Tool and method for automatic adjustment of adjustable pendants

Abstract

The application provides a tool and a method for automatically adjusting an adjustable pendant, which comprises a tightening tool and an adjusting tool. The tightening tool comprises a bolt sleeve seat for positioning a bolt in an adjustable fixing bolt assembly of a pendant wire and a torque wrench for adjusting the tightness of a nut in the adjustable fixing bolt assembly. The adjustable fixing bolt adjusting tool comprises a wire clamp positioning module for positioning a heart-shaped ring bearing the pendant wire, a pendant wire clamp and a current-carrying ring clamp for clamping the pendant wire and the current-carrying ring respectively and cooperating with each other to adjust the length of the pendant wire. The tool and the method provided by the application can realize automatic and unmanned adjustment of an aerial pendant wire.

Description

Technical Field

[0001] This invention relates to the field of high-altitude dropper technology, and in particular to a tool and method for automatically adjusting adjustable droppers. Background Technology

[0002] The dropper wire, as a key connecting component between the catenary and the contact wire, is used to fix the suspension height of the contact wire and ensure stable current collection by the pantograph. With increasing train speeds and operating mileage, the contact network system is subjected to continuous dynamic loads and temperature changes, which can easily lead to plastic elongation, slack, or tension decay of the dropper wire, resulting in hardening, arcing, or even pantograph-catenary failure, seriously affecting train safety. Therefore, in daily operation and maintenance, it is necessary to periodically adjust the tension of the dropper wire to restore the designed tension.

[0003] Currently, the tension of the dropper wires is mainly adjusted manually. This requires workers to ascend to a high altitude using a contact wire work vehicle or ladder platform and manipulate the dropper wires and their fixing bolts using manual tools. However, this traditional method has significant drawbacks. Firstly, the high-altitude working environment is complex, restricting personnel movement and causing significant physical exertion, easily leading to low work efficiency. Secondly, when working near edges at height, workers are in a suspended or unstable position, increasing the risk of muscle strain, tool slippage, or even falls. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a tool and method for automatically adjusting adjustable droppers, which can realize automated and unmanned adjustment of high-altitude droppers, reduce the need for personnel to climb to heights and reduce the risk of falls from heights.

[0005] In a first aspect, embodiments of the present invention provide a tool for automatically adjusting adjustable suspension wires, comprising: a tightening fixture and an adjusting fixture; The tightening fixture includes a tightening slide, a torque wrench, a bolt socket seat, and a first cylinder; the torque wrench and the bolt socket seat are slidably connected to the front of the tightening slide, and the first cylinder is installed at the bottom of the tightening slide. The adjustment fixture includes an adjustment slide, a first transmission mechanism, a wire clamp positioning module, a dropper wire clamp, and a current-carrying ring clamp. The wire clamp positioning module is installed on the top of the adjustment slide, the dropper wire clamp is installed on the left side of the adjustment slide, the current-carrying ring clamp is installed on the right side of the adjustment slide, and the first transmission mechanism is installed in the middle of the adjustment slide. The first transmission mechanism is located between the dropper wire clamp and the current-carrying ring clamp, and the dropper wire clamp is connected to the first transmission mechanism. The first transmission mechanism is also connected to the current-carrying ring clamp. A cam mechanism is also provided on the right side of the adjustment slide, and the current-carrying ring clamp makes rolling contact with the cam mechanism. The first cylinder can drive the torque wrench and the screw bolt sleeve seat to move closer to or further away from the adjustable fixing bolt assembly on the adjusting slide tightening slide; when the torque wrench and the screw bolt sleeve seat are close to the adjustable fixing bolt assembly, the torque wrench can adjust the tightness of the nut in the adjustable fixing bolt assembly, and the screw bolt sleeve seat can position the bolt in the adjustable fixing bolt assembly; The wire clamp positioning module can position and clamp the heart-shaped ring. The dropper wire clamp and the current-carrying ring clamp can clamp the dropper wire and the current-carrying ring, respectively. The dropper wire clamp can also slide vertically up and down on the adjusting slide. When the dropper wire clamp slides, it can drive the current-carrying ring clamp to roll along the edge of the cam mechanism through the first transmission mechanism. The movement direction of the dropper wire clamp is opposite to that of the current-carrying ring clamp.

