Cable end processing system with laser scanning function and processing method

Abstract

The application discloses a cable end processing system and method with a laser scanning function, and the processing system comprises a controller, a cable end processing device and a laser scanning device; the controller is internally provided with a cable outer contour fitting module and a cable eccentric distance calculation module; the laser scanning device rotates around a cable axis and emits laser signals to the surface of the cable, receives the reflected laser signals and sends the reflected laser signals to the controller; the controller calculates the distance between the corresponding irradiation points on the surface of the cable and the cable axis according to the time difference between the laser signal emission and reception; the cable outer contour fitting module fits the cable outer contour; the cable eccentric distance calculation module calculates the eccentric distance of each point on the surface of the cable relative to an ideal cable; and the controller outputs a signal to control the radial feeding device of the processing tool to adjust the radial feeding amount of the processing tool and compensate for the eccentricity. The application improves the cable end processing efficiency, processing precision and construction quality.

Description

Technical Field

[0001] The invention relates to high-voltage cable preprocessing, and in particular to a cable end processing system and method with a laser scanning function. Background Art

[0002] Cable joint pretreatment is a necessary process for connecting high-voltage cable ends. The process is cumbersome and requires high precision. The low precision caused by manual processing is the main cause of cable joint failure. Cable joint failure may cause large-scale regional power outages or even fires, seriously affecting people's lives and property safety.

[0003] The Chinese patent application number is 201910794912.3, and the invention name is "An Intelligent High-Voltage Cable Automatic Cutting Process". It discloses a high-voltage cable contour measurement algorithm and an automated cutting process. This method only remains at the theoretical level and has not been combined with actual cable cutting machinery. It is not scalable and practical.

[0004] The Chinese patent application number is 202110206575.9, and the invention name is "A portable automatic cutting device for high-voltage cable insulation layer". It discloses a method for cutting the insulation shielding layer of a high-voltage cable by a machine. However, the device can only cut the shielding layer of the high-voltage cable and cannot polish it at the same time. In addition, the processing accuracy is low and the stability of the device is poor.

[0005] The Chinese patent application number is 201911102444.5, and the invention name is "Cone head processing device for automatic cable head production device". It discloses a high-voltage cable cutting device with a variable cutting radius. The rotating cutter head of the device has an uneven mass distribution, and the rotating cutting process will generate variable centrifugal force, resulting in a decrease in processing accuracy. In addition, the device is large in size and cannot be used in narrow cable pits. Summary of the Invention

[0006] The present invention provides a cable end processing system and method with a laser scanning function in order to solve the technical problems existing in the known technology.

[0007] The technical solution adopted by the present invention to solve the technical problems existing in the known technology is:

[0008] A cable end processing system with a laser scanning function comprises a controller, a cable end processing device and a laser scanning device; the controller is provided with a cable outer contour fitting module and a cable eccentricity distance calculation module; the laser scanning device rotates around the cable axis under the control of the controller and transmits a laser signal to the cable surface, receives the laser signal reflected from the cable surface and sends the received laser signal to the controller; the controller calculates the distance between the corresponding irradiated point on the cable surface and the cable axis based on the time difference between the emission and reception of the laser signal; the cable outer contour fitting module fits the cable outer contour according to the distance between each irradiated point on the cable surface and the cable axis and the laser irradiation angle; the cable eccentricity distance calculation module calculates the eccentricity distance of each point on the cable surface relative to the ideal cable based on the fitted cable outer contour and the ideal cable outer contour; the cable end processing module comprises a processing tool radial feeding device, and the controller outputs a signal to control the processing tool radial feeding device to adjust the processing tool radial feed amount according to the eccentricity distance of each point on the cable surface relative to the ideal cable to compensate for the eccentricity.

[0009] Furthermore, the cable end processing device includes a shell, in which a left mounting seat, a ball screw, a stepper motor A, two guide shafts and a cable cutting module are provided; the ends of the ball screw and the two guide shafts are fixed to the left and right sides of the shell respectively, and the axes of the three are parallel to each other; a nut is matched with the ball screw; the left mounting seat is fixed to the shell of the stepper motor A; it is provided with a linear bearing matched with the two guide shafts; the radial feeding device of the processing tool includes a radial feeding module of the cutting tool; the cable cutting module includes: a transmission unit A, a cutting unit for installing the radial feeding module of the cutting tool and the cutting tool; the cutting unit and the left mounting seat are matched The transmission unit A is connected to the output shaft of the stepper motor A, and transmits the rotation of the output shaft to the cutting unit, so that the cutting tool cuts the cable surface to be cut along the circumference of the cable; the output shaft of the stepper motor A is also connected to the nut on the ball screw and drives it to rotate, and drives the stepper motor A shell to move left and right; the left side wall of the shell, the left mounting seat and the cable cutting module are respectively provided with coaxial through holes for passing the cable; a clamp device for clamping and fixing the cable along the radial direction of the through hole is provided on the left side outside the shell; the laser scanning device includes a laser emitter and a laser receiver; the laser emitter and the laser receiver are both fixed to the cutting unit; the controller controls the operation of the stepper motor A.

