A cable armour removal device and method

Abstract

The application belongs to the technical field of cable processing, and discloses a cable armor removing device and a removing method. The device comprises a fixing frame, two sliding frames slidingly connected to the fixing frame, and a first driving mechanism for driving the sliding frames to move close to or away from each other. A rotating frame is rotatably connected to the sliding frame. A second driving mechanism is arranged to drive the rotating frame to rotate. A plurality of clamping jaws are movably connected to the rotating frame. A third driving mechanism is arranged to drive the clamping jaws to open or close. Magnets are fixed to the clamping jaws. The device can automatically remove the cable armor and reduce labor costs.

Description

Technical Field

[0001] This invention relates to the field of cable processing technology, and in particular to a cable armor removal device and method. Background Technology

[0002] Cables typically consist of a rubber-insulated conductor core, a steel armor wound around the conductor core, and an outermost insulation layer. After a long period of use, the insulation layer of a cable will age and become damaged due to external environmental factors, necessitating cable replacement. To better utilize resources, the replaced cables are recycled. The main material for cable recycling is the internal conductor core, while the outer insulation layer and steel armor need to be removed. Current cable recycling methods involve shredding the entire cable and separating the materials, but this method is difficult and complex due to the difficulty of separating the various materials. Therefore, a common approach is to peel off the insulation layer and manually remove the steel armor wound around the conductor core, but this method requires a large amount of manpower and has high labor costs. Summary of the Invention

[0003] To overcome the shortcomings of existing cable armor removal methods, which rely on manual removal and have high labor costs, this invention provides a cable armor removal device that automates the removal of cable armor, thereby reducing labor costs.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a cable armor removal device, comprising a fixed frame, two sliding frames slidably connected to the fixed frame, and a first driving mechanism for driving the sliding frames to move closer or further apart. A rotating frame is rotatably connected to the sliding frame, a second driving mechanism for driving the rotating frame to rotate, a plurality of grippers movably connected to the rotating frame, and a third driving mechanism for driving the grippers to open or close. Magnets are fixed on the grippers.

[0005] In the above technical solution, the first step is to insert the cable into two rotating frames. The first drive mechanism drives one of the sliding frames to move a certain distance toward the other sliding frame. Then, the two third drive mechanisms drive the grippers to close and clamp the cable. The two second drive mechanisms drive the two rotating frames to rotate in opposite directions. While the rotating frames are rotating, the third drive mechanisms drive the grippers to open so that the steel armor on the cable is released. The first drive mechanism drives the previously moved sliding frame to move away from the other sliding frame. While the sliding frame is moving, the grippers on the other sliding frame release the cable. The sliding frame moves a certain distance with the steel armor, and then the grippers on that sliding frame release the steel armor. Step 2: After the grippers release the steel armor, the first drive mechanism drives the sliding frame to move a certain distance towards another sliding frame. Then, two third drive mechanisms drive the grippers to close and clamp the cable. The rotating frame on the previously moving sliding frame rotates under the drive of the second drive mechanism. While the rotating frame rotates, the third drive mechanism drives the grippers on the rotating frame to open a certain distance, so that the steel armor on the cable is released. The first drive mechanism drives the previously moving sliding frame to move away from the other sliding frame. The sliding frame moves a certain distance with the steel armor, and then the grippers on the sliding frame release the steel armor. This second step is repeated until the steel armor is completely detached from the cable, completing the removal of the cable armor. The above technical solution can achieve automatic removal of cable armor, reducing labor costs. It should be noted that the steel armor can be attracted by a magnet. The steel armor is spirally wound on the cable; by having two rotating frames rotate in opposite directions, the steel armor can be loosened.

[0006] The present invention is further configured to include a frame and a flipping drive mechanism mounted on the frame, wherein one end of the fixed frame is hinged to the frame, and the flipping drive mechanism is used to drive the fixed frame to flip relative to the frame so that the fixed frame can switch between a horizontal state and a vertical state.

[0007] In the above technical solution, the fixing frame is in a horizontal state, and the two rotating frames are at a low height, which facilitates the installation of cables. When the fixing frame is in a vertical state, the gravity on the cable is in the axial direction of the cable, which is perpendicular to the clamping direction of the claws, reducing the influence of gravity on the removal of cable armor. At the same time, when the steel armor moves on the cable, the direction of gravity on the cable is opposite to the direction of movement of the steel armor, which is beneficial to the removal of cable armor.

