Electrified railway dropper pre-assembling equipment

Abstract

The invention provides electrified railway dropper pre-assembling equipment, and relates to the technical field of railway overhead line system construction equipment, and the electrified railway dropper pre-assembling equipment comprises a rack, and a visual identification system which is arranged on the rack and is used for identifying the spatial positions and postures of a bearing lock and a cable and outputting a guide signal; the industrial robot is in communication connection with the visual identification system and is used for grabbing and adjusting the poses of the force bearing lock and the cable according to the guide signal; at least two conductive paste dispensing stations, each of which comprises a dispensing device used for injecting conductive paste into the suspension ring of the bearing lock; a cable conveying and cutting device is arranged beside the conductive paste dispensing station and is used for conveying a wire rod and cutting the wire rod according to a set length; and a crimping device is arranged beside the cutting device, and the industrial robot feeds the cable into the crimping device. According to the invention, the dropper pre-assembling efficiency and consistency are improved, the labor cost and the labor intensity are reduced, and the operation safety is guaranteed through the electronic fence and the monitoring system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of railway catenary construction equipment, and in particular to a pre-arrangement device for catenary droppers of electrified railways. BACKGROUND

[0002] In the catenary system of electrified railways, the catenary dropper is a key component connecting the messenger wire and the contact wire, and its pre-arrangement precision and reliability directly affect the smoothness and operation safety of the catenary. Currently, the pre-arrangement of catenary droppers mainly relies on manual operation or semi-automatic hydraulic equipment, and the typical process includes manual measurement, cable cutting, messenger ring threading, conductive paste application, hydraulic crimping, and inspection and packaging. However, the above-mentioned methods have certain technical defects:

[0003] Firstly, the efficiency is low and the labor intensity is high. The length of each catenary dropper is different, and it needs to be measured, cut and crimped separately, which is tedious and repetitive. It takes about 6 minutes for a skilled worker to complete a single catenary dropper, which is difficult to meet the efficiency requirements of large-scale railway construction and concentrated maintenance, and repeated operations can easily lead to personnel fatigue.

[0004] Secondly, the quality consistency is poor and the precision depends on experience. Manual measurement and cutting can introduce visual and operational errors, and the length control precision is low. The crimping torque depends on the sense of touch, and there is a lack of real-time monitoring and data recording, which leads to unstable crimping quality and affects the mechanical strength and electrical connection reliability of the catenary dropper, which can easily cause safety hazards of the catenary.

[0005] Thirdly, the professional training period is long and the human resource cost is high. The operator needs to be trained for 10 to 30 days and practice for a long time, while railway construction projects are scattered and intermittent, and the utilization rate of personnel is low. With the aging of labor force and the shortage of young workers, it is difficult to recruit professional talents, which seriously affects the progress of the project and the flexibility of construction.

[0006] Finally, the safety risk is prominent. The existing semi-automatic equipment still needs manual feeding and positioning at close range, which has safety hazards such as mechanical injury and hydraulic leakage, and personal injury accidents occur frequently.

[0007] Therefore, the traditional operation mode cannot meet the high standards of efficiency, quality, cost and safety required by modern railway construction. It is urgent to develop a fully automatic catenary dropper pre-arrangement device that integrates intelligent identification, automatic cutting, precise crimping, real-time detection and data tracing, to promote the intelligent, standardized and unmanned transformation of catenary dropper production. SUMMARY

[0008] The present application overcomes the shortcomings of the prior art and provides a pre-arrangement device for catenary droppers of electrified railways, which helps to improve the efficiency and consistency of catenary dropper pre-arrangement, reduces labor costs and labor intensity, and ensures operation safety through electronic fence and monitoring system.

[0009] In order to solve the above technical problems, the present application is realized by the following technical solutions: An electrified railway sling pre-arrangement device, comprising a rack, and: A visual identification system for identifying the spatial position and attitude of the load lock and the cable and outputting a guide signal; An industrial robot in communication with the visual identification system for grabbing and adjusting the position and attitude of the load lock and the cable according to the guide signal; At least two conductive paste dispensing stations, each comprising a dispensing device for injecting conductive paste into the sling ring of the load lock; A cable conveying and cutting device is arranged beside the conductive paste dispensing station for conveying the wire and cutting it to a set length; A crimping device is arranged beside the cutting device, and the industrial robot sends the cable to the crimping device, which is used for crimping the cable with the sling ring of the load lock; A tension measuring device is used in correspondence with the crimping device for applying tension to the sling after crimping and measuring the torque; Further comprising a 3D visual measurement system for real-time acquisition of the position and attitude of the cable in space and guiding the industrial robot to accurately place the cable into the mold of the crimping device.

