A kind of high-speed rail overhead line system whole dropper installation is used to hang ring clamping device, installation equipment and method

Abstract

The application belongs to the technical field of high-speed rail contact network erection, and particularly relates to a lifting ring clamping device for high-speed rail contact network whole lifting chord installation, installation equipment and method. The device comprises a transmission unit and a clamping unit. The transmission unit comprises a bidirectional screw, a first sliding table and a second sliding table sleeved on the bidirectional screw, and a stepping motor installed on the bidirectional screw. The clamping unit comprises a first clamping jaw and a second clamping jaw installed on the first sliding table and the second sliding table respectively. The first clamping jaw and the second clamping jaw are flexible clamping jaws, and the opposite sides of the first clamping jaw and the second clamping jaw are provided with arc-shaped structures matched with the arc surface of the lifting ring. The stepping motor is used to drive the bidirectional screw to rotate, and then drive the first sliding table and the second sliding table to move towards each other, so that the first clamping jaw and the second clamping jaw are close to each other to clamp the lifting ring. The clamping scheme of "flexible clamping jaw + precise force control" is adopted to realize accurate clamping and positioning of the lifting ring part.

Description

Technical Field

[0001] This invention belongs to the field of high-speed railway catenary erection technology, specifically relating to a hanging ring clamping device, installation equipment and method for installing the overall dropper of a high-speed railway catenary. Background Technology

[0002] The conductive devices of the high-speed railway catenary mainly include components such as catenary wires, droppers, and contact wires. Currently, the integral dropper is widely used; it is a crucial component of the catenary suspension system, requiring high installation precision and advanced manufacturing processes. At present, the integral dropper is primarily installed manually at heights, which is dangerous and inefficient. In developing automated installation equipment for integral droppers, the clamping and positioning of the dropper rings is a critical step.

[0003] Chinese invention patent CN114734397A discloses a catenary suspension ring gripping device for installing catenary droppers. This device uses fixed and movable clamping blocks to hold the suspension ring. After the clamping blocks move to a designated position, they are limited by a locking plate. After installation, the locking is released and the device is driven to reset. In this device, the clamping blocks are fixed-shape rigid thin plates, resulting in a small contact area with the curved surface of the suspension ring, leading to insufficient gripping stability. Furthermore, because the suspension ring is a copper alloy stamped part, its surface shape error is relatively significant, and the fixed-shape clamping blocks cannot accommodate this error, resulting in low positioning accuracy. Positioning is crucial for automated gripping and installation. Additionally, traditional grippers often integrate force control schemes at the motor end, which are greatly affected by frictional forces in the transmission mechanism, making precise force sensing difficult. Summary of the Invention

[0004] The purpose of this invention is to provide a lifting ring clamping device, installation equipment and method for installing the overall dropper of the high-speed railway catenary, so as to improve the positioning stability and clamping accuracy.

[0005] To achieve the above objectives, the first aspect of the present invention provides a lifting ring clamping device for installing the overall dropper of a high-speed railway contact wire, comprising: a transmission unit and a clamping unit; the transmission unit includes a bidirectional lead screw, a first slide and a second slide sleeved on the bidirectional lead screw, and a stepper motor mounted on the bidirectional lead screw; the clamping unit includes a first gripper and a second gripper respectively mounted on the first slide and the second slide. Both the first and second grippers are flexible grippers, and their opposite sides are both configured with an arc-shaped structure that matches the arc surface of the lifting ring. The stepper motor is used to drive the bidirectional lead screw to rotate, thereby driving the first and second slides to move towards each other, so that the first and second grippers come closer together to clamp the lifting ring.

[0006] Furthermore, both the first gripper and the second gripper include a front plate, a rib plate, and a rear plate; the front plate has the arc-shaped structure, and a plurality of the rib plates are spaced apart between the front plate and the rear plate; the front plate, the rib plates, and the rear plate are all made of flexible material.

[0007] Furthermore, the bottom of the first and second grippers is provided with mounting grooves, which are used to install connecting blocks. The connecting blocks include a snap-fit ​​part, a support part, and a baffle. The snap-fit ​​part is used to snap into the mounting groove, the support part is connected to the snap-fit ​​part and is used to support the first and second grippers, and the baffle is provided on the side of the snap-fit ​​part to prevent the first and second grippers from moving laterally.

