding module (91), a fixed side heart-shaped ring feeding module (92), a fixed side line nose feeding module (93), a mobile side clamping tube feeding module (94), a mobile side heart-shaped ring feeding module (95), a mobile side line nose feeding module (96), a fixed side line nose clamping module (97), and a mobile side line nose clamping module (98); the feeding module (10) comprises a wire unwinding portion (14 ) and a tensioning portion (16), the wire-releasing portion (14) is used to release the suspension wire to the conveying module (20), and the tensioning portion (16) is used to tension the suspension wire between the loading module (10) and the conveying module (20); a truss manipulator module (30) is also provided on the workbench (50), the truss manipulator module (30) includes a truss portion (31) and a mechanical gripper portion (32), the truss portion (31) includes a longitudinal truss and a transverse truss, the longitudinal truss can move laterally along the transverse truss, the mechanical gripper portion (32) is installed on the longitudinal truss, and the mechanical gripper portion (32) is used to grab the suspension wire on the workbench (50) and move longitudinally along the longitudinal truss.

2. The double-ended suspension string production equipment according to claim 1 is characterized in that: The feeding module (10) comprises a feeding bottom bracket (11), a feeding swing bracket (12) is arranged above the front and rear ends of the feeding bottom bracket (11), a wire roller mounting frame (13) is connected to the feeding swing bracket (12), the angle between the wire roller mounting frame (13) and the feeding bottom bracket (11) is adjustable, the wire release part (14) is mounted on the wire roller mounting frame (13), and the right end of the wire roller mounting frame (13) is provided with two wires arranged in parallel in front and back. A wire blocking column (15) is arranged on the right side of the feeding bottom bracket (11), and a wire storage wheel (17) is movably installed. The height of the wire blocking column (15) is higher than the height of the wire storage wheel (17). The positions of the two wire blocking columns (15) and the wire storage wheel (17) match each other. The tensioning part (16) is installed between the wire roller mounting frame (13) and the feeding bottom bracket (11) and is used to adjust the angle between the wire roller mounting frame (13) and the feeding bottom bracket (11).

3. The double-ended suspension string production equipment according to claim 2 is characterized in that: The wire-releasing section (14) comprises a wire-releasing drive motor (141), a wire roller (142) and a hand wheel (143); the wire roller (142) is mounted on the wire roller mounting frame (13); one end of a rotating shaft of the wire roller mounting frame (13) is fixedly connected to an output shaft of the wire-releasing drive motor (141), and the other end is fixedly connected to a central axis of the hand wheel (143).

4. The double-ended suspension string production equipment according to claim 2 is characterized in that: The tensioning portion (16) comprises a screw rod (165), the upper end of which is rotatably connected to the right end of the wire roller mounting frame (13); a nut mounting seat (166) is mounted on the right end of the feeding bottom bracket (11); a nut (164) is obliquely mounted on the upper end of the nut mounting seat (166); and after the screw rod (165) and the nut (164) are screwed together, the lower end of the screw rod (165) is inclined toward the left.

5. The double-ended suspension string production equipment according to claim 1 is characterized in that: The transverse trusses are arranged above the workbench (50) at intervals in front and back, and the longitudinal trusses are longitudinally arranged between the two transverse trusses. A movable motor is installed at the front and rear ends of the longitudinal trusses. The output end of the movable motor extends downward from the longitudinal trusses and a gear is fixedly installed at the end. Racks are respectively arranged on the two transverse trusses, and the gears are meshed with the racks. The movable motor is used to drive the gears to rotate, thereby driving the longitudinal trusses to move laterally along the transverse trusses.

6. The double-ended suspension string production equipment according to claim 1, characterized in that: A longitudinal drive motor is installed at the end of the longitudinal truss, the output end of the longitudinal drive motor is fixedly connected to the gripper moving screw rod, the mechanical gripper part (32) is fixedly connected to the gripper moving nut, the gripper moving screw rod and the gripper moving nut are connected to each other in a cooperative manner, and the longitudinal drive motor drives the gripper moving screw rod to rotate, thereby driving the mechanical gripper part (32) to move longitudinally along the longitudinal truss.

7. The double-ended suspension string production equipment according to claim 1 is characterized by: The mechanical gripper part (32) comprises a mechanical arm lifting frame (321), a mechanical arm lifting motor (323), a truss adapter plate (322), and a mechanical gripper (3263). The mechanical gripper (3263) is installed at the lower end of the mechanical arm lifting frame (321). The mechanical gripper (3263) can rotate in a horizontal plane. The mechanical gripper (3263) comprises two clamping claws arranged opposite to each other. The clamping claws can move relative to each other to clamp the suspension string or move away from each other to release the suspension string. The mechanical arm lifting motor (323) is respectively connected to the truss adapter plate (322) and the mechanical arm lifting frame (321) and is used to drive the mechanical arm lifting frame (321) to move up and down relative to the truss adapter plate (322), thereby driving the mechanical gripper (3263) to move up and down. The truss adapter plate (322) is connected to the longitudinal truss and can move longitudinally relative to the longitudinal truss.