[0006] Secondly, embodiments of the present invention provide an application method for an automatically adjustable suspender tool, comprising: S1. The first robotic arm installs the tightening fixture through the first quick-change clamp, and the second robotic arm installs the adjusting fixture through the second quick-change clamp. The first robotic arm and the second robotic arm respectively drive the tightening fixture and the adjusting fixture to approach the suspension cable. S2. The second robotic arm drives the adjustment fixture to insert the positioning pin in the wire clamp positioning module into the heart-shaped ring of the drop wire. Then, the heart-shaped ring gripper in the heart-shaped ring clamping unit closes, leaving a gap for the drop wire to move between the drop wire and the heart-shaped ring. S3. The servo motor drives the lead screw to rotate through the second transmission mechanism, causing the dropper clamp to move vertically downward along the second left guide rail on the adjusting slide. The second left slider connected to the dropper clamp also moves downward along the second left guide rail as the dropper clamp moves. When the second left slider moves downward, it drives the wire rope transmission, which in turn drives the second right slider to move upward. The current-carrying ring clamp connected to the second right slider also moves upward, and the roller on the current-carrying ring clamp rolls upward along the edge of the cam mechanism. The current-carrying ring clamp moves to the left on the current-carrying ring clamp slide under the action of the return spring. S4. The dropper wire clamp and the current-carrying ring clamp close simultaneously, so that the dropper wire clamp grasps the dropper wire and the current-carrying ring clamp grasps the current-carrying ring. S5. The first robotic arm drives the tightening fixture, and the anti-reverse pawl of the anti-reverse pawl of the tightening fixture is opened. Then the first robotic arm drives the tightening fixture again, so that the torque wrench and the bolt sleeve seat are aligned with the adjustable fixing bolt assembly. S6. The torque wrench and the bolt sleeve seat move towards the adjustable fixing bolt assembly at the same time. First, the bolt of the adjustable fixing bolt assembly is fixed by the bolt sleeve seat. Then, the torque wrench is activated to loosen the nut of the adjustable fixing bolt assembly. S7. The servo motor drives the lead screw to rotate through the second transmission mechanism, causing the dropper clamp to move vertically upward along the second left guide rail on the adjusting slide. As the dropper clamp moves vertically upward on the adjusting slide, the second left slider connected to the dropper clamp also moves upward along the second left guide rail as the dropper clamp moves. When the second left slider moves upward, it drives the wire rope transmission, which in turn drives the second right slider to move downward. The current-carrying ring clamp connected to the second right slider also moves downward, and the roller on the current-carrying ring clamp rolls downward along the edge of the cam mechanism. Under the action of the return spring, the current-carrying ring clamp moves to the right on the current-carrying ring clamp slide. S8. The camera detects the actual adjustment length of the suspension wire. When the actual adjustment length is equal to the theoretical adjustment length, the torque wrench is activated to tighten the nut. Then, the first robotic arm drives the tightening fixture to reset, and the anti-reverse pawl of the anti-reverse pawl of the anti-reverse pawl is closed by the anti-reverse pawl of the tightening fixture. S9. The camera monitoring nut has been tightened, and then the heart-shaped ring gripper and the current-carrying ring gripper open, and the second robotic arm drives the adjustment fixture to reset. S10, the first robotic arm and the second robotic arm respectively drive the tightening fixture and the adjusting fixture away from the suspension cable.

[0007] The beneficial effects of the embodiments of the present invention are as follows: This invention achieves automatic positioning and tightness adjustment of adjustable fixing bolt assemblies through the coordinated operation of the bolt sleeve seat and torque wrench in the tightening fixture, eliminating the need for manual bolt tightening at heights. By adjusting the automatic positioning of the heart-shaped ring by the clamp positioning module in the fixture, and the coordinated operation of the dropper clamp and current-carrying ring clamp, automatic clamping and length adjustment of the dropper are achieved. The entire adjustment process is completed automatically by the tool; operators only need to issue commands from the ground, eliminating the need for working at heights and fundamentally eliminating the safety hazard of falls from heights. This fully automated operation of dropper tightness adjustment effectively improves work efficiency and safety.

[0008] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0009] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0010] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0011] Figure 1 This is a schematic diagram of the structure of a tool for automatically adjusting adjustable suspension strings provided in an embodiment of the present invention; Figure 2 This is another structural schematic diagram of a tool for automatically adjusting adjustable suspension strings provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the tightening fixture for an automatically adjustable dropper provided in an embodiment of the present invention; Figure 4 A top view of a tightening fixture for an automatically adjustable dropper provided in an embodiment of the present invention; Figure 5 A front view of a tightening fixture for an automatically adjustable dropper provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the adjustment fixture for an automatic adjustment tool for adjustable suspension cables, provided in an embodiment of the present invention. Figure 7 This is a rear view of an adjustment fixture for an automatically adjustable dropper provided in an embodiment of the present invention.