[0008] Furthermore, the first slide and the second slide are respectively provided with a first base and a second base; the first gripper is mounted on the first base through the connecting block, and the second gripper is mounted on the second base through the connecting block.

[0009] Furthermore, the second base is provided with a side plate for forming a groove with the support part of the connecting block. A mechanical sensor is installed in the groove for detecting the clamping force of the first and second grippers on the lifting ring.

[0010] Furthermore, the ribs are installed obliquely between the front plate and the rear plate, and the radial stiffness and axial stiffness of the first and second grippers can be adjusted by regulating the number, spacing, thickness, tilt angle, and bottom cross-sectional shape of the ribs, so as to meet the requirements of gripping stability and axial positioning accuracy of the lifting ring.

[0011] Furthermore, the transmission unit also includes: a base, a linear guide rail disposed on the base, a first slider and a second slider sleeved on the linear guide rail, a support plate fixed to both ends of the base, and a motor mounting plate; The first slide and the second slide are fixed on the first slider and the second slider, respectively. One end of the bidirectional lead screw is mounted on the support plate through a bearing, and the other end is connected to the stepper motor, which is mounted on the motor mounting plate.

[0012] The second aspect of the present invention provides a method for clamping a hanging ring for installing an integral dropper of a high-speed railway catenary, using the aforementioned hanging ring clamping device for installing an integral dropper of a high-speed railway catenary; including: firstly performing zero-point calibration, and then driving a first gripper and a second gripper to move towards each other through a stepper motor until the hanging ring is clamped.

[0013] Furthermore, before the first and second grippers contact the lifting ring, the speed of the stepper motor is increased. When the force sensor detects a real-time force value greater than 0.2N, the speed is reduced, and the pulse frequency of the stepper motor is adjusted for incremental compensation until the target clamping force is achieved. If a decrease in force is detected during the clamping process of the target clamping force, micro-incremental compensation is performed again.

[0014] The third aspect of the present invention provides a lifting ring installation device for the overall dropper installation of high-speed railway catenary, including the lifting ring clamping device and the installation displacement platform. After the lifting ring is clamped by the lifting ring clamping device, the lifting ring is moved to the target position for installation by the installation displacement platform.

[0015] In summary, compared with the prior art, the above-described technical solutions conceived by this invention mainly possess the following technical advantages: 1. The lifting ring clamping device for the installation of the overall catenary of high-speed railway catenary provided by this invention adopts a rigid-flexible coupling design concept. It utilizes the left and right threads of a bidirectional screw to ensure the synchronicity of the opening and closing of the first and second clamps and the consistency of their center positioning. The flexible clamps automatically absorb the shape error of the lifting ring by utilizing material deformation, reducing the impact of the lifting ring shape error on the position of the bolt holes, improving the success rate of subsequent bolt insertion operations, and precisely controlling the clamping force to avoid over-clamping or failure to clamp. This overcomes the defects of unstable clamping and positioning and low precision of the catenary lifting rings in automated installation equipment for overall catenary systems.

[0016] 2. The flexible gripper consists of a front plate, a rear plate, ribs, and mounting grooves. The front plate has an arc surface, which effectively prevents the lifting ring from rotating when it contacts the curved surfaces on both sides of the lifting ring. Several inclined support ribs inside the gripper form a non-homogeneous flexible skeleton. When the contact surface is compressed, the ribs guide the gripper to produce passive compliant deformation, thereby enveloping the surface of the lifting ring.

[0017] 3. An S-shaped tension / compression sensor is installed in series between the moving slider and the gripper base. This arrangement places the sensor on the direct force transmission path, eliminating the interference of lead screw friction on the measured value. The series force measurement structure avoids transmission resistance, and combined with the force control algorithm, the force control accuracy reaches within ±0.1N.

[0018] 4. By replacing rigid point / line contact with flexible surface contact of the grippers, the pressure acting on the surface of the lifting ring is significantly reduced, avoiding scratches on the surface of the lifting ring.

[0019] 5. The grippers can be quickly 3D printed and replaced according to the shape of the workpiece, which is highly adaptable and low in cost. Attached Figure Description

[0020] Figure 1This is a schematic diagram of the lifting ring clamping device for the overall installation of the overhead contact line of high-speed railway according to the present invention; Figure 2 This is a side sectional view of the mating structure of the second gripper and the connecting block; Figure 3 This is a schematic diagram of the gripper structure.