[0010] Further, the dispensing device comprises: A first moving seat is provided with a rotary cylinder, and the output end of the rotary cylinder is connected with a rotating plate; a clamping cylinder for clamping the sling ring of the load lock is arranged on the rotating plate; A dispensing syringe is connected to a lifting mechanism and is driven by the lifting mechanism for downward movement and injection of conductive paste into the sling hole of the load lock sling ring; the rotary cylinder is used to drive the rotating plate to rotate, so that the sling hole of the load lock sling ring is aligned with the dispensing syringe; Further comprising a first lead screw module, and the first moving seat is connected to the first lead screw module to move the load lock sling ring below the dispensing syringe.

[0011] Further, a laser assembly is arranged beside the dispensing device for laser positioning or laser marking of the load lock sling ring before or after dispensing.

[0012] Further, the tension measuring device comprises: A second moving seat is slidingly arranged on the slide rail of the rack; a first driving motor is arranged on the second moving seat, and the output end of the driving motor is provided with a gear which is engaged with a rack fixed on the rack; Further comprising a clamping component, the clamping component comprising a fixed clamping plate, a movable clamping plate, and a first driving cylinder connected with the movable clamping plate for driving the movable clamping plate to approach or move away from the fixed clamping plate, for clamping the crimped lifting ring and pulling it backward along the slide rail to perform tension measurement; The tension measuring device further comprises a torque sensor for collecting tension data in real time and saving to a local database.

[0013] Further, the cable conveying and cutting device is provided with a clamping and positioning device connected with a second driving cylinder, and the second driving cylinder drives the clamping and positioning device to approach the load-bearing lock lifting ring to clamp and position the load-bearing lock lifting ring.

[0014] Further, the cable conveying and cutting device comprises a cable pressing assembly and a shearing assembly, the cable pressing assembly presses the cable before the shearing assembly cuts it off; and further comprises a length measuring module for measuring the actual length of the cable.

[0015] Further, the cable conveying and cutting device further comprises a compression roller feeding assembly, the compression roller feeding assembly comprises a driving compression roller, a driven compression roller, and a second driving motor, the driving compression roller and the driven compression roller are oppositely arranged to clamp and convey the cable; the second driving motor is in driving connection with the driving compression roller for controlling the conveying length and speed of the cable; the compression roller feeding assembly is arranged upstream of the cable pressing assembly for intermittently or continuously feeding the cable into the cable pressing assembly.

[0016] Further, the crimping device and the tension measuring device are two independent stations, and a transverse driving module is arranged on the rack for adjusting the position of the crimping device so as to align it with the cable conveying device or the clamping and positioning device.

[0017] Further, the visual recognition system is an AI visual system capable of identifying the load-bearing lock with unordered incoming materials, obtaining the XY coordinates and rotation angle thereof, and guiding the industrial robot to grasp; Further comprising an electronic fence monitoring system for detecting personnel intrusion and controlling emergency shutdown of the equipment; the electronic fence monitoring system is realized based on the AI visual system and can identify the entry of personnel into the safety area in real time and trigger an alarm and a pause instruction.

[0018] Further, the equipment further comprises at least one of a laser marking device, a labeling device, and a bundling device for completing the post-processing and identification of the lifting cord.

[0019] Compared with the prior art, the present application has the following beneficial effects: The application realizes the automatic grabbing and pose adjustment of the force-bearing lock through visual recognition and industrial robots, and the conductive paste dispensing station is helpful for automatic conductive paste coating; the automatic cable conveying and fixed-length cutting ensure the length consistency; the 3D vision guided robot accurately places the cable, combined with crimping and automatic tension test, which greatly improves the crimping quality and product reliability. The whole process automation integration helps to improve the efficiency and consistency of the pendant pre-provision, reduces the labor cost and labor intensity, and at the same time, the operation safety is guaranteed through the electronic fence and monitoring system. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the application, together with the embodiments of the application, to explain the application, and do not constitute a limitation to the application, and in the drawings: Figure 1 It is a whole structure schematic diagram of the electric railway pendant pre-provision equipment of the application.

