Cable transmission device and method

Abstract

The present application relates to a cable transmission device and method, including: a cable clamping assembly, including a clamping member, a transmission member, a transmission cylinder and a mounting arm, wherein the clamping member is rotatably mounted on one end of the mounting arm, the transmission cylinder is fixedly mounted on the other end of the mounting arm, and the transmission member is movably mounted on one side of the mounting arm. A control assembly, including a connecting member and a control member, wherein the control member is located on one side of the connecting member and is electrically connected to the robot, and the end of the connecting member is connected to the robot flange. A cable conveying mechanism, including a stepper motor, a buffer tube, a mounting plate, a rotating roller, a conveyor belt and a synchronous pulley, wherein the two ends of the conveyor belt are respectively connected to the stepper motor and the synchronous pulley, the rotating roller is rotatably mounted on the mounting plate and the driving end is fixedly connected to the synchronous pulley, the stepper motor is electrically connected to the control member, one end of the buffer tube is fixedly mounted on the output end of the cable conveying mechanism, one side of the mounting arm is fixedly mounted on one side of the cable conveying mechanism, and the clamping member is located at the input end of the cable transmission mechanism.

Description

Technical Field

[0001] The present application relates to the technical field of cable plugging and transmission, and in particular to a cable transmission device and method. Background Art

[0002] The electrical control cabinet is a control cabinet that integrates control equipment, switch components, protection components, measuring instruments and auxiliary equipment to achieve corresponding control functions according to the electrical control requirements of a single device or a complete set of production equipment. Due to the diversity of brands and specifications of components in the cabinet, the difficulty of cable plugging and wiring path planning, as well as the small batch and multi-variety nature of the electrical cabinet itself, the difficulty of cable plugging automation has been greatly increased.

[0003] At present, there are cables of various specifications in the electrical control cabinet, and their wiring paths are different. In the wiring work of electrical components in the traditional electrical control cabinet installation board, it is necessary to manually distinguish the cables and plan the wiring of different cables, and the degree of automation is low. In addition, the wiring personnel are required to have certain drawing reading ability and relevant electrical basic knowledge. Summary of the invention

[0004] Based on this, it is necessary to provide a cable transmission device and method with a high degree of automation to address the above technical problems.

[0005] In a first aspect, the present application provides a cable transmission device, comprising:

[0006] The cable clamping assembly comprises a clamping member, a transmission member, a transmission cylinder and a mounting arm, wherein the clamping member is rotatably mounted on one end of the mounting arm, the transmission cylinder is fixedly mounted on the other end of the mounting arm, and the transmission member is movably mounted on one side of the mounting arm;

[0007] A control assembly, comprising a connecting member and a control member, wherein the control member is fixedly mounted on one side of the connecting member and electrically connected to the robot, and an end of the connecting member is fixedly connected to a flange of the robot;

[0008] A cable conveying mechanism includes a stepper motor, a cache tube, a mounting plate, a rotating roller, a conveyor belt and a synchronous pulley, wherein the driving end of the conveyor belt is connected to the output end of the stepper motor, and the output end is sleeved on the synchronous pulley, the rotating roller is rotatably mounted on the mounting plate and the driving end is fixedly connected to the synchronous pulley, the stepper motor is electrically connected to the control component, one end of the cache tube is fixedly mounted on the output end of the cable conveying mechanism, the mounting arm is fixedly mounted on one side of the cable conveying mechanism, and the clamping component is located at the input end of the cable transmission mechanism.

[0009] When the above-mentioned cable transmission device is used, the cable transmission device is connected to the robot flange through the connector, and the cable to be connected is received by the input end of the cable conveying mechanism. When the cable to be connected is received, the stepper motor is started, and the output end of the stepper motor drives the synchronous pulley to rotate through the conveyor belt, and the rotation of the synchronous pulley then drives the rotating roller to rotate. The rotation of the rotating roller can transport the received cable to be connected to the buffer tube, and the buffer tube is used to temporarily store the cable to be connected received by the device to prevent the cable from falling due to gravity and getting entangled during movement. In addition, the clamping assembly provided at the input end of the cable conveying mechanism can clamp and loosen the conveyed cable through the clamping piece, and the cable angle can be flipped by rotating the clamping piece to meet different wiring requirements. The forward and reverse wire feeding is achieved by controlling the forward and reverse rotation of the stepper motor, and then the robot is cooperated to realize the automatic grasping and positioning of the two ends of the cable, reducing manual adjustment, and the degree of automation is high.