[0012] Figure reference numerals: 1-Tightening fixture; 11-Tightening slide; 12-Torque wrench; 13-Bolt socket seat; 14-First cylinder; 15-First guide rail; 16-Anti-reverse washer pawl; 17-Camera; 18-First quick-change fixture; 2-Adjusting fixture; 21-Adjusting slide; 211-Second left guide rail; 212-Second right guide rail; 22-Wire clamp positioning module; 221-Positioning pin; 222-Claw cylinder; 223-Heart-shaped ring claw; 23-Suspension wire clamp; 231-Suspension wire claw; 232-Servo motor; 233-Second transmission mechanism; 234-Lead screw; 235-Second cylinder; 24-Current-carrying ring clamp; 241-Current-carrying ring claw slide; 242-Current-carrying ring claw; 243-Third guide rail; 244-Roller; 245-Third cylinder; 25-First transmission mechanism; 26-Cam mechanism; 27-Second quick-change fixture. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0014] Example 1 As described in the background section, in the catenary system of electrified railways, the current-carrying integral dropper is the core connecting component between the catenary and the contact wire, undertaking the dual functions of mechanical suspension and electrical conduction. This dropper typically consists of a dropper wire, a heart-shaped ring, a compression fitting, and a current-carrying ring. The heart-shaped ring serves as the shaping and protective component for the dropper wire. Its embedded groove accommodates the dropper wire as it winds around, and it is tightened and fixed by the compression fitting, forming a physical anchor point for the dropper wire's length. The connecting hole at the top of the heart-shaped ring is used to connect with the catenary dropper wire clamp or the contact wire dropper wire clamp via a pin. The main body of the dropper wire connects the heart-shaped ring and the adjustable fixing bolt assembly, bearing the mechanical suspension load of the contact wire. Adjusting its effective working length allows for precise control of the contact wire's height. The current-carrying ring, as an independent electrical bypass, is connected in parallel to both ends of the dropper wire to conduct traction current, preventing high current from burning out the dropper wire itself. The adjustable fixing bolt assembly includes a bolt and a nut. Tightening the nut changes the effective working length of the dropper wire, providing direct control for adjusting the contact wire's height.

[0015] Currently, the adjustment of the current-carrying integral dropper is mainly done manually at height. When working at height, operators must simultaneously ensure the mechanical tension of the dropper wire, the electrical reliability of the current-carrying ring, and the tightening and loosening of the adjustable fixing bolt assembly, making the process cumbersome. The heart-shaped ring carrying the dropper wire lacks effective positioning during adjustment and is prone to skewing or shifting under tension, affecting adjustment accuracy. More significantly, the bolts in the adjustable fixing bolt assembly tend to rotate when the nut is tightened, making effective adjustment impossible and requiring additional tools for fixation, making it difficult for a single person to complete the operation independently. Furthermore, the length adjustment of the dropper wire and the stress release of the current-carrying ring cannot be handled simultaneously, often requiring multiple repeated adjustments, resulting in low work efficiency. Throughout the entire operation, personnel are in a high-altitude, near-edge position for extended periods, posing a significant fall hazard, and tools are easily lost, seriously threatening the personal safety of the workers.

[0016] To facilitate understanding of this embodiment, in conjunction with Figures 1-7 The tool for automatically adjusting adjustable suspenders disclosed in the embodiments of the present invention will be described in detail.

[0017] This embodiment provides a tool for automatically adjusting adjustable suspension strings, including: a tightening fixture 1 and an adjusting fixture 2.

[0018] Combination Figures 1-7 The tightening fixture 1 includes a tightening slide 11, a torque wrench 12, a bolt sleeve seat 13, and a first cylinder 14; the torque wrench 12 and the bolt sleeve seat 13 are slidably connected to the front of the tightening slide 11, and the first cylinder 14 is installed at the bottom of the tightening slide 11.

[0019] The first cylinder 14 can drive the torque wrench 12 and the bolt sleeve seat 13 to move closer to or further away from the adjustable fixing bolt assembly on the suspension cable on the tightening slide 11. When the torque wrench 12 and the bolt sleeve seat 13 approach the adjustable fixing bolt assembly, the torque wrench 12 can adjust the tightness of the nut in the adjustable fixing bolt assembly, and the bolt sleeve seat 13 can position the bolt in the adjustable fixing bolt assembly.

[0020] Specifically, a first guide rail 15 is provided on the front of the tightening slide 11, and a first left slider and a first right slider are slidably mounted on the first guide rail 15; a torque wrench 12 is fixedly connected to the first left slider through a left connector, a bolt sleeve seat 13 is fixedly connected to the first right slider through a right connector, the cylinder of the first cylinder 14 is fixedly connected to the left connector, and the piston rod of the first cylinder 14 is fixedly connected to the right connector.

[0021] The first cylinder 14 can drive the left and right connectors to move closer or further away from the tightening slide 11 via the first left and first right sliders, thereby causing the torque wrench 12 and the bolt socket 13 to move closer or further away.