[0010] Furthermore, a driving gear A is fixedly mounted on the output shaft of the stepper motor A connected to the transmission unit A; the transmission unit A includes a driven gear B, and gear A and gear B are engaged with each other; the cutting unit includes a turntable A, which is rotatably connected to the left mounting seat, and the cutting tool radial feed module and the cutting tool are installed on the left end face of the turntable A, and the right end face of the turntable A is fixedly connected to the gear B; the turntable A is coaxial with the gear B; the laser transmitter and the laser receiver are installed on the left end face of the turntable A.

[0011] Furthermore, a right mounting seat and a cable polishing module are provided in the shell; the right mounting seat is fixedly connected to the shell of the stepper motor A; it is provided with a linear bearing that cooperates with the two guide shafts; the cable polishing module includes a transmission unit B and a polishing unit; the polishing unit rotates with the right mounting seat; the stepper motor A is a double-output shaft stepper motor; one side output shaft of the stepper motor A is connected to the transmission unit A; the transmission unit B is connected to the other side output shaft of the stepper motor A, and transmits the rotation of the output shaft on this side to the polishing unit, so that the grinder polishes the cable surface to be polished along the circumference of the cable; one side output shaft of the stepper motor A is connected to the nut on the ball screw; the right side wall of the shell, the right mounting seat and the cable polishing module are respectively provided with coaxial through holes for passing the cable; a clamping device for clamping and fixing the cable along the radial direction of the through hole is provided on the right side outside the shell.

[0012] Furthermore, one side of the output shaft of the stepper motor A connected to the transmission unit B is fixedly sleeved with a driving synchronous pulley; the transmission unit B includes a turntable B; the turntable B is rotatably connected to the right mounting seat, and the left end face of the turntable B is fixedly connected to a driven synchronous pulley; the driven synchronous pulley is coaxial with the turntable B; the master and driven synchronous pulleys are wrapped with a synchronous belt; the grinding unit includes a grinding platform, which is fixed to the right end face of the turntable B; the right end face of the grinding platform is provided with a driving grinding belt wheel, a driven grinding belt wheel and a tensioning grinding belt wheel; the grinding tool is a grinding belt, which is sequentially wrapped around the driving grinding belt wheel, the driven grinding belt wheel and the tensioning grinding belt wheel; the grinding platform is provided with a hole for mounting a bearing, and the bearing is sleeved with a connecting shaft in the hole; one end of the connecting shaft is fixed to the driving grinding belt wheel, and the other end of the connecting shaft is connected to a gear C; the right end face of the right mounting seat is fixed with a gear D, and gear C is engaged with gear D.

[0013] Furthermore, the output shaft of the stepper motor A is fixedly sleeved with a gear E, the nut of the ball screw is fixedly sleeved with a gear F and a bearing C, and the gear E is engaged with the gear F; the outer ring of the bearing C is fixedly connected to the housing of the stepper motor A.

[0014] Furthermore, the radial feeding device of the processing tool includes a servo motor and a linear transmission device driven by the servo motor. The controller drives the servo motor to work, so that the linear transmission device drives the processing tool to move radially relative to the cable.

[0015] The present invention also provides a cable end processing method with laser scanning function using the above-mentioned cable end processing system with laser scanning function, wherein the laser scanning device and the processing tool radial feed device synchronously rotate around the cable axis at a uniform speed and move linearly at a uniform speed along the cable axis.

[0016] Furthermore, a cylindrical coordinate system (ρ, θ, z) is established, and the cable axis is set as the Z axis of the cylindrical coordinate system; the distance between the laser emission point and the Z axis is set as R, and the coordinates of the initial laser emission point are set as (R, 0, 0); when the controller controls the stepper motor A to operate, it synchronously controls the laser scanning device to emit a laser pulse signal, and the laser scanning device sends the received laser pulse signal to the controller. The controller calculates the distance from the emission point to the corresponding irradiated point on the cable surface as h based on the delay time between the emitted laser pulse signal and the corresponding received laser pulse signal, and obtains the distance ρ between the corresponding irradiated point on the cable surface and the cable axis, ρ = Rh; suppose that at time i, the laser scanning device emits a laser pulse signal to point I on the cable surface, and the coordinates of point I on the cable surface are (ρ i ,θ i ,z i );where: θ i The angular velocity and rotation time of the uniform rotation around the cable axis are determined by the laser scanning device; i Determined by the linear movement speed and movement time of the laser scanning device along the cable axis; ρ i Calculated by the controller; the cable outer contour fitting module fits the coordinates of a series of cable surface points into a cylindrical cable outer contour through linear fitting.