[0008] The invention is further configured to include a robotic arm with a clamping mechanism, the robotic arm being mounted on the frame, and the clamping mechanism being located directly above the rotating frame when the fixed frame is in a vertical state.

[0009] In the above technical solution, when the fixed frame is vertical, the clamping mechanism is located directly above the rotating frame. The clamping mechanism clamps the steel armor and can hold the steel armor in place when the grippers loosen, preventing the steel armor from sliding downwards. At the same time, the steel armor is transferred by the robotic arm, which can prevent the removed steel armor from affecting the next removal.

[0010] The invention is further configured such that: a plurality of grippers are slidably connected to the rotating frame along the radial direction of the rotating frame; the third driving mechanism includes a locking disc and a rotation driving assembly for driving the locking disc; the locking disc is rotatably connected to the rotating frame, and the axes of the two coincide; the rotation driving assembly is mounted on the sliding frame; the locking disc is provided with a plurality of guide grooves, which are circumferentially spaced along the axis of the rotating frame; each guide groove corresponds to a plurality of grippers; a sliding shaft is fixed on each gripper; a portion of the sliding shaft is located within the corresponding guide groove and can slide along the length of the guide groove; the guide groove is radially inclined relative to the locking disc, so that when the sliding shaft slides along the length of the guide groove, the grippers gradually move away from or closer to the center of the locking disc.

[0011] In the above technical solution, the rotating frame rotates, causing the gripper to rotate, while the locking disc remains stationary. The sliding shaft slides within the guide groove, causing the gripper to move radially towards the rotating frame, thus closing or opening the gripper. Alternatively, the rotating frame remains stationary while the locking disc rotates, and the sliding shaft slides within the guide groove, causing the gripper to move radially towards the rotating frame, thus closing or opening the gripper. Another option is for the rotating frame to rotate, and the locking disc to rotate in the same direction, but at different speeds, causing the gripper to close or open. The speed at which the gripper closes or opens is related to the speed difference between the rotating frame and the locking disc. Finally, for the rotating frame to rotate, and the locking disc to rotate in the same direction, with the rotating frame and locking disc rotating at the same speed, the sliding shaft does not slide within the guide groove, and the gripper neither closes nor opens, remaining stationary radially towards the rotating frame.

[0012] The present invention is further configured such that: a plurality of grippers are slidably connected to the rotating frame along the radial direction of the rotating frame; the third driving mechanism includes a plurality of linear actuators, each linear actuator corresponding to one of the grippers; the linear actuators are mounted on the rotating frame and drive the corresponding grippers to slide relative to the rotating frame.

[0013] In the above technical solution, each gripper has a corresponding linear driver, which can individually control the corresponding gripper to adapt to different cable conditions, thus improving the practicality of the gripper.

[0014] The present invention is further configured such that: a support frame is installed on the fixed frame, the support frame is provided with a first through hole, and the support frame is disposed between two sliding frames.

[0015] In the above technical solution, when the fixed frame is horizontal, the support of the first through hole can prevent the cable from bending or drooping at one end under its own weight, which would cause the cable to tilt and make it difficult to install the cable; when the fixed frame is vertical, the cable is radially limited by the first through hole, which can prevent the cable from falling or dropping when the clamps are open and not holding the cable.

[0016] The invention is further configured such that: both the rotating frame and the sliding frame are provided with a second through hole for passing a cable; one of the sliding frames is equipped with a baffle for shielding one end of the second through hole, the baffle being disposed on the side away from the other sliding frame.

[0017] In the above technical solution, when the clamps are open and not holding the cable, the cable is radially limited by the second through hole to prevent the cable from falling or dropping; during the process of the fixing frame switching from a horizontal state to a vertical state, the cable is axially limited by the baffle to prevent the cable from slipping out of the second through hole, and at the same time, it can also prevent the cable from not being installed properly, making it easier to install the cable.

[0018] The present invention is further configured such that the magnet is an electromagnet.

[0019] In the above technical solution, the presence or absence of magnetism of the electromagnet can be controlled by turning off and on the power. When the electromagnet is de-energized, the gripper can detach from the steel armor.

[0020] The invention is further configured such that: a baffle for shielding one end of the second through hole is installed on one of the sliding frames, the baffle being disposed on the side away from the other sliding frame.