[0021] Figure 2 It is a top view of the electric railway pendant pre-provision equipment of the application.

[0022] Figure 3 It is a structure schematic diagram of the conductive paste dispensing station.

[0023] Figure 4 It is Figure 3 It is an enlarged view of the A circle in the figure.

[0024] Figure 5 It is a structure schematic diagram of the crimping device and tension measuring device of the electric railway pendant pre-provision equipment.

[0025] Figure 6 It is an enlarged view of the crimping device and tension measuring device.

[0026] In the figure: 1, rack; 101, slide rail; 102, rack; 2, industrial robot; 3, conductive paste dispensing station; 301, dispensing device; 3011, first moving seat; 3012, rotary cylinder; 3013, rotating plate; 3014, clamping cylinder; 3015, dispensing needle cylinder; 3016, lifting mechanism; 3017, first lead screw module; 4, crimping device; 5, tension measuring device; 501, second moving seat; 502, first driving motor; 6, laser assembly; 7, clamping part; 701, fixed clamping plate; 702, movable clamping plate; 703, first driving cylinder; 8, clamping positioning device; 9, second driving cylinder; 10, cable compression assembly; 11, shearing assembly; 12, compression roller feeding assembly; 13, transverse driving module. DETAILED DESCRIPTION

[0027] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0028] like Figures 1 to 6 As shown, this invention claims protection for a pre-assembly device for droppers in electrified railways, including a frame 1 and a vision recognition system positioned at a suitable location above the frame 1. This system is used to identify in real time the spatial position and three-dimensional orientation of load-bearing locks and cables placed in the feeding area. After identification, the vision recognition system generates a guidance signal containing coordinate and angle information. An industrial robot 2 is mounted on the frame 1; in this embodiment, a six-axis industrial robot is preferably used. The robot is connected to the vision recognition system via a communication line. The end effector of the industrial robot 2 can accurately grasp the load-bearing locks or cables according to the received guidance signal and adjust them to the required working posture in mid-air.

[0029] This equipment has two identical conductive paste dispensing stations 3, which can run in parallel to improve efficiency. Each conductive paste dispensing station 3 is equipped with a dispensing device 301 for quantitatively injecting conductive paste into the lifting eye hole of the load-bearing lock. A cable conveying and cutting device is located next to the conductive paste dispensing station 3 for pulling the cable from the reel and precisely cutting it to the preset dropper length.

[0030] A crimping device 4 is installed next to the cable conveying and cutting device. The industrial robot 2 first puts the load-bearing lock ring with one end coated with conductive paste into the crimping device 4, and then feeds the cable end into the hole of the load-bearing lock ring. Then the crimping device 4 completes the firm crimping of the cable and the ring by hydraulic or pneumatic drive.

[0031] The tensile force measuring device 5 is configured and used in conjunction with the crimping device 4. After a single lifting ring is crimped with the cable, the tensile force measuring device 5 clamps the load-bearing lock lifting ring, applies a tensile force along the axial direction of the lifting string, and simultaneously measures its pull-out torque to verify whether the crimping quality is qualified.

[0032] To further improve the accuracy of placing the cable into the crimping mold, this equipment is equipped with a 3D vision measurement system. Before crimping, the suspended cable end is quickly scanned in three dimensions to obtain its precise spatial position and posture in real time, and compensation coordinates are generated to guide the industrial robot 2 to make fine adjustments, ensuring that the cable can be accurately and straightly placed into the mold cavity of the crimping device 4.

[0033] In this embodiment, the dispensing device 301 mainly includes a support and movement unit, a rotary clamping unit, and a dispensing injection unit. The support and movement unit includes a high-precision first lead screw module 3017, with a first moving seat 3011 mounted on the slider of the first lead screw module 3017, driven by a servo motor and capable of horizontal movement. The rotary clamping unit is mounted on the first moving seat 3011 and includes a rotary cylinder 3012. The output shaft of the rotary cylinder 3012 is vertically connected to a rotating plate 3013. A clamping cylinder 3014 is mounted on the rotating plate 3013 for clamping the load-bearing locking ring placed by the industrial robot 2. The dispensing injection unit includes a dispensing syringe 3015 filled with conductive paste and a lifting mechanism 3016 controlling its lifting and lowering. The lifting mechanism 3016 can be a cylinder or an electric push rod. The dispensing syringe 3015 is connected to a metering valve or a pressure pump via a hose.