[0010] In one embodiment, the rotating roller is provided with two groups, namely a first rotating roller and a second rotating roller. The first rotating roller and the second rotating roller are installed on the mounting plate relative to each other, and there is a gap between the two groups of rotating rollers. The synchronous pulley is fixedly connected to the first rotating roller to drive the first rotating roller to rotate.

[0011] In one embodiment, the cable conveying mechanism also includes a shell and a mobile platform, the second rotating roller is rotatably installed on the bottom of the mobile platform, the top of the mobile platform is slidably installed on the mounting plate and a compression spring is connected between the inner wall of one side of the shell to fix the cable in the interval.

[0012] In one embodiment, the cable conveying mechanism also includes a sensor and a pushing cylinder. The sensor is fixedly installed at the input end of the cable conveying mechanism and is electrically connected to the stepper motor. The pushing cylinder is fixedly installed on the other side of the shell through an output tube, and the output end is arranged inside the shell to realize the pushing of the mobile platform.

[0013] In one embodiment, the synchronous pulley is arranged on the outer side of the shell, and a connecting shaft is fixedly connected to the middle part thereof; the first rotating roller is located in the shell, and the connecting shaft passes through the shell and is fixedly connected to the middle part of the first rotating roller.

[0014] In one embodiment, the output end of the transmission cylinder is connected to the first power cylinder and the second power cylinder respectively, the clamping end of the clamping member is connected to the first power cylinder through a cable, and the first power cylinder controls the clamping member by controlling the cable.

[0015] In one embodiment, the driving end of the transmission member is connected to the output end of the second power cylinder, the output end of the transmission member is fixedly connected with a rack, the rack is meshed with a rotating gear, and the driving end of the clamping member is provided with a driven gear, and the rotating gear is meshed with the driven gear to realize the rotation of the clamping member.

[0016] In one embodiment, the cable conveying mechanism also includes a mounting bracket and a driving wheel, the stepper motor is fixedly mounted on the mounting bracket, the driving wheel is fixedly mounted on the output end of the stepper motor and located at the bottom of the mounting bracket, and the conveyor belt is sleeved on the driving wheel.

[0017] In one embodiment, the cable conveying device also includes an adjusting wheel, which is slidably installed between the synchronous pulley and the driving wheel through a sliding assembly and is close to the conveyor belt. The adjusting wheel is rotatably installed on the sliding assembly, and the tightness of the conveyor belt can be adjusted by sliding the sliding assembly.

[0018] In a second aspect, the present application provides a cable transmission method, which is implemented by the cable transmission device described in the first aspect of the present application, and the method includes:

[0019] Controlling the push cylinder to push the moving platform to increase the interval between the rotating rollers;

[0020] Put the cables to be connected into the cable conveying mechanism from the input end of the cable conveying mechanism;

[0021] When the sensor detects that the cable has entered, the air cylinder is reset to make the mobile platform press the cable through the compression spring, and the stepper motor is automatically controlled to start through the control component. The stepper motor drives the driving roller in the cable conveying mechanism to rotate through the conveyor belt and the synchronous pulley, and transmits the cable to be connected to the buffer tube;

[0022] When the sensor cannot detect the cable, the stepper motor is stopped and reversely operated for a fixed distance, so that the received cable extends out of the cable conveying mechanism by a fixed length;

[0023] The first power cylinder controls the cable connected to the clamping member, thereby controlling the clamping member to clamp the free end of the cable, and the robot connects the free end of the cable;

[0024] Control the clamping member to loosen the cable after the cable connection is completed, and control the stepper motor to reverse and release the cable in accordance with the running speed of the robot;

[0025] When the sensor cannot detect the cable, the clamping member is controlled to clamp the cable, and the cable end is separated from the cable conveying mechanism by controlling the transmission cylinder, and the rack at the end of the transmission member is controlled to move by the second power cylinder, so that the rotating gear meshing with the rack rotates, thereby driving the driven gear on the clamping member to rotate, so as to adjust the angle of the clamping member. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall structure of a cable transmission device in one embodiment of the present application;

[0027] Figure 2 This is a schematic diagram of the structure of the clamping assembly of this embodiment;

[0028] Figure 3 It is a schematic diagram of the side structure of the cable conveying mechanism of this embodiment;

[0029] Figure 4 Schematic diagram of the internal structure of the cable conveying mechanism of this embodiment;

[0030] Figure 5 This is a flow chart of a cable transmission method according to an embodiment of the present application.