[0022] Furthermore, a first optical shaft is inserted through the left and right connecting parts, and both ends of the first optical shaft are mounted on the tightening slide 11. When the torque wrench 12 and the bolt sleeve seat 13 slide on the tightening slide 11, the first optical shaft can play a positioning and guiding role.

[0023] In a preferred embodiment, a locking washer claw 16 is installed on the lower part of the tightening slide 11, and the locking washer claw 16 is located on the same side as the bolt sleeve seat 13. The locking washer is used to lock the nut of the adjustable fixing bolt assembly, and the locking washer claw 16 can pry open the locking claw of the locking washer in the adjustable fixing bolt assembly.

[0024] In a preferred embodiment, a camera 17 is mounted on the top of the tightening slide 11. The camera 17 is capable of monitoring the actual adjustment length of the suspension line and the tightness of the nut on the bolt.

[0025] Combination Figure 1 , Figure 2 , Figure 6 , Figure 7 The adjustment fixture 2 includes an adjustment slide 21, a wire clamp positioning module 22, a dropper wire clamp 23, a current-carrying ring clamp 24, a first transmission mechanism 25, and a cam mechanism 26. The wire clamp positioning module 22 is installed on the top of the adjustment slide 21. The dropper wire clamp 23 is installed on the left side of the adjustment slide 21, and the current-carrying ring clamp 24 is installed on the right side of the adjustment slide 21. The first transmission mechanism 25 is installed in the middle of the adjustment slide 21. The first transmission mechanism 25 is located between the dropper wire clamp 23 and the current-carrying ring clamp 24. The dropper wire clamp 23 is connected to the first transmission mechanism 25, and the first transmission mechanism 25 is connected to the current-carrying ring clamp 24. The right end of the adjustment slide 21 is also provided with a cam mechanism 26, and the current-carrying ring clamp 24 is in rolling contact with the cam mechanism 26.

[0026] The wire clamp positioning module 22 can position and clamp the heart-shaped ring, while the dropper wire clamp 23 and the current-carrying ring clamp 24 can clamp the dropper wire and the current-carrying ring, respectively. The dropper wire clamp 23 can also slide vertically up and down on the adjusting slide 21. When the dropper wire clamp 23 slides, it can drive the current-carrying ring clamp 24 to roll along the edge of the cam mechanism 26 through the first transmission mechanism 25. The movement direction of the dropper wire clamp 23 is opposite to that of the current-carrying ring clamp 24.

[0027] Specifically, the front of the adjustment slide 21 is provided with a second left guide rail 211 and a second right guide rail 212. A second left slider is slidably mounted on the second left guide rail 211, and a second right slider is slidably mounted on the second right guide rail 212. The second left guide rail 211 and the second right guide rail 212 are parallel to each other.

[0028] The wire clamp positioning module 22 includes a heart-shaped ring clamping unit and a positioning pin 221, with the positioning pin 221 located in the middle of the heart-shaped ring clamping unit. The positioning pin 221 can pass through the heart-shaped ring and position it, allowing the heart-shaped ring clamping unit to clamp the heart-shaped ring.

[0029] Furthermore, the heart-shaped ring gripping unit includes a gripper cylinder 222 and a heart-shaped ring gripper 223. The gripper cylinder 222 is fixed on the adjusting slide 21 and connected to the heart-shaped ring gripper 223. A positioning pin 221 is located in the middle of the heart-shaped ring gripper 223. The gripper cylinder 222 can drive the heart-shaped ring gripper 223 to close, thereby gripping the heart-shaped ring.

[0030] The dropper clamp 23 includes a first drive module and a dropper jaw 231. The first drive module is fixedly connected to the dropper jaw 231, and the dropper jaw 231 is fixedly connected to the second left slider.

[0031] The first drive module can drive the dropper 231 to slide on the second left guide rail 211 via the second left slider, and can also drive the dropper 231 to grip the dropper.

[0032] Furthermore, the first drive module includes a servo motor 232, a second transmission mechanism 233, and a lead screw 234; the second transmission mechanism 233 is installed on the top of the adjusting slide 21, and includes a synchronous belt and two pulleys, with the synchronous belt meshing with both pulleys simultaneously; the servo motor 232 is installed on the back of the adjusting slide 21, and the output end of the servo motor 232 is connected to the shaft of one of the pulleys via a coupling, while the shaft of the other pulley is connected to the lead screw 234; the suspension wire clamp 231 has a ball bearing seat inside, and the suspension wire clamp 231 is threadedly connected to the lead screw 234 via the ball bearing seat.

[0033] The servo motor 232 can drive the lead screw 234 to rotate through the second transmission mechanism 233, thereby causing the suspension wire clamp 231 to move vertically on the lead screw 234.