[0017] Furthermore, let the coordinate of the cable surface point x on the outer contour of the cable be (ρ x ,θ x ,z x ); Assume that the coordinates of the ideal cylindrical cable outer contour corresponding to the cable surface point x are (r,θ x ,z x ), r is the ideal cylindrical cable radius; the radial feed amount Δ of the machining tool is adjusted according to the following formula:

[0018] Δ=k(ρ x –r);

[0019] k is the compensation coefficient, k = 0.8 ~ 1.0.

[0020] The advantages and positive effects of the present invention are:

[0021] In a cable end processing system with a laser scanning function in the present invention, the laser scanning device rotates and advances at a uniform speed around the high-voltage cable according to a spiral measurement path, measures a series of distance values ​​of the outer contour of the high-voltage cable, and can accurately calculate the eccentricity of the high-voltage cable. Ideally, the high-voltage cable can be approximated as a cylinder. However, due to the influence of processing conditions and transportation conditions, each high-voltage cable has an error within a certain allowable range. Therefore, the eccentric distance of the high-voltage cable is calculated and the outer contour of the high-voltage cable is scanned and fitted to compensate for the eccentricity, thereby improving the processing accuracy and reducing the failure rate of the cable during use. The laser scanning device in the present invention can be used in conjunction with a variety of cable end processing modules, which can better meet the needs of high-voltage cable joint processing, significantly reduce the failure rate during cable use, improve processing efficiency, processing accuracy and construction quality, and be stable and reliable, providing an advanced and practical measurement method and processing method for high-voltage cable joint processing devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a measurement principle diagram of a variable-radius cable end cutting device with a laser scanning function;

[0023] Figure 2 This is an overall rendering of a cable end processing system with laser scanning function;

[0024] Figure 3 This is a schematic diagram of the internal structure of a cable end processing system with laser scanning function;

[0025] Figure 4 This is a schematic diagram of the cable cutting module structure of a cable end processing system with laser scanning function;

[0026] Figure 5 A schematic diagram of the front side of a cable cutting module of a cable end processing system with a laser scanning function;

[0027] Figure 6 This is a schematic diagram of the interior of a cable cutting module of a cable end processing system with laser scanning function;

[0028] Figure 7 This is a schematic diagram of the cable polishing module structure of a cable end processing system with laser scanning function;

[0029] Figure 8 A schematic diagram of the rear side of a cable polishing module of a cable end processing system with laser scanning function;

[0030] Figure 9 This is a schematic diagram of the structure of a fixture device for a cable end processing system with a laser scanning function.

[0031] 1, housing; 11, ball screw; 12, guide shaft; 13, clamp device; 130, third handle B; 131, first handle B; 132, second handle B; 133, third screw B; 134, first screw B; 135, second screw B; 136, upper clamp B; 137, lower clamp B; 138, first fixed seat; 139, second fixed seat; 140, third fixed seat.

[0032] 2, cable cutting module; 201, gear E; 202, gear F; 203, nut; 204, gear A; 205, gear B; 206, rotary disc A; 207, left mounting seat; 208, cutting tool; 209, laser scanning device mounting seat; 210, laser scanning device; 211, machining tool radial feed device; 212, stepper motor B; 213, linear bearing; 214, spherical universal wheel A.

[0033] 3, stepper motor A; 31, output shaft A; 32, output shaft B; 33, stepper motor A housing.

[0034] 4, cable polishing module; 401, driving synchronous pulley; 402, synchronous belt; 403, driven synchronous pulley; 404, rotary disc B; 405, right mounting seat; 406, polishing platform; 407, driving sand belt pulley; 408, driven sand belt pulley; 409, connecting shaft; 410, gear C; 411, tensioning sand belt pulley; 412, sand belt; 413, gear D; 414, spherical universal wheel B.

[0035] O is the intersection of a straight line passing through the laser emission point and perpendicular to the Z axis and the Z axis; h is the distance from the laser emission point to the illuminated point on the cable surface; p is the distance from the illuminated point on the cable surface to the Z axis; R is the distance from the laser emission point F to the Z axis. DETAILED DESCRIPTION

[0036] The present application will be described in detail below with reference to the drawings and embodiments, and it should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not intended to limit the present application.

[0037] In the description of the present application, the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and do not require the present application to be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the present application. The terms "connected", "connected" used in the present application should be understood broadly, for example, it can be fixedly connected or detachably connected; it can be directly connected or indirectly connected through an intermediate part, and the specific meaning of the above terms can be understood by those skilled in the art according to the specific circumstances.