[0034] When the industrial robot 2 places and clamps the load-bearing lock ring onto the clamping cylinder 3014, the first lead screw module 3017 drives the first moving seat 3011 to move, sending the ring to a predetermined position below the dispensing syringe 3015. Next, the rotary cylinder 3012 drives the rotating plate 3013 to rotate, precisely aligning the ring hole on the ring with the needle of the dispensing syringe 3015 above. Then, the lifting mechanism 3016 drives the dispensing syringe 3015 to descend, inserting the needle into the ring hole to a certain depth. Subsequently, the metering valve opens, injecting a measured amount of conductive paste. After completion, the syringe rises, the rotary cylinder resets, and the robot awaits the next operation.

[0035] A laser assembly 6 is also installed beside each dispensing device 301. The laser assembly 6 can be a laser range sensor or a laser marking device. When used for laser positioning, the laser beam can re-measure the position of the lifting ring before dispensing and cross-verify it with the vision system data to ensure absolute positioning accuracy. When used for laser marking, batch numbers, dates, and other traceability information can be engraved on non-critical surfaces of the load-bearing lock after dispensing. This process can be triggered before or after dispensing as needed.

[0036] The tensile force measuring device 5 includes a moving drive unit, a clamping unit, and a force measuring unit. The moving drive unit includes two parallel slide rails 101 fixedly mounted on the frame 1, with a second moving seat 501 slidably mounted on the slide rails 101 via a slider. A first drive motor 502 is mounted on the second moving seat 501, and a gear on the motor's output shaft meshes with a long rack 102 fixed to the frame, driving the second moving seat 501 to move smoothly and precisely linearly along the slide rails 101. The clamping unit is a clamping component 7 fixed to the second moving seat 501. It includes a fixed clamping plate 701, a movable clamping plate 702, and a first drive cylinder 703. The piston rod of the first drive cylinder 703 is connected to the movable clamping plate 702, and the extension and retraction of the cylinder controls the movable clamping plate 702 to move closer to or away from the fixed clamping plate 701, thereby clamping and releasing the pressed lifting ring. The force measuring unit includes a torque sensor disposed in the transmission chain. For example, it can be installed between the output shaft of the first drive motor 502 and the gear, or at the connection between the second moving seat 501 and the clamping component 7.

[0037] Workflow: When measurement is required, the clamping component 7 clamps the lifting ring under the drive of a cylinder. Then, the first drive motor 502 starts, driving the entire second moving seat 501 and the clamping component 7 along the slide rail 101 at a constant speed or according to a set program, moving away from the pressing device, thereby applying tension to the lifting wire. At this time, the clamping component 7 is holding the first load-bearing locking lifting ring. The torque sensor collects the tension data in real time and transmits it to the industrial control computer for storage in the local database, while simultaneously comparing it with a preset qualified threshold.

[0038] like Figure 1 As shown, a clamping and positioning device 8 is installed at the station between the cable conveying and cutting device 4 and the crimping device 4. The clamping and positioning device 8 is driven by the second drive cylinder 9 and can move horizontally. When the industrial robot 2 pre-places a second load-bearing lock ring that has been dispensed into the crimping device 4, this second load-bearing lock ring is used to connect to the other end of the cut cable. The second drive cylinder 9 pushes the clamping and positioning device 8 forward, and its grippers clamp and precisely position the ring, preparing it for the subsequent robot to grasp the other end of the cable and insert it into the hole of the load-bearing lock ring and perform the crimping work.

[0039] The cable feeding and cutting device is crucial for achieving fixed-length cutting. It includes a cable clamping assembly 10, which consists of a pair of clamping cylinders and a pressure block. This assembly is used to clamp and fix the cable before cutting, preventing it from shifting. The cutting assembly 11 uses hydraulic or pneumatic shears to cut the cable instantly after it is clamped. The length measurement module, which can be a rotary encoder linked to the feeding mechanism, accurately measures the length of the cable passing through the feeding rollers. When the set value is reached, it sends a signal to stop feeding and start cutting.