[0021] In the above technical solution, during the process of the fixing frame switching from a horizontal state to a vertical state, the cable is axially limited by the baffle to prevent the cable from slipping out of the second wire hole. At the same time, it can also prevent the cable from being improperly installed, making it easier to install the cable.

[0022] The present invention is further configured such that: the second driving mechanism includes a drive motor, a worm wheel and a worm, the worm wheel is coaxially fixed with the rotating frame, the drive motor is mounted on the sliding frame, the worm is drivenly connected to the output shaft of the drive motor, and the worm meshes with the worm wheel.

[0023] In the above technical solution, the drive motor drives the worm gear to rotate the turbine, which in turn drives the rotating frame to rotate. The drive motor is mounted on the sliding frame and can move together with the sliding frame.

[0024] This invention also discloses a method for removing cable armor, which uses the aforementioned cable armor removal device and further includes the following steps: Step 100: Rotate the fixed frame to a horizontal position using the flipping drive mechanism, insert the cable into the two rotating frames, and then rotate the fixed frame to a vertical position using the flipping drive mechanism. Step 200: The first drive mechanism drives the upper sliding frame to move downward a certain distance, and then the two third drive mechanisms drive the grippers to close and clamp the cable. The two upper and lower second drive mechanisms drive the upper and lower rotating frames to rotate in opposite directions so that the steel armor on the cable is loosened. At the same time as the rotating frames are rotating, the third drive mechanism drives the grippers to open a certain distance. Step 300: The first drive mechanism drives the upper sliding frame to move upward a certain distance. At the same time as the upper sliding frame moves, the lower gripper releases the cable. After the upper sliding frame moves into place, the clamping mechanism clamps the steel armor that has been moved upward. Step 400: The upper jaws completely release the steel armor. The first drive mechanism drives the upper sliding frame to move downward a certain distance. Then, the two third drive mechanisms drive the jaws to close and clamp the cable. The upper second drive mechanism drives the upper rotating frame to rotate so that the steel armor on the cable is released. At the same time as the rotating frame rotates, the upper third drive mechanism drives the upper jaws to open a certain distance. Step 500: The first drive mechanism drives the upper sliding frame to move upward a certain distance. At the same time as the upper sliding frame moves, the clamping mechanism releases the steel armor. After the upper sliding frame moves into place, the clamping mechanism clamps the upward-moved steel armor. Step 600: Repeat steps 400 and 500 until the steel armor is completely detached from the cable. Then, use a robotic arm to remove the steel armor, completing the removal of the cable armor.

[0025] In the above technical solution, two third drive mechanisms drive the grippers to close and clamp the cable, and two upper and lower second drive mechanisms drive the upper and lower rotating frames to rotate in opposite directions to loosen the steel armor on the cable. The upper sliding frame, in conjunction with the clamping mechanism, removes the loose steel armor from the cable, which can realize the automatic removal of cable armor and reduce labor costs.

[0026] The beneficial effects of this invention are: it provides a cable armor removal device and method, which realizes the automated removal of cable armor and can reduce labor costs. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the present invention. Figure 3 ; Figure 4 This is a schematic diagram of the structure of the present invention. Figure 4;

[0028] In the figure: fixed frame 1; support frame 11; first through hole 12; sliding frame 2; second through hole 21; baffle 22; first drive mechanism 3; first drive motor 31; ball screw 32; nut seat 33; rotating frame 4; gripper 41; magnet 411; sliding shaft 412; second drive mechanism 5; drive motor 51; worm 52; worm wheel 53; third drive mechanism 6; locking plate 61; guide groove 611; rotation drive assembly 62; rotation drive motor 621; driving gear 622; driven gear 623; frame 7; tilting drive mechanism 8; hydraulic cylinder 81; robotic arm 9; clamping mechanism 91. Detailed Implementation

[0029] In the description of this embodiment, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0031] like Figures 1 to 4 As shown, a cable armor removal device includes a fixed frame 1, two sliding frames 2 slidably connected to the fixed frame 1, and a first drive mechanism 3 for driving the sliding frames 2 to move closer or further apart. A rotating frame 4 is rotatably connected to the sliding frame 2, a second drive mechanism 5 for driving the rotating frame 4 to rotate, a plurality of grippers 41 movably connected to the rotating frame 4, and a third drive mechanism 6 for driving the grippers 41 to open or close. Magnets 411 are fixed on the grippers 41.