[0034] Furthermore, the first drive module also includes a second cylinder 235, which is connected to the dropper clamp 231. The second cylinder 235 can drive the dropper clamp 231 to clamp the dropper.

[0035] The current-carrying ring clamp 24 includes a current-carrying ring gripper slide 241, a current-carrying ring gripper 242, and a second drive module. The current-carrying ring gripper slide 241 is fixedly connected to the second right slider. A third guide rail 243 is provided on the current-carrying ring gripper slide 241. The direction of the third guide rail 243 is perpendicular to the second left guide rail 211 and the second right guide rail 212. A third slider is slidably mounted on the third guide rail 243 and is fixedly connected to the current-carrying ring gripper 242. The second drive module is connected to the lower side of the current-carrying ring gripper 242. The current-carrying ring gripper 242 is connected to the inner wall on the left side of the current-carrying ring gripper slide 241 through a return spring. A roller 244 is provided on the back of the current-carrying ring gripper 242 and contacts the cam mechanism 26.

[0036] When the current-carrying ring gripper slide 241 slides vertically along the second right guide rail 212, the roller 244 on the current-carrying ring gripper 242 rolls up and down along the edge of the cam mechanism 26. During the rolling process, the current-carrying ring gripper 242 can slide left and right on the current-carrying ring gripper slide 241 under the action of the return spring. When the current-carrying ring gripper 242 slides to the leftmost side of the current-carrying ring gripper slide 241, the current-carrying ring gripper 242 can completely clamp the current-carrying ring.

[0037] It should be noted that during the rolling process, when the current-carrying ring gripper 242 slides to the left on the current-carrying ring gripper slide 241, the current-carrying ring gripper 242 moves by the reset force provided by the reset spring; when the current-carrying ring gripper 242 slides to the right on the current-carrying ring gripper slide 241, the roller 244 is pushed by the cam mechanism 26, and at this time the current-carrying ring gripper 242 moves against the spring force provided by the reset spring.

[0038] Furthermore, a second optical axis is mounted on the current-carrying ring gripper slide 241, and the second optical axis passes through the middle of the current-carrying ring gripper 242. When the current-carrying ring gripper 242 slides on the current-carrying ring gripper slide 241, the second optical axis can play a guiding and positioning role.

[0039] Furthermore, the current-carrying ring gripper 242 includes a main gripper and a secondary gripper, which are hinged together. The main gripper is connected to the current-carrying ring gripper slide 241 via a return spring. A roller 244 is provided on the back of the main gripper, and the roller 244 contacts the cam mechanism 26.

[0040] Furthermore, the second drive module includes a third cylinder 245 and a drive rod, with the third cylinder 245 connected to the secondary gripper via the drive rod. The third cylinder 245 can drive the secondary gripper to swing towards the main gripper via the drive rod, thereby gripping the current-carrying ring.

[0041] The first transmission mechanism 25 is located between the second left guide rail 211 and the second right guide rail 212. The first transmission mechanism 25 includes a wire rope and two fixed pulleys. The wire rope slides in contact with the two fixed pulleys at the same time, and both sides of the wire rope are parallel to the second left guide rail 211 and the second right guide rail 212. The left side of the wire rope is connected to the suspension wire clamp 231, and the right side of the wire rope is connected to the current-carrying ring clamp slide 241.

[0042] In a preferred embodiment, the tightening fixture further includes a first quick-change clamp 18, which is mounted on the back of the tightening slide 11, and the tightening fixture can be mounted on the first robotic arm via the first quick-change clamp 18; the adjusting fixture further includes a second quick-change clamp 27, which is mounted on the back of the adjusting fixture, and the adjusting fixture can be mounted on the second robotic arm via the second quick-change clamp 27.

[0043] In this embodiment, both the tightening fixture and the adjustment fixture can be set in the intelligent fixture library. Both the first robotic arm and the second robotic arm can install the tightening fixture and the adjustment fixture through the first quick-change fixture 18 and the second quick-change fixture 27.

[0044] Example 2 This embodiment provides an application method for an automatically adjustable suspender tool based on Embodiment 1, including the following steps: S1. The first robotic arm installs the tightening fixture 1 through the first quick-change fixture 18, and the second robotic arm installs the adjustment fixture 2 through the second quick-change fixture 27. The first robotic arm and the second robotic arm respectively drive the tightening fixture 1 and the adjustment fixture 2 to approach the suspension cable.

[0045] S2. The second robotic arm drives the adjustment fixture 2 to insert the positioning pin 221 in the wire clamp positioning module 22 into the heart-shaped ring of the suspension wire. Then, the heart-shaped ring clamp 223 in the heart-shaped ring clamping unit closes, leaving a gap for the suspension wire and the heart-shaped ring to move.