[0038] See Figures 1 to 9 A cable end processing system with a laser scanning function includes a controller, a cable end processing device and a laser scanning device 210; the controller is provided with a cable outer contour fitting module and a cable eccentricity distance calculation module; the laser scanning device 210 rotates around the cable axis under the control of the controller and emits a laser signal to the cable surface, receives the laser signal reflected from the cable surface and sends the received laser signal to the controller; the controller calculates the distance between the corresponding irradiated point on the cable surface and the cable axis according to the time difference between the emission and reception of the laser signal; the cable outer contour fitting module fits the cable outer contour according to the distance between each irradiated point on the cable surface and the cable axis and the laser irradiation angle; the cable eccentricity distance calculation module calculates the eccentricity distance of each point on the cable surface relative to the ideal cable based on the fitted cable outer contour and the ideal cable outer contour; the cable end processing module includes a processing tool radial feeding device 211, and the controller outputs a signal to control the processing tool radial feeding device 211 to adjust the radial feed amount of the processing tool according to the eccentricity distance of each point on the cable surface relative to the ideal cable to compensate for the eccentricity.

[0039] Preferably, the cable end processing device includes a shell 1, in which a left mounting seat 207, a ball screw 11, a stepper motor A3, two guide shafts 12 and a cable cutting module 2 may be provided; the ball screw 11 and the two guide shafts 12, both ends of the three can be fixed on the left and right sides of the shell 1 respectively, and the axes of the three are parallel to each other; the ball screw 11 is equipped with a nut 203; the left mounting seat 207 can be fixed to the housing 33 of the stepper motor A; it can be provided with a linear bearing 213 that cooperates with the two guide shafts 12; the processing tool radial feed device 211 may include a cutting tool radial feed module; the cable cutting module 2 may include: a transmission unit A, a cutting tool radial feed module and a cutting tool The cutting unit 208 is provided; the cutting unit is rotatably coupled to the left mounting seat 207. The transmission unit A is connected to the output shaft of the stepper motor A3 and transmits the output shaft's rotation to the cutting unit, causing the cutting tool 208 to cut the cable sheath along the circumference of the cable. The output shaft of the stepper motor A3 is also connected to the nut 203 on the ball screw 11 to drive its rotation, thereby driving the stepper motor A housing 33 to move left and right. The left side wall of the housing 1, the left mounting seat 207, and the cable cutting module 2 may each be provided with a coaxial through-hole for passing the cable. A clamping device 13 may be provided on the left outer side of the housing 1 to clamp and secure the cable radially along the through-hole. The laser scanning device 210 may be mounted on the laser scanning device mounting seat 209. The laser scanning device 210 includes a laser emitter and a laser receiver; both are fixedly coupled to the cutting unit. A controller controls the operation of the stepper motor A3. The laser scanning device 210 may communicate with the controller wirelessly via Wi-Fi or other wireless means. The laser scanning device mounting seat 209 may be equipped with a battery to power the laser scanning device 210.

[0040] Preferably, a driving gear A204 can be fixedly mounted on the output shaft of the stepper motor A3 connected to the transmission unit A; the transmission unit A may include a driven gear B205, and the gear A204 and the gear B205 are engaged with each other; the cutting unit may include a turntable A206, and the turntable A206 is rotatably connected to the left mounting seat 207, and the cutting tool radial feed module and the cutting tool 208 can be installed on the left end face of the turntable A206, and the right end face of the turntable A206 is fixedly connected to the gear B205; the turntable A206 is coaxial with the gear B205; the laser transmitter and the laser receiver can be installed on the left end face of the turntable A206.

[0041] Preferably, a right mounting seat 405 and a cable grinding module 4 may also be provided in the housing 1; the right mounting seat 405 is fixedly connected to the stepper motor A housing 33; it is provided with a linear bearing 213 that cooperates with the two guide shafts 12; the cable grinding module 4 may include a transmission unit B and a grinding unit; the grinding unit rotates in conjunction with the right mounting seat 405; the stepper motor A3 may be a double-output shaft stepper motor; one side output shaft of the stepper motor A3 is connected to the transmission unit A; the output shaft on this side may be called the output shaft A31; the transmission unit B is connected to the stepper motor The output shaft on the other side of the machine A3 is connected, and the output shaft on this side can be called the output shaft B32; and the rotation of the output shaft on this side, i.e. the output shaft B32, is transmitted to the grinding unit, so that the grinder grinds the cable surface to be polished along the circumference of the cable; one side output shaft of the stepper motor A3 can be connected to the nut 203 on the ball screw 11; the right side wall of the shell 1, the right mounting seat 405 and the cable grinding module 4 can be respectively provided with a coaxial through hole for passing the cable; a clamping device 13 for clamping and fixing the cable along the radial direction of the through hole can be provided on the right side outside the shell 1.