8. The double-ended suspension string production equipment according to claim 7, characterized in that: The output shaft of the manipulator lifting motor (323) is perpendicular to the manipulator lifting frame (321), and a lifting rack is installed on the outer side of the manipulator lifting frame (321). The end of the output shaft of the manipulator lifting motor (323) is fixedly connected with a lifting gear, and the lifting gear and the lifting rack are meshed with each other; a manipulator rotating motor (3261) is installed above the mechanical gripper (3263), and the manipulator rotating motor (3261) is used to drive the mechanical gripper (3263) to rotate in a horizontal plane; a manipulator driving motor (3262) is installed between the manipulator rotating motor (3261) and the mechanical gripper (3263), and the manipulator driving motor (3262) is used to drive the grippers to move relative to each other or move away from each other.

9. The double-ended suspension string production equipment according to claim 1, characterized in that: The fixed side clamping module (70) comprises a fixed side lower vertical plate (71), a fixed side clamping fixture part (72) and a fixed side clamping pressing part (74); the fixed side lower vertical plate (71) is fixedly installed on the workbench (50) at a front-back interval; the fixed side clamping fixture part (72) comprises a fixed side fixture head (729); the fixed side fixture head (729) is used to support the heart-shaped ring (a); the height of the fixed side fixture head (729) is adjustable; the fixed side clamping fixture part (72) can slide relative to the fixed side lower vertical plate (71); the fixed side clamping pressing part (74) is used to carry the clamping tube (b) and clamp and press the clamping tube (b).

10. The double-ended suspension string production equipment according to claim 9, characterized in that: The fixed side clamping fixture part (72) comprises a fixed side middle partition plate (721) installed between the two fixed side lower vertical plates (71), a fixed side fixture bracket (722) is slidably installed above the middle partition plate (721), a fixed side fixture lifting cylinder (723) is installed on the fixed side fixture bracket (722), an output end of the fixed side fixture lifting cylinder (723) is fixedly connected to one end of the fixed side lifting cylinder connecting piece (724), and the lifting cylinder connecting piece (724) is connected to the fixed side fixture lifting cylinder (723). The other end of the connecting piece (724) is rotatably connected to one end of the fixed side pressure rod (725), the other end of the fixed side pressure rod (725) is rotatably connected to the lower end of the fixed side lifting shaft (727), the upper end of the fixed side lifting shaft (727) is fixedly connected to the fixed side clamp head (729), the middle part of the fixed side pressure rod (725) is rotatably connected to the fixed side support rod (725), and the fixed side support rod (725) is fixedly installed on the fixed side clamp bracket (722); Preferably, a fixed side fixture moving guide rail is installed above the fixed side middle partition (721), a fixed side fixture moving slide block is installed at the bottom of the fixed side fixture bracket (722), and the fixed side fixture moving guide rail and the fixed side fixture moving slide block are mutually matched and connected; Preferably, the fixed side clamping and pressing part (74) comprises a fixed side clamping pipe seat (744) slidably connected to the fixed side lower vertical plate (71); a fixed side clamping oil cylinder (741) is installed on the rear side of the fixed side clamping pipe seat (744); the output end of the fixed side clamping oil cylinder (741) faces forward and a fixed side clamping movable block (742) is fixedly installed on the end; a fixed side clamping fixed block (743) is installed on the front side of the fixed side clamping pipe seat (744) at a position corresponding to the fixed side clamping movable block (742); and clamping pipe pressing grooves (7421) are respectively provided on the opposite sides of the fixed side clamping movable block (742) and the fixed side clamping fixed block (743); Preferably, the front and rear sides of the fixed side clamping pipe seat (744) are respectively installed with a fixed side sliding plate (733) and a fixed side cylinder connecting plate (732), the opposite sides of the fixed side sliding plate (733) and the fixed side cylinder connecting plate (732) are respectively installed with fixed side sliding blocks, the opposite sides of the two fixed side lower vertical plates (71) are respectively installed with fixed side sliding rails, and the fixed side sliding blocks and the fixed side sliding rails are connected to each other in a coordinated manner; Preferably, a fixed-side telescopic oil cylinder (731) is installed on the outer side wall of the fixed-side lower vertical plate (71) located at the rear side, and the output end of the fixed-side telescopic oil cylinder (731) is fixedly connected to the fixed-side oil cylinder connecting plate (732); Preferably, the fixed side clamping module (70) further comprises a fixed side clamping ejection part, the fixed side clamping ejection part comprises a fixed side ejection cylinder (751) mounted on the fixed side clamping pipe seat (744), the output end of the fixed side ejection cylinder (751) passes through the fixed side clamping pipe seat (744) and a fixed side ejector rod (752) is fixedly arranged at the end, the fixed side ejector rod (752) is used to push the clamping pipe (b) so that the clamping pipe (b) can be separated from the fixed side clamping fixed block (743) after the clamping operation is completed; Preferably, the fixed side clamping module (70) further includes a fixed side clamping guide part (76), the fixed side clamping guide part (76) includes a fixed side guide cylinder (761) arranged on the fixed side clamping tube seat (744), the output end of the fixed side guide cylinder (761) is fixedly connected to a fixed side guide connecting plate (762), and a fixed side guide member (763) is arranged on the guide connecting plate (762), and the fixed side guide member (763) is used to guide the suspension string to pass through the clamping tube (b).

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