[0046] S3. The servo motor drives the lead screw to rotate through the second transmission mechanism, causing the dropper pawl to move vertically downward along the second left guide rail on the adjusting slide. The second left slider connected to the dropper clamp 23 also moves downward along the second left guide rail 221 as the dropper clamp 23 moves. When the second left slider moves downward, it drives the wire rope transmission, which in turn drives the second right slider to move upward. The current-carrying ring clamp 24 connected to the second right slider also moves upward, and the roller 244 on the current-carrying ring clamp 24 rolls upward along the edge of the cam mechanism 26. The current-carrying ring pawl 242 moves to the left on the current-carrying ring pawl slide 241 under the action of the return spring.

[0047] S4. The dropper jaw 231 and the current-carrying ring jaw 242 close simultaneously, so that the dropper jaw 231 clamps the dropper wire and the current-carrying ring jaw 242 clamps the current-carrying ring.

[0048] S5. The first robotic arm drives the tightening fixture 1, and the anti-reverse pawl 16 of the tightening fixture 1 is used to open the anti-reverse pawl of the anti-reverse pawl. Then the first robotic arm drives the tightening fixture 1 again, so that the torque wrench 12 and the bolt sleeve seat 13 are aligned with the adjustable fixing bolt assembly.

[0049] S6, torque wrench 12 and bolt socket 13 simultaneously approach the adjustable fixing bolt assembly, first fix the bolt of the adjustable fixing bolt assembly through bolt socket 13, and then start torque wrench 12 to loosen the nut of the adjustable fixing bolt assembly.

[0050] S7. The servo motor 232 drives the lead screw 234 to rotate through the second transmission mechanism 233, causing the dropper pawl 231 to move vertically upward along the second left guide rail 211 on the adjusting slide 21. The second left slider connected to the dropper pawl 23 also moves upward along the second left guide rail 211 as the dropper pawl 23 moves. When the second left slider 211 moves upward, it drives the wire rope transmission, which in turn drives the second right slider to move downward. The current-carrying ring pawl 24 connected to the second right slider also moves downward, and the roller 244 on the current-carrying ring pawl 24 rolls downward along the edge of the cam mechanism 26. The current-carrying ring pawl 242 moves to the right on the current-carrying ring pawl slide 241 under the action of the return spring.

[0051] S8, Camera 17 detects the actual adjustment length of the suspension wire. When the actual adjustment length is equal to the theoretical adjustment length, the torque wrench 12 is activated to tighten the nut. Then, the first robotic arm drives the tightening fixture 1 to reset, and the anti-reverse pawl 16 of the tightening fixture 1 closes the anti-reverse pawl of the anti-reverse pawl.

[0052] S9, Camera 17 monitors that the nut has been tightened, and then the heart-shaped ring gripper 22) and current-carrying ring gripper 242 open the second robotic arm to drive the adjustment fixture 2 to reset.

[0053] S10, the first robotic arm and the second robotic arm respectively drive the tightening fixture 1 and the adjusting fixture 2 away from the lifting cable.

[0054] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0055] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A tool for automatically adjusting adjustable suspension strings, characterized in that, include: Tightening fixture (1) and adjusting fixture (2); The tightening fixture (1) includes a tightening slide (11), a torque wrench (12), a bolt sleeve seat (13), and a first cylinder (14); the torque wrench (12) and the bolt sleeve seat (13) are slidably connected to the front of the tightening slide (11), and the first cylinder (14) is installed at the bottom of the tightening slide (11). The adjustment fixture (2) includes an adjustment slide (21), a wire clamp positioning module (22), a dropper wire clamp (23), a current-carrying ring clamp (24), a first transmission mechanism (25), and a cam mechanism (26); the wire clamp positioning module (22) is installed on the top of the adjustment slide (21), the dropper wire clamp (23) is installed on the left side of the adjustment slide (21), and the current-carrying ring clamp (24) is installed on the right side of the adjustment slide (21). The first transmission mechanism (25) is installed in the middle of the adjustment slide (21). The first transmission mechanism (25) is located between the dropper clamp (23) and the current-carrying ring clamp (24). The dropper clamp (23) is connected to the first transmission mechanism (25), and the first transmission mechanism (25) is connected to the current-carrying ring clamp (24). A cam mechanism (26) is also provided on the right side of the adjustment slide (21). The current-carrying ring clamp (24) is in rolling contact with the cam mechanism (26). The first cylinder (14) can drive the torque wrench (12) and the bolt sleeve seat (13) to approach or move away from the adjustable fixing bolt assembly on the suspension cable on the tightening slide (11); when the torque wrench (12) and the bolt sleeve seat (13) approach the adjustable fixing bolt assembly, the torque wrench (12) can adjust the tightness of the nut in the adjustable fixing bolt assembly, and the bolt sleeve seat (13) can position the bolt in the adjustable fixing bolt assembly; The wire clamp positioning module (22) can position and clamp the heart-shaped ring. The dropper clamp (23) and the current-carrying ring clamp (24) can clamp the dropper and the current-carrying ring respectively. The dropper clamp (23) can also slide vertically up and down on the adjusting slide (21). When the dropper clamp (23) slides, the dropper clamp (23) can drive the current-carrying ring clamp (24) to roll along the edge of the cam mechanism (26) through the first transmission mechanism (25). The movement direction of the dropper clamp (23) is opposite to the movement direction of the current-carrying ring clamp (24).