[0040] To further optimize the feeding method, a pressure roller feeding assembly 12 is added upstream of the cable clamping assembly 10. The pressure roller feeding assembly 12 includes an active pressure roller driven by a second drive motor and a driven pressure roller that can be elastically clamped. The two rollers are arranged opposite each other, forming a clamping roller structure. The cable passes between the two rollers, and the second drive motor precisely controls the number of rotations of the active pressure roller according to the control system instructions, thereby achieving intermittent or continuous fixed-length feeding of the cable. This feeding method is more stable and more accurate than friction feeding. Its working sequence is: the pressure roller feeding assembly 12 feeds the set length, the cable clamping assembly 10 clamps, and the shearing assembly 11 cuts.

[0041] Considering production cycle and spatial layout, this embodiment designs the crimping device 4 and the tensile force measuring device 5 as two spatially independent workstations. For flexible adaptation, a transverse drive module 13 is installed on the frame 1. The transverse drive module 13 can be a lead screw mechanism, and the crimping device 4 is mounted on the slider of the transverse drive module 13.

[0042] When crimping the first load-bearing lock ring, the lateral drive module 13 moves the crimping device 4 to the position aligned with the cable conveying and cutting device outlet. Then, when it is necessary to feed the first load-bearing lock ring, the lateral drive module 13 moves the crimping device 4 to the position aligned with the clamping and positioning device 8. This allows the load-bearing lock rings to be assembled at both ends of the cable.

[0043] In this embodiment, the visual recognition system is an AI vision system that uses a high-resolution industrial camera combined with a deep learning algorithm model. It can not only identify regularly placed load-bearing locks, but also effectively handle disordered incoming materials. It can segment each load-bearing lock from a complex background and accurately calculate the XY plane coordinates of its center point and the rotation angle around the Z axis, generating a reliable grasping guidance signal for the industrial robot 2.

[0044] The integrated electronic fence monitoring system is based on the aforementioned AI vision system. During equipment operation, the AI ​​vision system delineates a virtual safety zone. The system continuously monitors this zone, and using human recognition algorithms, once it detects someone entering the danger zone in real time, it immediately sends a signal to the main equipment control system, triggering an audible and visual alarm and controlling all moving parts to stop urgently, thereby ensuring personal safety.

[0045] To form a complete production line, after the tensile strength measurement is qualified, the dropper products can be conveyed to a post-processing station. Depending on the requirements, this station can integrate one or more of the following devices: Laser marking device: engraves specifications, parameters and other information on the hanging string body or label.

[0046] Labeling device: Automatically affixes QR code or barcode labels containing product information.

[0047] Bundling device: Organizes and bundles a certain number of finished hanging wires to facilitate packaging and transportation.

[0048] These post-processing steps further enable the full-process automation and information management of dropper pre-assembly.

[0049] This invention achieves automatic grasping and posture adjustment of load-bearing locks through visual recognition and an industrial robot 2. A conductive paste dispensing station 3 facilitates automatic application of the conductive paste. Automatic cable feeding and fixed-length cutting ensure consistent cable length. A 3D vision-guided robot precisely places the cable, and combined with crimping and automated tensile testing, significantly improves crimping quality and product reliability. The fully automated integration helps improve the efficiency and consistency of dropper pre-assembly, reduces labor costs and intensity, and ensures operational safety through an electronic fence and monitoring system.

[0050] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. However, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A pre-assembly device for droppers in electrified railways, characterized in that, Includes a rack (1), and a component mounted on the rack (1): A visual recognition system is used to identify the spatial position and orientation of the load-bearing lock and cable, and output guidance signals; An industrial robot (2) is communicatively connected to the vision recognition system and is used to grasp and adjust the position of the load-bearing lock and the cable according to the guidance signal. At least two conductive paste dispensing stations (3), each of the conductive paste dispensing stations (3) includes a dispensing device (301) for injecting conductive paste into the lifting ring of the load-bearing lock; A cable conveying and cutting device is provided next to the conductive paste dispensing station (3) for conveying the wire and cutting it to a set length; A crimping device (4) is provided next to the cutting device. The industrial robot (2) feeds the cable into the crimping device (4). The crimping device (4) is used to crimp the cable to the load-bearing lock ring. The tension measuring device (5) is used in correspondence with the crimping device (4) to apply tension to the suspension wire and measure its torque after crimping; It also includes a 3D vision measurement system, which is used to acquire the position and orientation of the cable in space in real time and guide the industrial robot (2) to accurately place the cable into the mold of the crimping device (4).