[0031] In the figure: 100, cable clamping assembly; 110, clamping member; 111, driven gear; 112, rotating gear; 120, transmission member; 121, rack; 130, transmission cylinder; 131, first power cylinder; 132, second power cylinder; 140, mounting arm; 200, control assembly; 210, connecting member; 220, control member; 300, cable conveying mechanism; 310, stepping motor; 311, mounting bracket; 312, driving wheel; 320, conveyor belt; 321, synchronous pulley; 330, housing; 340, mounting plate; 341, moving platform; 342, first rotating roller; 343, second rotating roller; 344, compression spring; 350, cache tube; 360, sensor; 370, pushing cylinder; 371, output tube; 380, adjusting wheel; 381, sliding assembly. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0033] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may also be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of this application are for illustrative purposes only and do not represent the only implementation method.

[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0035] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are indirectly in contact through an intermediate medium. Moreover, a first feature being “above”, “above” or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below” or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0036] Unless otherwise defined, all technical and scientific terms used in the specification of this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in the specification of this application includes any and all combinations of one or more related listed items.

[0037] like Figures 1 to 4 As shown, in one embodiment, a cable transmission device includes:

[0038] The cable clamping assembly 100 includes a clamping member 110, a transmission member 120, a transmission cylinder 130 and a mounting arm 140. The clamping member 110 is rotatably mounted on one end of the mounting arm 140, the transmission cylinder 130 is fixedly mounted on the other end of the mounting arm 140, and the transmission member 120 is movably mounted on one side of the mounting arm 140.

[0039] The control assembly 200 includes a connecting member 210 and a control member 220. The control member 220 is fixedly installed on one side of the connecting member 210 and electrically connected to the robot. The end of the connecting member 210 is fixedly connected to the flange of the robot.

[0040] The cable conveying mechanism 300 includes a stepper motor 310, a cache tube 350, a mounting plate 340, a rotating roller, a conveyor belt 320 and a synchronous pulley 321. The driving end of the conveyor belt 320 is connected to the output end of the stepper motor 310, and the output end is sleeved on the synchronous pulley 321. The rotating roller is rotatably mounted on the mounting plate 340 and the driving end is fixedly connected to the synchronous pulley 321. The stepper motor 310 is electrically connected to the control component 220. One end of the cache tube 350 is fixedly mounted on the output end of the cable conveying mechanism 300. The mounting arm 140 is fixedly mounted on one side of the cable conveying mechanism 300. The clamping component 110 is located at the input end of the cable transmission mechanism 300.

[0041] When the above-mentioned cable transmission device is used, the cable transmission device is connected to the robot flange through the connector, and the cable to be connected is received by the input end of the cable conveying mechanism. When the cable to be connected is received, the stepper motor is started, and the output end of the stepper motor drives the synchronous pulley to rotate through the conveyor belt, and the rotation of the synchronous pulley then drives the rotating roller to rotate. The rotation of the rotating roller can transport the received cable to be connected to the buffer tube, and the buffer tube is used to temporarily store the cable to be connected received by the device to prevent the cable from falling due to gravity and getting entangled during movement. In addition, the clamping assembly provided at the input end of the cable conveying mechanism can clamp and loosen the conveyed cable through the clamping piece, and the cable angle can be flipped by rotating the clamping piece to meet different wiring requirements. The forward and reverse wire feeding is achieved by controlling the forward and reverse rotation of the stepper motor, and then the robot is cooperated to realize the automatic grasping and positioning of the two ends of the cable, reducing manual adjustment, and the degree of automation is high.