2. The tool for automatically adjusting adjustable suspension strings according to claim 1, characterized in that, The tightening slide (11) is provided with a first guide rail (15) on its front side. A first left slider and a first right slider are slidably mounted on the first guide rail (15). The torque wrench (12) is fixedly connected to the first left slider through a left connector. The bolt sleeve seat (13) is fixedly connected to the first right slider through a right connector. The cylinder of the first cylinder (14) is fixedly connected to the left connector. The piston rod of the first cylinder (14) is fixedly connected to the right connector.

3. The tool for automatically adjusting adjustable suspension strings according to claim 1, characterized in that, The lower part of the tightening slide (11) is equipped with a backstop pawl (16), which is located on the same side as the bolt sleeve seat (13); a camera (17) is installed on the top of the tightening slide (11).

4. The tool for automatically adjusting adjustable suspension strings according to claim 1, characterized in that, The front of the adjustment slide (21) is provided with a second left guide rail (211) and a second right guide rail (212). A second left slider is slidably mounted on the second left guide rail (211), and a second right slider is slidably mounted on the second right guide rail (212). The second left guide rail (211) and the second right guide rail (212) are parallel to each other. The wire clamp positioning module (22) includes a heart-shaped ring clamping unit and a positioning pin (221), wherein the positioning pin (221) is located in the middle of the heart-shaped ring clamping unit; The dropper clamp (23) includes a first drive module and a dropper jaw (231). The first drive module is fixedly connected to the dropper jaw (231), and the dropper jaw (231) is fixedly connected to the second left slider. The current-carrying ring clamp (24) includes a current-carrying ring clamp slide (241), a current-carrying ring clamp (242), and a second drive module. The current-carrying ring clamp slide (241) is fixedly connected to the second right slider. A third guide rail (243) is provided on the current-carrying ring clamp slide (241), and a third slider is slidably installed on the third guide rail (243). The third slider is fixedly connected to the current-carrying ring clamp (242). The second drive module is connected to the lower side of the current-carrying ring clamp (242). The right side of the current-carrying ring clamp (242) is connected to the left inner wall of the current-carrying ring clamp slide (241) through a reset spring. A roller (244) is provided on the back of the current-carrying ring clamp (242), and the roller (244) contacts the cam mechanism (26). The first transmission mechanism (25) is located between the second left guide rail (211) and the second right guide rail (212). The first transmission mechanism (25) includes a wire rope and two fixed pulleys. The wire rope slides in contact with the two fixed pulleys at the same time. Both sides of the wire rope are parallel to the second left guide rail (211) and the second right guide rail (212). The left side of the wire rope is connected to the drop wire clamp (231), and the right side of the wire rope is connected to the current-carrying ring clamp slide (241).

5. The tool for automatically adjusting adjustable suspension strings according to claim 4, characterized in that, The heart-shaped ring gripping unit includes a gripper cylinder (222) and a heart-shaped ring gripper (223). The gripper cylinder (222) is fixed on the adjusting slide (21). The gripper cylinder (222) is connected to the heart-shaped ring gripper (223). The positioning pin (221) is located in the middle of the heart-shaped ring gripper (223).

6. The tool for automatically adjusting an adjustable suspension string according to claim 4, characterized in that, The first drive module includes a servo motor (232), a second transmission mechanism (233), and a lead screw (234). The second transmission mechanism (233) is mounted on the top of the adjusting slide (21). The second transmission mechanism (233) includes a synchronous belt and two pulleys. The synchronous belt meshes with both pulleys simultaneously. The servo motor (232) is mounted on the back of the adjusting slide (21). The output end of the servo motor (232) is connected to the shaft of one of the pulleys via a coupling. The shaft of the other pulley is connected to the lead screw (234). The suspension wire clamp (231) has a ball bearing seat inside. The suspension wire clamp (231) is threadedly connected to the lead screw (234) via the ball bearing seat. The first drive module also includes a second cylinder (235), which is connected to the drop wire clamp (231).