[0032] In this embodiment, the first step is to insert the cable into two rotating frames 4. The first driving mechanism 3 drives one of the sliding frames 2 to move a certain distance toward the other sliding frame 2. Then, the two third driving mechanisms 6 drive the clamps 41 to close and clamp the cable. The two second driving mechanisms 5 drive the two rotating frames 4 to rotate in opposite directions. While the rotating frames 4 are rotating, the third driving mechanism 6 drives the clamps 41 to open so that the steel armor on the cable is loosened. The first driving mechanism 3 drives the previously moved sliding frame 2 to move away from the other sliding frame 2. While the sliding frame 2 is moving, the clamps 41 on the other sliding frame 2 release the cable. The sliding frame 2 moves a certain distance with the steel armor, and then the clamps 41 on the sliding frame 2 release the steel armor. Step 2: After the gripper 41 releases the steel armor, the first drive mechanism 3 drives the sliding frame 2 to move a certain distance towards another sliding frame 2. Then, the two third drive mechanisms 6 drive the gripper 41 to close and clamp the cable. The rotating frame 4 on the previously moved sliding frame 2 rotates under the drive of the second drive mechanism 5. While the rotating frame 4 rotates, the third drive mechanism 6 drives the gripper 41 on the rotating frame 4 to open a certain distance, so that the steel armor on the cable is released. The first drive mechanism 3 drives the previously moved sliding frame 2 to move away from the other sliding frame 2. The sliding frame 2 moves a certain distance with the steel armor, and then the gripper 41 on the sliding frame 2 releases the steel armor. Repeat the above step 2 until the steel armor is completely removed from the cable, completing the removal of the cable armor. In the above technical solution, the automatic removal of cable armor can be achieved, which can reduce labor costs. It should be noted that the cable armor can be attracted by the magnet 411. The steel armor is spirally wound on the cable. By having the two rotating frames 4 rotate in opposite directions in the direction of the steel armor's rotation, the steel armor can be loosened.

[0033] Specifically, magnet 411 is electromagnet 411. The presence or absence of magnetism in electromagnet 411 can be controlled by turning off and on the power. When electromagnet 411 is de-energized, the gripper 41 can detach from the steel armor.

[0034] Specifically, such as Figure 2 As shown, the first drive mechanism 3 includes a first drive motor 31, a ball screw 32, and a nut seat 33 connected to the ball screw 32. The first drive motor 31 drives the ball screw 32, and the nut seat 33 is fixedly connected to the sliding frame 2 by bolts. The first drive motor 31 drives the ball screw 32 to rotate, and the rotation of the ball screw 32 causes the nut seat 33 to move linearly, which in turn causes the sliding frame 2 to move linearly.

[0035] Specifically, such as Figure 1As shown, the system also includes a frame 7 and a flipping drive mechanism 8 mounted on the frame 7. One end of the fixed frame 1 is hinged to the frame 7. The flipping drive mechanism 8 is used to drive the fixed frame 1 to flip relative to the frame 7, so that the fixed frame 1 can switch between a horizontal and a vertical state. In the vertical state, the axes of the two rotating frames 4 are vertical; in the horizontal state, the axes of the two rotating frames 4 are horizontal. When the fixed frame 1 is in the horizontal state, the two rotating frames 4 are lower in height, which facilitates the insertion of cables. When the fixed frame 1 is in the vertical state, the gravity on the cable is in the axial direction of the cable, which is perpendicular to the clamping direction of the gripper 41, reducing the influence of gravity on the removal of the cable armor. At the same time, when the steel armor moves on the cable, the direction of gravity on the cable is opposite to the direction of movement of the steel armor, which is beneficial to the removal of the cable armor.

[0036] Among them, such as Figure 1 As shown, the tilting mechanism includes a hydraulic cylinder 81, one end of which is hinged to the fixed frame 1, and the other end of which is hinged to the frame 7. The tilting of the fixed frame 1 is achieved by the extension and retraction of the hydraulic cylinder 81.

[0037] Specifically, such as Figure 1 As shown, it also includes a robotic arm 9 with a clamping mechanism 91. The robotic arm 9 is mounted on the frame 7. When the fixed frame 1 is in a vertical state, the clamping mechanism 91 is located directly above the rotating frame 4. When the fixed frame 1 is in a vertical state, the clamping mechanism 91 is located directly above the rotating frame 4. The clamping mechanism 91 clamps the steel armor, and can hold the steel armor in place when the gripper 41 is loose, preventing the steel armor from sliding downwards. At the same time, the robotic arm 9 transfers the steel armor, which can prevent the removed steel armor from affecting the next removal.