[0042] Preferably, the output shaft on one side of the stepper motor A3 connected to the transmission unit B, i.e., the output shaft B32, can be fixedly sleeved with a driving synchronous pulley 401; the transmission unit B may include a turntable B404; the turntable B404 is rotatably connected to the right mounting seat 405, and the left end face of the turntable B404 may be fixedly connected to a driven synchronous pulley 403; the driven synchronous pulley 403 is coaxial with the turntable B404; the driving synchronous pulley 401 and the driven synchronous pulley 403 are wound with a synchronous belt 402; the grinding unit may include a grinding platform 406, and the grinding platform 406 may be fixedly connected to the right end face of the turntable B404; the grinding platform The right end surface of 406 may be provided with a driving grinding belt wheel 407, a driven grinding belt wheel 408 and a tensioning grinding belt wheel 411; the grinding tool is a grinding belt 412, which is sequentially wound around the driving grinding belt wheel 407, the driven grinding belt wheel 408 and the tensioning grinding belt wheel 411; the grinding platform 406 may have a hole for installing a bearing, and the bearing in the hole may be sleeved with a connecting shaft 409; one end of the connecting shaft 409 may be fixedly connected to the driving grinding belt wheel 407, and the other end of the connecting shaft 409 may be connected to a gear C410; the right end surface of the right mounting seat 405 may be fixedly connected to a gear D413, and the gear C410 is engaged with the gear D413.

[0043] Preferably, the left mounting seat 207 and the turntable A206 can be connected through a bearing A.

[0044] Preferably, the right mounting seat 405 and the turntable B404 can be connected through a bearing B.

[0045] Preferably, the output shaft of the stepper motor A3 can be fixedly sleeved with a gear E201, the nut 203 of the ball screw 11 can be fixedly sleeved with a gear F202 and a bearing C, and the gear E201 is engaged with the gear F202; the outer ring of the bearing C is fixedly connected to the stepper motor A housing 33.

[0046] Preferably, the processing tool radial feeding device 211 may include a servo motor and a linear transmission device driven by the servo motor, and the controller drives the servo motor to operate so that the linear transmission device drives the processing tool to move radially relative to the cable.

[0047] Preferably, the processing tool radial feeding device 211 may include a stepping motor B212 and a linear transmission device driven by the stepping motor B212, and the controller drives the stepping motor B212 to operate, so that the linear transmission device drives the processing tool to move radially relative to the cable.

[0048] Preferably, the left mounting seat 207 can be sleeved onto the outside of the turntable A206. The left mounting seat 207 can have several cylindrical grooves A evenly distributed around the circumference of the sleeve surface. A spherical universal wheel A214 can be mounted within these cylindrical grooves A. Spherical universal wheel A214 has a cylindrical base. The fixed end of the cylindrical base of spherical universal wheel A214 is fixed to the cylindrical groove A of the left mounting seat 207 via a screw and nut. The non-fixed end has a spherical groove that mates with the sphere. The sleeve surface of the turntable A206 can have an annular groove A that mates with the spherical universal wheel A214. The cross-section of the annular groove A can be arc-shaped. The annular groove A forms a rolling channel for the spherical universal wheel A214. The function of the spherical universal wheel A214 is similar to that of the ball bearing, supporting rotation while reducing friction. As a rolling element, the spherical universal wheel A214 contacts the annular groove A, resulting in a low coefficient of friction and supporting the turntable A206.

[0049] Preferably, the right mounting seat 405 can be sleeved onto the outside of the turntable B404. The right mounting seat 405 can have several cylindrical grooves B evenly distributed around the circumference of the sleeve surface. A spherical universal wheel B can be mounted within each of these cylindrical grooves B. The spherical universal wheel B has a cylindrical base. The fixed end of the cylindrical base of the spherical universal wheel B is fixed to the cylindrical groove B of the right mounting seat 405 via a screw and nut. The non-fixed end has a spherical groove that engages with the spherical body. The turntable B404 has an annular groove B on its sleeve surface that engages with the spherical universal wheel. The cross-section of the annular groove B can be arc-shaped. The annular groove B forms a rolling channel for the spherical universal wheel B414. The function of the spherical universal wheel B414 is similar to that of the ball bearing, supporting rotation while reducing friction. As a rolling element, the spherical universal wheel B414 contacts the annular groove B, resulting in a low coefficient of friction and supporting the turntable B404.