[0042] In this embodiment, the cable conveying mechanism 300 further includes a housing 330, and two groups of rotating rollers are provided, namely a first rotating roller 342 and a second rotating roller 343. The first rotating roller 342 and the second rotating roller 343 are mounted on the mounting plate 340 opposite to each other and are located inside the housing 330, and there is a gap between the first rotating roller 342 and the second rotating roller 343 for accommodating cables. A rotating shaft is fixedly installed in the middle of the synchronous pulley 321, and the rotating shaft passes through one end of the housing 330 and is fixedly connected to the first rotating roller 342, so that when the synchronous pulley 321 rotates forward and backward, it can drive the first rotating roller 342 to rotate forward and backward. A moving platform 341 is slidably installed on the mounting plate 340, and the second rotating roller 343 is rotatably installed on the moving platform 341. A compression spring 344 is fixedly connected between the side of the moving platform 341 away from the gap and the side wall of the housing 330, and the compression spring 344 can be used to compress the cables received in the cable conveying mechanism 300. When the cable is received into the cable conveying mechanism 300, the movable platform 341 will slide automatically according to the thickness of the cable, and the compression spring 344 will apply an elastic force in the opposite direction of the sliding direction of the movable platform 341, so that the first rotating roller 342 and the second rotating roller 343 can clamp the cable, and the cable can be conveyed through the rotation between the two.

[0043] The input end of the cable conveying mechanism 300 is provided with a sensor 360, and the sensor 360 is electrically connected to the stepper motor 310. When the cable to be connected is received by the cable conveying mechanism 300, the sensor 360 detects the cable and starts the stepper motor 310 to rotate forward to receive the cable. A push cylinder 370 is fixedly installed on one side of the housing 330 through an output tube 371. The output end of the push cylinder 370 extends into the interior of the housing 330 through the output tube 371. The push cylinder 370 is arranged on the side opposite to the mobile platform 341. The push cylinder 370 is used to push the mobile platform 341 to move in the direction of the compression spring 344, so that the interval between the first rotating roller 342 and the second rotating roller 343 becomes larger to facilitate the collection of the cable.

[0044] In this embodiment, the cable conveying mechanism 300 further includes a mounting bracket 311 and a driving wheel 312. The stepper motor 310 is fixedly mounted on the mounting bracket 311. The mounting bracket 311 is fixedly mounted on the housing 330. The output end of the stepper motor 310 is located between the mounting bracket 311 and the housing 330. The driving wheel 312 is fixedly mounted on the output end of the stepper motor 310 and is used to sleeve the conveyor belt 320. When the stepper motor 310 rotates forward and reversely, it will drive the driving wheel 312 to rotate. The driving wheel 312 rotates to realize the rotation of the synchronous pulley 321 through the conveyor belt 320. In addition, an adjusting wheel 380 is also provided between the driving wheel 312 and the synchronous pulley 321. The adjusting wheel 380 is slidably mounted on the housing 330 and is close to the conveyor belt 320 through a sliding assembly 381. The adjusting wheel 380 is rotatably mounted on the sliding assembly 381. The tightness of the conveyor belt 320 can be adjusted by sliding the sliding assembly 381.

[0045] In this embodiment, the first power cylinder 131 and the second power cylinder 132 are connected to the two sides of the transmission cylinder 130, wherein the first power cylinder 131 is connected to the clamping end of the clamping member 110 through a cable, and the first power cylinder 131 controls the clamping and releasing of the clamping member 110 by controlling the cable. The driving end of the transmission member 120 is connected to the output end of the second power cylinder 132, and the output end of the transmission member 120 is fixedly connected with a rack 121, and the rack 121 is meshed with a rotating gear 112. The driving end of the clamping member 110 is provided with a driven gear 111. The transmission member 120 is controlled by the second power cylinder 132 to drive the rack 121 to move, and the movement of the rack 121 drives the rotating gear 112 meshed therewith to rotate, and the rotating gear 112 rotates and then drives the driven gear 111 to rotate, and the rotation of the driven gear 111 finally drives the clamping member 110 to rotate, thereby realizing the flipping of the angle of the clamping member 110.