[0021] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1-Base; 2-Linear guide rail; 3-First slide; 4-First slider; 5-Nut; 6-Support plate; 7-Bearing; 8-Double lead screw; 9-First base; 10-First gripper; 11-Lifting ring; 12-Second gripper; 13-Connecting block; 14-S-type tension / compression sensor; 15-Second base; 16-Stepper motor; 17-Motor mounting plate; 18-Second slide; 19-Second slider; 20-Front plate; 21-Rib plate; 22-Rear plate; 23-Mounting groove; 24-Baffle; 25-Protrusion. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0023] The lifting rings used in dropper installation are generally U-shaped or double-eared structures. One end of the ring connects to the heart-shaped retaining ring on the dropper body, and the other end fits into the dropper clamp body, aligning the ring's hanging hole with the clamp's hanging hole. They are then locked with bolts to prevent them from falling off. Therefore, when using automated equipment for installation, it is necessary to first firmly clamp the ring, then move it to the installation location, ensuring the hanging hole is aligned for bolt tightening. Thus, stable clamping of the ring and preventing movement during installation that could affect positioning is crucial for automated installation.

[0024] Please see Figure 1-3 To address the aforementioned problems, this invention provides a lifting ring clamping device for installing the overall dropper of a high-speed railway contact wire, comprising: a transmission unit and a clamping unit; the transmission unit includes a bidirectional lead screw 8, a first slide 3 and a second slide 18 sleeved on the bidirectional lead screw 8, and a stepper motor 16 mounted on the bidirectional lead screw 8; the clamping unit includes a first gripper 10 and a second gripper 12 respectively mounted on the first slide 3 and the second slide 18.

[0025] The first gripper 10 and the second gripper 12 are both flexible grippers, and their opposite sides are both set with an arc-shaped structure that matches the arc surface of the lifting ring 11; the stepper motor 16 is used to drive the bidirectional lead screw 8 to rotate, thereby driving the first slide 3 and the second slide 18 to move towards each other, so that the first gripper 10 and the second gripper 12 are close together to clamp the lifting ring 11.

[0026] This configuration, employing a bidirectional lead screw 8 driven by a stepper motor 16, ensures the synchronicity of the opening and closing of the first gripper 10 and the second gripper 12, as well as the consistency of their center positioning, through the left-hand and right-hand threads of the bidirectional lead screw. The flexible grippers automatically absorb shape errors in the lifting ring 11 using material deformation, achieving high-precision positioning without complex visual assistance. Furthermore, by replacing rigid point / line contact with flexible surface contact, the pressure acting on the lifting ring surface is significantly reduced, preventing scratches.

[0027] In some specific embodiments, the bidirectional lead screw 8 is preferably an M8 bidirectional stainless steel lead screw. The first jaw 10 and the second jaw 12 are 3D printed from TPU 85A material.

[0028] like Figure 3 The first gripper 10 and the second gripper 12 each include: a front plate 20, a rib plate 21 and a rear plate 22; the front plate 20 is an arc-shaped structure, and a plurality of rib plates 21 are spaced apart between the front plate 20 and the rear plate 22; the front plate 20, the rib plate 21 and the rear plate 22 are all made of flexible material.

[0029] With this configuration, the front plate surface is set as an arc surface, which can effectively prevent the lifting ring from rotating when it comes into contact with the curved surfaces on both sides of the lifting ring. Several inclined support ribs inside the gripper form a non-homogeneous flexible skeleton. When the contact surface is compressed, the ribs guide the gripper to produce passive compliant deformation, thereby enveloping the surface of the lifting ring.

[0030] Specifically, the ribs 21 are obliquely installed between the front plate 20 and the rear plate 22, and the radial stiffness and axial stiffness of the first gripper 10 and the second gripper 12 are adjusted by controlling the number, spacing, thickness, tilt angle of the ribs 21 and the bottom cross-sectional shape of the front plate 20, so as to meet the requirements of gripping stability and axial positioning accuracy of the lifting ring.