2. The electrified railway dropper pre-assembly equipment according to claim 1, characterized in that, The dispensing device (301) includes: A first movable seat (3011) is provided with a rotary cylinder (3012), and the output end of the rotary cylinder (3012) is connected to a rotating plate (3013); a clamping cylinder (3014) for clamping the load-bearing lock ring is provided on the rotating plate (3013). A dispensing syringe (3015) is connected to a lifting mechanism (3016) and driven by the lifting mechanism (3016) to move downward and inject conductive paste into the lifting eye hole of the load-bearing lock ring; the rotary cylinder (3012) is used to drive the rotating plate (3013) to rotate so that the lifting eye hole of the load-bearing lock ring is aligned with the dispensing syringe (3015). It also includes a first lead screw module (3017), and a first movable seat (3011) is connected to the first lead screw module (3017) to drive the load-bearing lock ring to move below the dispensing syringe (3015).

3. The electrified railway dropper pre-assembly equipment according to claim 2, characterized in that, A laser assembly (6) is also provided next to the dispensing device (301) for laser positioning or laser marking of the load-bearing lock ring before or after dispensing.

4. The electrified railway dropper pre-assembly equipment according to claim 1, characterized in that, The tensile force measuring device (5) includes: The second movable seat (501) is slidably disposed on the slide rail (101) of the frame (1); the second movable seat (501) is provided with a first drive motor (502), and the output end of the drive motor is provided with a gear, which meshes with a rack (102) fixed on the frame (1); It also includes a clamping component (7), which includes a fixed clamping plate (701), a movable clamping plate (702) and a first driving cylinder (703). The first driving cylinder (703) is connected to the movable clamping plate (702) and is used to drive the movable clamping plate (702) to move closer to or away from the fixed clamping plate (701) to clamp the crimped lifting ring and pull it backward along the slide rail (101) for tensile force measurement. The tensile force measuring device (5) also includes a torque sensor for real-time acquisition of tensile force data and storage in a local database.

5. The electrified railway dropper pre-assembly equipment according to claim 1, characterized in that, A clamping and positioning device (8) is provided next to the cable conveying and cutting device. The clamping and positioning device (8) is connected to the second driving cylinder (9). The second driving cylinder (9) drives the clamping and positioning device (8) to approach the load-bearing lock ring to clamp and position the load-bearing lock ring.

6. The electrified railway dropper pre-assembly equipment according to claim 1, characterized in that, The cable conveying and cutting device includes a cable clamping assembly (10) and a cutting assembly (11). The cable clamping assembly (10) clamps the cable and the cutting assembly (11) cuts it. It also includes a length measuring module for measuring the actual length of the cable.

7. The electrified railway dropper pre-assembly equipment according to claim 6, characterized in that, The cable conveying and cutting device further includes a pressure roller feeding assembly (12), which includes an active pressure roller, a driven pressure roller and a second drive motor. The active pressure roller and the driven pressure roller are arranged opposite to each other to clamp and convey the cable. The second drive motor is connected to the active pressure roller for controlling the conveying length and speed of the cable. The pressure roller feeding assembly (12) is located upstream of the cable clamping assembly (10) for feeding the cable intermittently or continuously into the cable clamping assembly (10).

8. The electrified railway dropper pre-assembly equipment according to claim 5, characterized in that, The crimping device (4) and the tensile measuring device (5) are two independent workstations. The frame (1) is provided with a transverse drive module (13) for adjusting the position of the crimping device (4) so ​​that it is aligned with the cable conveying device or the clamping and positioning device (8).

9. The electrified railway dropper pre-assembly equipment according to claim 1, characterized in that, The visual recognition system is an AI vision system that can identify load-bearing locks with disordered incoming materials, obtain their XY coordinates and rotation angles, and guide the industrial robot (2) to grasp them. It also includes an electronic fence monitoring system, used to detect personnel intrusion and control the equipment to stop in an emergency; the electronic fence monitoring system is based on the AI ​​vision system and can identify personnel entering the safe area in real time and trigger alarms and pause commands.

10. The device according to claim 1, characterized in that, The equipment also includes at least one of a laser marking device, a labeling device, and a bundling device, used to complete the post-processing and marking of the suspension wire.

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