[0050] Preferably, the clamp device 13 may include an upper clamp A, a lower clamp A, a first screw A, a second screw A, a first guide rod, and a second guide rod; the first and second guide rods are symmetrically fixed on both sides of the through hole of the shell 1, and the two ends are fixedly connected to the two connecting rods to form a rectangular frame; the upper clamp A and the lower clamp A are both V-shaped, and the openings of the two face each other. The top of the upper clamp A is fixedly connected to the bottom end of the first screw A, and the upper part of the first screw A is provided with a rotary handle; the bottom of the lower clamp A is fixedly connected to the top end of the second screw A, and the lower part of the second screw A is provided with a rotary handle; the two pairs of legs forming the V shape of the upper clamp A and the lower clamp A are correspondingly provided with through holes that slide with the first and second guide rods, and screw holes are opened in the middle of the two connecting rods and are correspondingly threadedly connected with the first screw A and the second screw A; when clamping the cable, rotate the rotary handle of the first screw A to move the upper clamp A downward, and rotate the rotary handle of the second screw A to move the lower clamp A upward to clamp the cable.

[0051] Preferably, the clamp device 13 may include: an upper clamp B136, a lower clamp B137, a first screw B134, a second screw B135, and a third screw B133 parallel to each other, a first fixed seat 138, a second fixed seat 139 and a third fixed seat 140 threadedly connected to the first screw B134, the second screw B135, and the third screw B133; the first fixed seat 138, the second fixed seat 139 and the third fixed seat 140 are all fixed to the shell 1; the first screw B134 and the second screw B135 can be symmetrically arranged on both sides of the through hole of the shell 1, the upper part of both is the smooth rod part, and the lower part of both is the screw part, the upper end of both can be rotatably connected to a connecting rod B, and the lower end of both can be provided with a handle; the handle of the first screw B134 is called the first handle B131, and the handle of the second screw B135 is called the second handle B132.

[0052] The connecting rod B can be fixedly connected to the housing 1. A through hole is provided in the center of the connecting rod B for passing the third screw B133; vertical through holes can be provided at the left and right ends of the connecting rod B, and the upper polished rods of the first screw B134 and the second screw B135 pass through the through holes at the left and right ends of the connecting rod B respectively.

[0053] The upper clamp B136 and the lower clamp B137 are both V-shaped, with their openings facing each other. The top of the upper clamp B136 is fixedly connected to the lower end of the third screw B133. The upper end of the third screw B133 is provided with a rotary handle, called the third rotary handle B130; the two legs forming the V shape of the upper clamp B136 are provided with through holes corresponding to the smooth rods of the first and second screws B, one of the legs of the upper clamp B136 is provided with a through hole that slides with the smooth rod of the first screw B134, and the other leg of the upper clamp B136 is provided with a through hole that slides with the smooth rod of the first screw B134. Each support leg is provided with a through hole that slides with the smooth rod part of the second screw B135; the two support legs forming a V shape of the lower clamp B137 are correspondingly connected to the middle part of the first and second screws B and move up and down accordingly; the middle part of the first and second screws B may be provided with an annular protrusion or shoulder for supporting the lower clamp B137, and the two support legs forming a V shape of the lower clamp B137 may be correspondingly provided with through holes that clearance fit the first and second screws B, and the lower surface of the two support legs forming the V shape of the lower clamp B137 is in contact with the upper surface of the shoulder.

[0054] Preferably, the clamping device 13 may include a three-jaw chuck.

[0055] The present invention also provides an embodiment of a cable end processing method with laser scanning function using the above-mentioned cable end processing system with laser scanning function. This method enables the laser scanning device 210 and the processing tool radial feed device 211 to rotate synchronously around the cable axis at a uniform speed and move linearly at a uniform speed along the cable axis.

[0056] Preferably, a cylindrical coordinate system (ρ, θ, z) can be established, and the cable axis can be set as the Z axis of the cylindrical coordinate system; the distance between the laser emission point and the Z axis can be set as R, and the coordinates of the initial laser emission point can be set as (R, 0, 0); when the controller controls the operation of the stepper motor A3, it can synchronously control the laser scanning device 210 to emit a laser pulse signal, and the laser scanning device 210 sends the received laser pulse signal to the controller. The controller calculates the distance from the emission point to the corresponding irradiated point on the cable surface as h based on the delay time between the emitted laser pulse signal and the corresponding received laser pulse signal, and obtains the distance ρ between the corresponding irradiated point on the cable surface and the cable axis, ρ = Rh; the distance R between the laser emission point and the Z axis is a constant; h is the detection value; ρ is the value calculated by the controller.

[0057] Assume that at time i, the laser scanning device 210 emits a laser pulse signal to a point I on the cable surface. The coordinates of the point I on the cable surface can be (ρ i ,θ i ,z i );where: θ i The laser scanning device 210 can be used to determine the uniform rotation angular velocity and rotation time around the cable axis; i The linear movement speed and movement time of the laser scanning device 210 along the cable axis can be determined;i It can be calculated by the controller; the cable outer contour fitting module can fit the coordinates of a series of cable surface points into a cylindrical cable outer contour through linear fitting.