[0046] Working principle: The cable conveying device is used as the end effector of the industrial robot, and is used to assist the industrial robot in completing the automatic wiring of electrical components in the electric control cabinet. It uses a stepper motor 310 and a synchronous pulley 321 as the power source, and is combined with a push cylinder 370 to realize the delivery of prefabricated cables of custom lengths, and supports variable speed wire delivery in coordination with the robot wiring speed. When in use, the moving platform 341 is pushed by controlling the push cylinder 370 to increase the interval between the rotating rollers to facilitate the collection of the cables, and the cables to be connected are inserted from the input end of the cable conveying mechanism 300. When the sensor 360 at the input end detects the cable, the stepper motor 310 is started. At this time, the stepper motor 310 is controlled to rotate forward, and the synchronous pulley 321 is controlled to rotate forward through the cooperation of the driving wheel 312 and the conveyor belt 320. The rotation of the synchronous pulley 321 controls the rotation of the first rotating roller 342 inside the cable conveying mechanism 300 through the rotating shaft. Since a compression spring 344 is provided between the mobile platform 341 and the inner wall of the housing 330, the compression spring 344 generates pressure to squeeze the first rotating roller 342, and the pressure increases the friction between the cable and the first steering roller 342 and the second steering roller 343. The first rotating roller 342 rotates to drive the cable to the buffer tube 350, and the second rotating roller 343 rotates in coordination during the cable collection process. Since the clamp 110 is provided at the input end of the cable conveying mechanism 300, the clamp 110 can be tightened and loosened and the cable angle can be flipped by controlling the first power cylinder 131 and the second power cylinder 132 to meet different wiring requirements. After the cable to be connected is collected, the forward and reverse rotation of the stepper motor 310 can be used to feed the cable in the forward and reverse directions to achieve automatic grasping and positioning of both ends of the cable. In addition, the setting of the buffer tube 350 effectively prevents the cable from being entangled during the transportation process. When the cable is transported outward, the stepper motor 310 is controlled to rotate in the opposite direction, and the synchronous pulley 321 is controlled to rotate in the opposite direction through the cooperation of the driving wheel 312 and the conveyor belt 320. The rotation of the synchronous pulley 321 controls the rotation of the first rotating roller 342 inside the cable conveying mechanism 300 through the rotating shaft, and the cable is transported in the opposite direction to the input end of the conveying mechanism 300. When the sensor 360 at the input end can no longer detect the cable, the clamping member 110 is controlled to clamp the cable, and then the transmission cylinder 130 is controlled to act to separate the cable end from the cable conveying mechanism 300.

[0047] like Figure 5 As shown, in one embodiment, a cable transmission method includes the following steps:

[0048] Step S510, controlling the pushing cylinder to push the moving platform to increase the interval between the rotating rollers.

[0049] Step S520: receiving the to-be-connected cable into the cable conveying mechanism from the input end of the cable conveying mechanism.

[0050] Step S530, when the sensor detects that the cable has entered, the push cylinder is reset, the mobile platform is pressed against the cable through the compression spring, and the stepper motor is automatically controlled to start through the control component. The stepper motor drives the driving roller in the cable conveying mechanism to rotate through the conveyor belt and the synchronous pulley, and transmits the cable to be connected to the cache tube.

[0051] Step S540, when the sensor cannot detect the cable, the stepper motor is stopped and runs in the reverse direction for a fixed distance, so that the received cable extends out of the cable conveying mechanism by a fixed length.

[0052] Step S550, controlling the cable connected to the clamping member by the first power cylinder, thereby controlling the clamping member to clamp the free end of the cable, and the robot connects the free end of the cable.

[0053] Step S560, controlling the clamping member to loosen the cable after the cable connection is completed, and controlling the stepper motor to reverse and release the cable in accordance with the running speed of the robot.

[0054] Step S570, when the sensor cannot detect the cable, the clamping member is controlled to clamp the cable, and the cable end is separated from the cable conveying mechanism by controlling the transmission cylinder, and the rack at the end of the transmission member is controlled by the second power cylinder to move, so that the rotating gear meshing with the rack rotates, thereby driving the driven gear on the clamping member to rotate, so as to adjust the angle of the clamping member.

[0055] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A cable transmission device, characterized in that: include: The cable clamping assembly comprises a clamping member, a transmission member, a transmission cylinder and a mounting arm, wherein the clamping member is rotatably mounted on one end of the mounting arm, the transmission cylinder is fixedly mounted on the other end of the mounting arm, and the transmission member is movably mounted on one side of the mounting arm; A control assembly, comprising a connecting member and a control member, wherein the control member is fixedly mounted on one side of the connecting member and electrically connected to the robot, and an end of the connecting member is fixedly connected to a flange of the robot; A cable conveying mechanism includes a stepper motor, a cache tube, a mounting plate, a rotating roller, a conveyor belt and a synchronous pulley, wherein the driving end of the conveyor belt is connected to the output end of the stepper motor, and the output end is sleeved on the synchronous pulley, the rotating roller is rotatably mounted on the mounting plate and the driving end is fixedly connected to the synchronous pulley, the stepper motor is electrically connected to the control component, one end of the cache tube is fixedly mounted on the output end of the cable conveying mechanism, the mounting arm is fixedly mounted on one side of the cable conveying mechanism, and the clamping component is located at the input end of the cable transmission mechanism.