[0031] Specifically, constrained by the target stiffness requirements of the gripper, and considering the mechanical properties of the TPU material used, the number, tilt angle, spacing, and thickness of the ribs are optimized using parametric design methods. A mechanical model clarifies the influence of each parameter on the gripper stiffness, and parameters are adjusted to match the stiffness requirements of different parts of the gripper. Simultaneously, to address the accuracy requirements of the lifting ring's axial positioning, the shape and dimensions of the gripper's bottom cross-section are optimized to ensure the gripper possesses sufficiently high axial stiffness (i.e.,...). Figure 3(In the vertical direction), after simulation verification and iteration, the rib plate and overall structural design scheme that takes into account flexible gripping performance, axial positioning accuracy, structural reliability and machinability was finally determined.

[0032] The front plate surface of this invention maintains a good fit with the lifting ring at all times, preventing gaps that could cause wobbling during clamping and affect positioning. Ribs 21 are spaced and inclined between the front plate 20 and the rear plate 22, with the inclination direction facing the lifting ring side, extending upwards from the front plate 20 to the rear plate 22. This prevents both excessively low radial stiffness, which could lead to unstable clamping, and excessive stiffness, which could prevent the lifting ring from deforming uncomfortably, thus achieving an envelope around the lifting ring's error surface and affecting clamping stability. Furthermore, this invention, combining material properties and mechanical models, allows for parameter optimization design of the structure, resulting in superior clamping performance.

[0033] For example, in some specific embodiments, there are 3 ribs, the tilt angle is 20°, the spacing is 6mm, and the thickness is 1mm.

[0034] like Figure 2 and 3 The bottom of the first gripper 10 and the second gripper 12 is also provided with a mounting groove 23 for mounting the connecting block 13. The connecting block 13 includes a snap-fit ​​part, a support part, and a baffle 24. The snap-fit ​​part is used to snap into the mounting groove 23, and the snap-fit ​​part is as follows: Figure 2 The trapezoidal protrusion 25 shown; the support portion is connected to the snap-fit ​​portion for supporting the first gripper 10 and the second gripper 12. (See diagram) Figure 1 In the middle, the support part at the second gripper 12 is set as a T-shaped structure, and the T-shaped horizontal plate part is connected to the snap-fit ​​part. The support part at the first gripper 12 can be directly integrated with the first base 9. The baffle 24 is set on one side of the snap-fit ​​part to prevent the first gripper 10 and the second gripper 12 from moving laterally. That is, the connecting block 13 is snapped into the mounting groove 23 from the side of the snap-fit ​​part where the baffle 24 is not set, until the baffle 24 on the other side abuts against the surface of the first gripper 10 and the second gripper 12 to form an interference fit.

[0035] Furthermore, the first slide 3 and the second slide 18 are respectively provided with a first base 9 and a second base 15; the first gripper 10 is installed on the first base 9 through the snap-fit ​​part (i.e., protrusion) of the connecting block 13. In particular, the snap-fit ​​part of the connecting block 13 and the baffle at the first gripper 10 are integrally formed with the first base 9 by rigid resin 3D printing. At this time, the first base 9 directly plays a supporting role, and the additional supporting part can be omitted; the second gripper 12 is installed on the second base 15 through the connecting block 13.

[0036] Specifically, the second base 15 is provided with a side plate to form a groove with the vertical part of the T-shaped structure of the supporting part of the connecting block 13. A force sensor is installed in the groove to control the clamping force of the first gripper 10 and the second gripper 12 on the lifting ring. Specifically, an S-shaped tension / compression sensor 14 is used, with threaded holes at both ends. One end is tightened to the vertical part of the T-shaped structure of the supporting part by bolts, and the other end is tightened to the side plate of the second base 15 to achieve stable force transmission. When the gripper contacts and clamps the lifting ring, the second gripper 12 is subjected to a force towards the rear plate 22, which in turn causes the connecting block 13 to be subjected to a pushing force in the same direction to compress the S-shaped tension / compression sensor 14. This arrangement places the sensor on the direct force transmission path, eliminating the interference of the lead screw friction on the measured value. The series force measurement structure avoids transmission resistance, and combined with the force control algorithm, the force control accuracy reaches within ±0.1N.

[0037] Specifically, the transmission unit further includes: a base 1, a linear guide rail 2 disposed on the base 1, a first slider 4 and a second slider 19 sleeved on the linear guide rail 2, a support plate 6 fixed to both ends of the base 1, and a motor mounting plate 17. The first slide 3 and the second slide 18 are respectively fixed on the first slider 4 and the second slider 19. One end of the bidirectional lead screw 8 is mounted on the support base plate 6 through the bearing 7, and the other end is connected to the stepper motor 16. The stepper motor 16 is mounted on the motor mounting plate 17.