7. The tool for automatically adjusting an adjustable suspension string according to claim 4, characterized in that, An optical axis is mounted on the current-carrying ring gripper slide (241), and the optical axis passes through the middle of the current-carrying ring gripper (242); The current-carrying ring gripper (242) includes a main gripper and a secondary gripper. The main gripper and the secondary gripper are hinged together. The main gripper is connected to the current-carrying ring gripper slide (241) through a return spring. A roller (244) is provided on the back of the main gripper. The roller (244) contacts the cam mechanism (26). The second drive module includes a third cylinder and a drive rod, wherein the third cylinder is connected to the secondary gripper via the drive rod.

8. The tool for automatically adjusting an adjustable suspension string according to claim 1, characterized in that, The tightening fixture (1) further includes a first quick-change clamp (18), which is mounted on the back of the tightening slide (11). The tightening fixture (1) can be mounted on the first robotic arm via the first quick-change clamp (18). The adjusting fixture (2) further includes a second quick-change clamp (27), which is mounted on the back of the adjusting fixture (2). The adjusting fixture (2) can be mounted on the second robotic arm via the second quick-change clamp (27).

9. A method for applying the tool for automatically adjusting adjustable suspension strings according to any one of claims 1-8, characterized in that, include: S1. The first robotic arm installs the tightening fixture (1) through the first quick-change clamp (18), and the second robotic arm installs the adjusting fixture (2) through the second quick-change clamp (27). The first robotic arm and the second robotic arm respectively drive the tightening fixture (1) and the adjusting fixture (2) to approach the suspension cable. S2. The second robotic arm drives the adjustment fixture (2) to insert the positioning pin (221) in the wire clamp positioning module (22) into the heart-shaped ring of the suspension wire. Then the heart-shaped ring gripper (223) in the heart-shaped ring clamping unit closes, leaving a gap for the suspension wire to move between the suspension wire and the heart-shaped ring. S3. The servo motor (232) drives the lead screw (234) to rotate through the second transmission mechanism (233), causing the dropper clamp (231) to move vertically downward along the second left guide rail (211) on the adjusting slide (21). The second left slider connected to the dropper clamp (23) also moves downward along the second left guide rail (221) as the dropper clamp (23) moves. When the second left slider moves downward, the second left slider drives the wire rope transmission, which in turn drives the second right slider to move upward. The current-carrying ring clamp (24) connected to the second right slider also moves upward. The roller (244) on the current-carrying ring clamp (24) rolls upward along the edge of the cam mechanism (26). The current-carrying ring clamp (242) moves to the left on the current-carrying ring clamp slide (241) under the action of the return spring. S4. The dropper clamp (231) and the current-carrying ring clamp (242) close simultaneously, so that the dropper clamp (231) clamps the dropper and the current-carrying ring clamp (242) clamps the current-carrying ring. S5. The first robotic arm drives the tightening fixture (1), and the anti-reverse pad claw (16) of the tightening fixture (1) opens the anti-reverse pad claw. Then the first robotic arm drives the tightening fixture (1) again, so that the torque wrench (12) and the bolt sleeve seat (13) are aligned with the adjustable fixing bolt assembly. S6. The torque wrench (12) and the bolt sleeve seat (13) move toward the adjustable fixing bolt assembly at the same time. First, the bolt of the adjustable fixing bolt assembly is fixed by the bolt sleeve seat (13), and then the torque wrench (12) is activated to loosen the nut of the adjustable fixing bolt assembly. S7. The servo motor (232) drives the lead screw (234) to rotate through the second transmission mechanism (233), causing the dropper clamp (231) to move vertically upward along the second left guide rail (211) on the adjusting slide (21). As the dropper clamp (23) moves vertically upward along the second left guide rail (211), the second left slider connected to the dropper clamp (23) also moves upward along the second left guide rail (211) as the dropper clamp (23) moves. When the second left slider moves upward, the second left slider drives the wire rope transmission, which in turn drives the second right slider to move downward. The current-carrying ring clamp (24) connected to the second right slider also moves downward. The roller (244) on the current-carrying ring clamp (24) rolls downward along the edge of the cam mechanism (26). The current-carrying ring clamp (242) moves to the right on the current-carrying ring clamp slide (241) under the action of the return spring. S8. The camera (17) detects the actual adjustment length of the suspension wire. When the actual adjustment length is equal to the theoretical adjustment length, the torque wrench (12) is activated to tighten the nut. Then the first mechanical arm drives the tightening fixture (1) to reset. The anti-reverse pad pawl (16) of the tightening fixture (1) closes the anti-reverse pad pawl. S9. The camera (17) monitoring nut has been tightened, and then the heart-shaped ring gripper (223) and the current-carrying ring gripper (242) are opened, and the second robotic arm drives the adjustment fixture (2) to reset. S10, the first robotic arm and the second robotic arm respectively drive the tightening fixture (1) and the adjusting fixture (2) away from the suspension cable.

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