[0058] Preferably, the coordinate of the cable surface point x on the outer contour of the cable fitting column can be set as (ρ x ,θ x ,z x ); Assume that the coordinates of the ideal cylindrical cable outer contour corresponding to the cable surface point x are (r,θ x ,z x ), r is the ideal cylindrical cable radius; the radial feed amount Δ of the machining tool is adjusted according to the following formula:

[0059] Δ=k(ρ x –r);

[0060] k is the compensation coefficient, k = 0.8 ~ 1.0.

[0061] The working principle of the present invention is as follows: Cylindrical coordinates (ρ, θ, z) are expressions for points in a cylindrical coordinate system. Let P (x, y, z) be a point in space. Then, point P can also be determined by three ordered numbers: ρ, θ, and z, where ρ is the distance between the projection M of point P on the xoy plane and the origin, and θ is the angle between the projection MO of the directed line segment PO on the xoy plane and the positive x-axis. The corresponding relationship between the coordinates of a point in a cylindrical coordinate system and a three-dimensional Cartesian coordinate system is: x = ρ cos θ, y = ρ sin θ, and z = z.

[0062] Assume that at time i, the laser scanning device 210 emits a laser pulse signal to point I on the cable surface. Assume that the coordinates of point I on the cable surface are (ρ i ,θ i ,z i ); Assume that the distance between the laser emission point and the Z axis is R, and the coordinates of the emission point of the laser scanning device 210 are (R, θ i ,z i ), the distance h from the emission point of the laser scanning device 210 to the cable surface point I i Calculated by the controller; the distance ρ between the cable surface point I and the cable axis i ρ is obtained from the following formula i =Rh i .

[0063] The embodiments described above are only used to illustrate the technical ideas and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. The scope of the patent of the present invention cannot be limited by these embodiments alone. That is, any equivalent changes or modifications made to the spirit disclosed by the present invention still fall within the scope of the patent of the present invention.

Claims

1. A cable end processing system with laser scanning function, characterized in that: The system comprises a controller, a cable end processing device, and a laser scanning device; the controller is equipped with a cable outer contour fitting module and a cable eccentricity distance calculation module; the laser scanning device rotates around the cable axis under the control of the controller and emits a laser signal to the cable surface, which receives the laser signal reflected from the cable surface and sends the received laser signal to the controller; the controller calculates the distance between the corresponding irradiated point on the cable surface and the cable axis based on the time difference between the emission and reception of the laser signal; the cable outer contour fitting module fits the cable outer contour based on the distance between each irradiated point on the cable surface and the cable axis and the laser irradiation angle; The cable eccentricity calculation module calculates the eccentricity of each point on the cable surface relative to the ideal cable based on the fitted cable outer contour and the ideal cable outer contour. The cable end processing module includes a radial feed device for the processing tool. The controller outputs a signal to control the radial feed device to adjust the radial feed amount of the processing tool based on the eccentricity of each point on the cable surface relative to the ideal cable to compensate for the eccentricity. The cable end processing device includes a housing, within which are located a left mounting seat, a ball screw, a stepper motor A, two guide shafts, and a cable cutting module. The ball screw and the two guide shafts are fixed at their respective ends to the left and right sides of the housing, with their axes parallel to each other. The ball screw is fitted with a nut. The left mounting seat is fixedly connected to the housing of the stepper motor A and is provided with linear bearings that cooperate with the two guide shafts. The processing tool radial feed device includes a cutting tool radial feed module. The cable cutting module includes a transmission unit A, on which the cutting tool radial feed module and the cutting unit of the cutting tool are mounted. The cutting unit is rotatably engaged with the left mounting seat. Transmission unit A is connected to the output shaft of stepper motor A and transmits the rotation of the output shaft to the cutting unit, causing the cutting tool to cut the cable sheath along the circumference of the cable. The output shaft of stepper motor A is also connected to the nut on the ball screw, driving it to rotate and causing the stepper motor A housing to move left and right. The left side wall of the housing, the left mounting seat, and the cable cutting module are each provided with a coaxial through-hole for passing the cable. A clamp device is provided on the left side of the housing to clamp and fix the cable radially along the through-hole. The laser scanning device includes a laser emitter and a laser receiver. Both the laser emitter and the laser receiver are fixed to the cutting unit. The controller controls the operation of stepper motor A. A right mounting seat and a cable polishing module are also provided in the shell; the right mounting seat is fixedly connected to the shell of the stepper motor A; it is provided with a linear bearing that cooperates with the two guide shafts; the cable polishing module includes a transmission unit B and a polishing unit; the polishing unit rotates with the right mounting seat; the stepper motor A is a double-output shaft stepper motor; one side output shaft of the stepper motor A is connected to the transmission unit A; the transmission unit B is connected to the other side output shaft of the stepper motor A, and transmits the rotation of the output shaft on this side to the polishing unit, so that the grinder polishes the cable surface to be polished along the circumference of the cable; one side output shaft of the stepper motor A is connected to the nut on the ball screw; the right side wall of the shell, the right mounting seat and the cable polishing module are respectively provided with coaxial through holes for passing the cable; a clamping device for clamping and fixing the cable along the radial direction of the through hole is provided on the right side outside the shell.