[0038] Specifically, such as Figure 3 As shown, several grippers 41 are slidably connected to the rotating frame 4 along the radial direction. The third drive mechanism 6 includes a locking disc 61 and a rotation drive assembly 62 for driving the locking disc 61. The locking disc 61 is rotatably connected to the rotating frame 4, and the axes of the two coincide. The rotation drive assembly 62 is installed on the sliding frame 2. The locking disc 61 is provided with several guide grooves 611. The several guide grooves 611 are circumferentially spaced along the axis of the rotating frame 4. The several guide grooves 611 correspond one-to-one with several grippers 41. A sliding shaft 412 is fixed on the gripper 41. Part of the sliding shaft 412 is located in the corresponding guide groove 611 and can slide along the length direction of the guide groove 611. The guide groove 611 is radially inclined relative to the locking disc 61 so that when the sliding shaft 412 slides along the length direction of the guide groove 611, the gripper 41 gradually moves away from or closer to the center of the locking disc 61.

[0039] The rotating frame 4 rotates, causing the gripper 41 to rotate. The locking disc 61 remains stationary. The sliding shaft 412 slides within the guide groove 611, causing the gripper 41 to move radially towards the rotating frame 4, thus closing or opening the gripper 41. Alternatively, the rotating frame 4 remains stationary while the locking disc 61 rotates. The sliding shaft 412 slides within the guide groove 611, causing the gripper 41 to move radially towards the rotating frame 4, thus closing or opening the gripper 41. When the rotating frame 4 rotates, the locking disc 61 rotates in the same direction, but at different speeds, causing the gripper 41 to close or open. The speed at which the gripper closes or opens is related to the speed difference between the rotating frame 4 and the locking disc 61. Finally, when the rotating frame 4 rotates, the locking disc 61 rotates in the same direction, but at the same speed, the sliding shaft 412 does not slide within the guide groove 611, and the gripper neither closes nor opens, remaining stationary radially towards the rotating frame.

[0040] Specifically, such as Figure 3 As shown, the rotation drive assembly 62 includes a rotation drive motor 621 mounted on the sliding frame 2, a drive gear 622 coaxially fixed to the output shaft of the rotation drive motor 621, and a driven gear 623 coaxially fixed to the locking disc 61 and rotatably connected to the rotating frame 4. The drive gear 622 and the driven gear 623 mesh. The rotation drive motor 621 drives the drive gear 622 to rotate, the drive gear 622 drives the driven gear 623 to rotate, and the driven gear 623 drives the locking disc 61 to rotate coaxially relative to the rotating frame 4.

[0041] Understandably, the aforementioned third drive mechanism 6 may have other structures. In another embodiment, several grippers 41 are slidably connected to the rotating frame 4 radially. The third drive mechanism 6 includes several linear actuators, each corresponding to one of the grippers 41. The linear actuators are mounted on the rotating frame 4 and drive the corresponding grippers 41 to slide relative to the rotating frame 4. Each gripper 41 has a corresponding linear actuator, allowing individual control of the corresponding gripper 41 to adapt to different cable conditions, thus improving the practicality of the grippers 41.

[0042] The linear actuator can be an electric cylinder. It is understood that in other embodiments, the linear actuator can also be a pneumatic cylinder, hydraulic cylinder, etc.

[0043] Specifically, such as Figure 1 and Figure 2 As shown, a support frame 11 is installed on the fixed frame 1, and the support frame 11 is provided with a first through hole 12. The support frame 11 is located between two sliding frames 2. When the fixed frame 1 is in a horizontal state, the support through the first through hole 12 can prevent the cable from bending or drooping at one end under its own weight, which would cause the cable to stick up and make it difficult to install the cable. When the fixed frame 1 is in a vertical state, the first through hole 12 radially limits the cable, and when the clamp 41 is open and not holding the cable, it can prevent the cable from falling over or dropping.

[0044] Specifically, such as Figure 1 As shown, both the rotating frame 4 and the sliding frame 2 are provided with a second through hole 21 for passing the cable. When the gripper 41 is open and not holding the cable, the cable is radially limited by the second through hole 21, which can prevent the cable from falling over or dropping.