[0038] The stepper motor 16 drives the bidirectional lead screw 8 to rotate, which in turn drives the first slide 3 and the second slide 18, as well as the first slider 4 and the second slider 19 connected thereto, to move along the linear guide rail 2.

[0039] Example 2 This embodiment provides a method for clamping a hanging ring for installing an integral dropper of a high-speed railway catenary, using the hanging ring clamping device for installing an integral dropper of a high-speed railway catenary described in Embodiment 1; including: firstly performing zero-point calibration, and then driving the first gripper 10 and the second gripper 12 to move towards each other through a stepper motor 16 until the hanging ring is clamped.

[0040] Furthermore, before the first gripper 10 and the second gripper 12 contact the lifting ring, the speed of the stepper motor 16 is increased. When the force sensor detects a real-time force value greater than 0.2N, the speed is reduced, and the pulse frequency of the stepper motor 16 is adjusted for incremental compensation until the target clamping force is reached. If a decrease in force is detected during the clamping process of the target clamping force, micro-incremental compensation is performed again.

[0041] Specifically, the methods for controlling the clamping force mainly include the following steps: 1. System initialization: The ESP32 performs zero-point calibration on the S-type tension and compression sensor 14 via the RS485 bus to eliminate the initial deviation caused by mechanical weight.

[0042] 2. High-speed movement under no-load: Stepper motor 16 drives the gripper to move at high speed until the S-type tension and compression sensor 14 detects a real-time force value greater than 0.2N.

[0043] 3. Contact buffer control: After the contact signal is triggered, the system switches to low speed and uses the physical deformation of the TPU gripper to absorb the initial collision energy.

[0044] 4. Quasi-static force closed loop: A nonlinear PID algorithm is adopted, in which Kp varies with the magnitude of the clamping force. With 5N as the target value, incremental compensation is performed by adjusting the pulse frequency of the stepper motor 16.

[0045] 5. Steady-state locking and compensation: When the force value stabilizes at 5N±0.1N, the current position is maintained. If a decrease in force value due to TPU creep is detected, the system automatically triggers "secondary micro-step compensation".

[0046] This invention is based on the ESP32 microcontroller, which collects sensor data in real time via the RS485 protocol and combines an improved PID algorithm to adjust the pulse output of the stepper motor, thereby achieving constant force closed-loop control with a target value of 5N.

[0047] Example 3 This embodiment provides a lifting ring installation device for installing the overall dropper of the high-speed railway catenary, including the lifting ring clamping device and the installation displacement platform described in Embodiment 1. After the lifting ring clamping device clamps the lifting ring 11, the installation displacement platform moves the lifting ring 11 to the target position for installation.

[0048] During this process, the lifting ring is held and positioned by the lifting ring clamping device, so that the hanging holes can be stably aligned and easy to lock.

[0049] In summary, this invention proposes a clamping scheme employing "flexible grippers + precision force control" to achieve accurate clamping and positioning of lifting ring parts. The clamping device can adapt to variations in the surface shape error of lifting rings from different batches, reducing the impact of lifting ring shape errors on the position of bolt holes, improving the success rate of subsequent bolt insertion operations, and precisely controlling the clamping force to avoid over-clamping or failure to clamp. This overcomes the shortcomings of unstable clamping and positioning and low precision of load-bearing cable lifting rings in automated installation equipment for overall lifting cables.

[0050] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A lifting ring clamping device for installing the integral dropper of a high-speed railway catenary, characterized in that, include: The transmission unit includes a transmission unit and a clamping unit; the transmission unit includes a bidirectional lead screw (8), a first slide (3) and a second slide (18) sleeved on the bidirectional lead screw (8), and a stepper motor (16) mounted on the bidirectional lead screw (8); the clamping unit includes a first gripper (10) and a second gripper (12) respectively mounted on the first slide (3) and the second slide (18). The first gripper (10) and the second gripper (12) are both flexible grippers, and their opposite sides are both set with an arc-shaped structure that matches the arc surface of the lifting ring (11). The stepper motor (16) is used to drive the bidirectional lead screw (8) to rotate, thereby driving the first slide (3) and the second slide (18) to move towards each other, so that the first gripper (10) and the second gripper (12) get closer to clamp the lifting ring (11).