2. The cable transmission device according to claim 1, characterized in that: The rotating rollers are provided with two groups, namely the first rotating roller and the second rotating roller. The first rotating roller and the second rotating roller are installed on the mounting plate opposite to each other, and there is a gap between the two groups of rotating rollers. The synchronous pulley is fixedly connected to the first rotating roller to drive the first rotating roller to rotate.

3. The cable transmission device according to claim 2, characterized in that: The cable conveying mechanism also includes a shell and a moving platform. The second rotating roller is rotatably installed at the bottom of the moving platform. The top of the moving platform is slidably installed on the mounting plate and a compression spring is connected between the inner wall of one side of the shell to fix the cables in the interval.

4. The cable transmission device according to claim 3, characterized in that: The cable conveying mechanism also includes a sensor and a pushing cylinder. The sensor is fixedly installed at the input end of the cable conveying mechanism and is electrically connected to the stepper motor. The pushing cylinder is fixedly installed on the other side of the shell through an output pipe, and the output end is arranged inside the shell to realize the pushing of the mobile platform.

5. The cable transmission device according to claim 4, characterized in that: The synchronous pulley is arranged on the outer side of the shell, and a connecting shaft is fixedly connected to the middle part thereof; the first rotating roller is located in the shell, and the connecting shaft passes through the shell and is fixedly connected to the middle part of the first rotating roller.

6. The cable transmission device according to claim 5, characterized in that: The output ends of the transmission cylinder are respectively connected to the first power cylinder and the second power cylinder. The clamping end of the clamping member is connected to the first power cylinder via a cable. The first power cylinder controls the clamping member by controlling the cable.

7. The cable transmission device according to claim 6, characterized in that: The driving end of the transmission member is connected to the output end of the second power cylinder, the output end of the transmission member is fixedly connected with a rack, the rack is meshed with a rotating gear, and the driving end of the clamping member is provided with a driven gear, the rotating gear is meshed with the driven gear to realize the rotation of the clamping member.

8. The cable transmission device according to claim 7, characterized in that: The cable conveying mechanism also includes a mounting bracket and a driving wheel. The stepper motor is fixedly mounted on the mounting bracket. The driving wheel is fixedly mounted on the output end of the stepper motor and located at the bottom of the mounting bracket. The conveyor belt is sleeved on the driving wheel.

9. The cable transmission device according to claim 8, characterized in that: The cable conveying device also includes an adjusting wheel, which is slidably installed between the synchronous pulley and the driving wheel through a sliding component and is close to the conveyor belt. The adjusting wheel is rotatably installed on the sliding component, and the tightness of the conveyor belt can be adjusted by sliding the sliding component.

10. A cable transmission method, implemented by the cable transmission device according to claim 9, characterized in that: The method comprises: Controlling the push cylinder to push the moving platform to increase the interval between the rotating rollers; Put the cables to be connected into the cable conveying mechanism from the input end of the cable conveying mechanism; When the sensor detects that the cable has entered, the air cylinder is reset to make the mobile platform press the cable through the compression spring, and the stepper motor is automatically controlled to start through the control component. The stepper motor drives the driving roller in the cable conveying mechanism to rotate through the conveyor belt and the synchronous pulley, and transmits the cable to be connected to the buffer tube; When the sensor cannot detect the cable, the stepper motor is stopped and reversely operated for a fixed distance, so that the received cable extends out of the cable conveying mechanism by a fixed length; The first power cylinder controls the cable connected to the clamping member, thereby controlling the clamping member to clamp the free end of the cable, and the robot connects the free end of the cable; Control the clamping member to loosen the cable after the cable connection is completed, and control the stepper motor to reverse and release the cable in accordance with the running speed of the robot; When the sensor cannot detect the cable, the clamping member is controlled to clamp the cable, and the cable end is separated from the cable conveying mechanism by controlling the transmission cylinder, and the rack at the end of the transmission member is controlled to move by the second power cylinder, so that the rotating gear meshing with the rack rotates, thereby driving the driven gear on the clamping member to rotate, so as to adjust the angle of the clamping member.

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