2. The cable end processing system with laser scanning function according to claim 1, characterized in that: A driving gear A is fixedly mounted on the output shaft of the stepper motor A connected to the transmission unit A; the transmission unit A includes a driven gear B, which meshes with each other; the cutting unit includes a turntable A, which is rotatably connected to the left mounting seat, the cutting tool radial feed module and the cutting tool are mounted on the left end face of the turntable A, and the right end face of the turntable A is fixedly connected to the gear B; the turntable A is coaxial with the gear B; the laser transmitter and the laser receiver are mounted on the left end face of the turntable A.

3. The cable end processing system with laser scanning function according to claim 1, characterized in that: The output shaft on one side of the stepper motor A connected to the transmission unit B is fixedly sleeved with a driving synchronous pulley; the transmission unit B includes a turntable B; the turntable B is rotatably connected to the right mounting seat, and the left end face of the turntable B is fixedly connected to a driven synchronous pulley; the driven synchronous pulley is coaxial with the turntable B; the master and slave synchronous pulleys are wound with a synchronous belt; the grinding unit includes a grinding platform, which is fixed to the right end face of the turntable B; the right end face of the grinding platform is provided with a driving grinding belt wheel, a driven grinding belt wheel and a tensioning grinding belt wheel; the grinding tool is a grinding belt, which is sequentially wound around the driving grinding belt wheel, the driven grinding belt wheel and the tensioning grinding belt wheel; the grinding platform is provided with a hole for mounting a bearing, and the bearing is sleeved with a connecting shaft in the hole; one end of the connecting shaft is fixedly connected to the driving grinding belt wheel, and the other end of the connecting shaft is connected to a gear C; the right end face of the right mounting seat is fixedly connected to a gear D, and gear C is meshed with gear D.

4. The cable end processing system with laser scanning function according to claim 1, characterized in that: The output shaft of the stepper motor A is fixedly sleeved with a gear E, the nut of the ball screw is fixedly sleeved with a gear F and a bearing C, and the gear E is engaged with the gear F; the outer ring of the bearing C is fixedly connected to the housing of the stepper motor A.

5. The cable end processing system with laser scanning function according to claim 1, characterized in that: The radial feeding device of the processing tool includes a servo motor and a linear transmission device driven by the servo motor. The controller drives the servo motor to work, so that the linear transmission device drives the processing tool to move radially relative to the cable.

6. A method for processing a cable end with a laser scanning function using the cable end processing system with a laser scanning function according to any one of claims 1 to 5, characterized in that: The method enables the laser scanning device and the processing tool radial feeding device to synchronously rotate around the cable axis at a uniform speed and move linearly along the cable axis at a uniform speed.

7. The cable end processing method with laser scanning function according to claim 6, characterized in that: Establish a cylindrical coordinate system (ρ, θ, z), and set the cable axis as the Z axis of the cylindrical coordinate system; set the distance between the laser emission point and the Z axis as R, and set the coordinates of the initial laser emission point as (R, 0, 0); when the controller controls the stepper motor A to operate, it synchronously controls the laser scanning device to emit a laser pulse signal, and the laser scanning device sends the received laser pulse signal to the controller. The controller calculates the distance from the emission point to the corresponding cable surface irradiated point as h based on the delay time between the emitted laser pulse signal and the corresponding received laser pulse signal, and obtains the distance ρ between the corresponding cable surface irradiated point and the cable axis, ρ = Rh; suppose that at time i, the laser scanning device emits a laser pulse signal to the cable surface point I, and the coordinates of the cable surface point I are (ρ i ,θ i ,z i );where: θ i The angular velocity and rotation time of the uniform rotation around the cable axis are determined by the laser scanning device; i Determined by the linear movement speed and movement time of the laser scanning device along the cable axis; ρ i Calculated by the controller; the cable outer contour fitting module fits the coordinates of a series of cable surface points into a cylindrical cable outer contour through linear fitting.

8. The cable end processing method with laser scanning function according to claim 6 is characterized in that The coordinates of the cable surface point x on the cylindrical cable outer contour are (ρ x ,θ x ,z x ); Assume that the coordinates of the ideal cylindrical cable outer contour corresponding to the cable surface point x are (r,θ x ,z x ), r is the ideal cylindrical cable radius; the radial feed amount Δ of the machining tool is adjusted according to the following formula: Δ=k(ρ x –r); k is the compensation coefficient, k = 0.8 ~ 1.0.

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