2. The lifting ring clamping device for installing the overall dropper of the high-speed railway contact network according to claim 1, characterized in that, The first gripper (10) and the second gripper (12) each include: a front plate (20), a rib plate (21) and a rear plate (22); the front plate (20) is an arc-shaped structure, and a plurality of rib plates (21) are spaced apart between the front plate (20) and the rear plate (22); the front plate (20), the rib plates (21) and the rear plate (22) are all made of flexible material.

3. The lifting ring clamping device for installing the overall dropper of the high-speed railway contact network according to claim 2, characterized in that, The bottom of the first gripper (10) and the second gripper (12) is also provided with a mounting groove (23). The mounting groove (23) is used to install the connecting block (13). The connecting block (13) includes a snap-fit ​​part, a support part and a baffle (24). The snap-fit ​​part is used to snap into the mounting groove (23). The support part is connected to the snap-fit ​​part and is used to support the first gripper (10) and the second gripper (12). The baffle (24) is provided on the side of the snap-fit ​​part and is used to prevent the first gripper (10) and the second gripper (12) from moving laterally.

4. The lifting ring clamping device for installing the integral dropper of the high-speed railway contact network according to claim 3, characterized in that, The first slide (3) and the second slide (18) are respectively provided with a first base (9) and a second base (15); the first gripper (10) is installed on the first base (9) through the connecting block (13), and the second gripper (12) is installed on the second base (15) through the connecting block (13).

5. The lifting ring clamping device for installing the overall dropper of the high-speed railway contact network according to claim 4, characterized in that, The second base (15) is provided with a side plate for forming a slot with the support part of the connecting block (13). A mechanical sensor is installed in the slot for detecting the clamping force of the first gripper (10) and the second gripper (12) on the lifting ring (11).

6. The lifting ring clamping device for installing the overall dropper of the high-speed railway contact network according to claim 2, characterized in that, The ribs (21) are installed at an angle between the front plate (20) and the rear plate (22). The radial stiffness and axial stiffness of the first gripper (10) and the second gripper (12) are adjusted by adjusting the number, spacing, thickness, tilt angle of the ribs (21) and the bottom cross-sectional shape of the front plate (20) so as to meet the requirements of gripping stability and axial positioning accuracy of the lifting ring (11).

7. The lifting ring clamping device for installing the overall dropper of the high-speed railway contact network according to claim 1, characterized in that, The transmission unit further includes: a base (1), a linear guide rail (2) disposed on the base (1), a first slider (4) and a second slider (19) sleeved on the linear guide rail (2), a support plate (6) fixed to both ends of the base (1) and a motor mounting plate (17). The first slide (3) and the second slide (18) are respectively fixed on the first slider (4) and the second slider (19). One end of the bidirectional lead screw (8) is mounted on the support plate (6) through the bearing (7), and the other end is connected to the stepper motor (16). The stepper motor (16) is mounted on the motor mounting plate (17).

8. A method for clamping lifting rings for installing the integral droppers of a high-speed railway contact wire, characterized in that, The high-speed rail contact network overall dropper installation ring clamping device according to any one of claims 1-7 includes: first performing zero point calibration, and then driving the first clamp (10) and the second clamp (12) to move towards each other through a stepper motor (16) until the dropper (11) is clamped.

9. The method for clamping the lifting ring for installing the overall dropper of the high-speed railway contact network according to claim 8, characterized in that, Before the first gripper (10) and the second gripper (12) contact the lifting ring (11), the speed of the stepper motor (16) is increased. When the force sensor detects that the real-time force value is greater than 0.2N, the speed is reduced and the pulse frequency of the stepper motor (16) is adjusted for incremental compensation until the target clamping force is reached. If a decrease in force is detected during the clamping process of the target clamping force, micro-incremental compensation is performed again.

10. A lifting ring installation device for installing the integral dropper of a high-speed railway catenary, characterized in that, The device includes a lifting ring clamping device and an installation displacement platform for installing the overall dropper of the high-speed rail contact network as described in any one of claims 1-7. After the lifting ring clamping device clamps the lifting ring (11), the lifting ring (11) is moved to the target position for installation by means of the installation displacement platform.

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