[0045] Among them, such as Figure 4 As shown, one of the sliding frames 2 is equipped with a baffle 22 to shield one end of the second through hole 21. The baffle 22 is located on the side away from the other sliding frame 2. During the process of the fixed frame 1 switching from a horizontal state to a vertical state, the baffle 22 axially limits the cable to prevent the cable from slipping out of the second through hole. It also prevents the cable from being improperly inserted when it is installed, thus facilitating the installation of the cable.

[0046] Specifically, such as Figure 3 As shown, the second drive mechanism 5 includes a drive motor 51, a worm gear 53, and a worm 52. The worm gear 53 is coaxially fixed to the rotating frame 4. The drive motor 51 is mounted on the sliding frame 2. The worm 52 is drively connected to the output shaft of the drive motor 51, and the worm 52 meshes with the worm gear 53. The drive motor 51 drives the worm 52 to rotate the worm wheel, which in turn drives the rotating frame 4 to rotate. The drive motor 51 is mounted on the sliding frame 2 and can move with the sliding frame 2.

[0047] This embodiment also discloses a method for removing cable armor, which, using a cable armor removal device of this embodiment or other similar embodiments, further includes the following steps: Step 100: Rotate the fixed frame to a horizontal position using the flipping drive mechanism, insert the cable into the two rotating frames, and then rotate the fixed frame to a vertical position using the flipping drive mechanism. Step 200: The first drive mechanism drives the upper sliding frame to move downward a certain distance, and then the two third drive mechanisms drive the grippers to close and clamp the cable. The two upper and lower second drive mechanisms drive the upper and lower rotating frames to rotate in opposite directions so that the steel armor on the cable is loosened. While the rotating frame is rotating, the third drive mechanism drives the grippers to open a certain distance. Step 300: The first drive mechanism drives the upper sliding frame to move upward a certain distance. At the same time as the upper sliding frame moves, the lower gripper releases the cable. After the upper sliding frame moves into place, the clamping mechanism clamps the steel armor that has been moved upward. Step 400: The upper jaws completely release the steel armor. The first drive mechanism drives the upper sliding frame to move downward a certain distance. Then, the two third drive mechanisms drive the jaws to close and clamp the cable. The upper second drive mechanism drives the upper rotating frame to rotate so that the steel armor on the cable is released. While the rotating frame is rotating, the upper third drive mechanism drives the upper jaws to open a certain distance. Step 500: The first drive mechanism drives the upper sliding frame to move upward a certain distance. At the same time as the upper sliding frame moves, the clamping mechanism releases the steel armor. After the upper sliding frame moves into place, the clamping mechanism clamps the upward-moved steel armor. Step 600: Repeat steps 400 and 500 until the steel armor is completely detached from the cable. Then, use a robotic arm to remove the steel armor, completing the removal of the cable armor.

[0048] This method uses two third drive mechanisms to drive the grippers to close and clamp the cable, and two upper and lower second drive mechanisms to drive the upper and lower rotating frames to rotate in opposite directions, so as to loosen the steel armor on the cable. The upper sliding frame, in conjunction with the clamping mechanism, removes the loose steel armor from the cable, which can realize the automatic removal of cable armor and reduce labor costs.

[0049] In this embodiment, the cable is inserted into the two rotating frames via a conveyor belt. However, it is understood that other methods can also be used to insert the cable into the two rotating frames, such as mechanical pushing or manual operation.

[0050] Specifically, in steps 300 and 500, when the clamping mechanism clamps the upward-moving steel armor and the upper jaws open, the electromagnet is de-energized, and the jaws completely release the steel armor. In steps 200 and 500, when the jaws close to clamp the cable, the electromagnet is energized, causing it to attract the steel armor. Then, when the steel armor is loosened, the electromagnet is de-energized, and it continues to attract the steel armor.

[0051] The above embodiments, which describe the specific features of the present invention, are only used to further illustrate the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-essential improvements and adjustments made to the present invention by those skilled in the art based on the above description of the invention shall fall within the scope of protection of the present invention.

Claims

1. A cable armor removal device, characterized in that, It includes a fixed frame, two sliding frames slidably connected to the fixed frame, and a first drive mechanism for driving the sliding frames to move closer or further apart. A rotating frame is rotatably connected to the sliding frame, a second drive mechanism for driving the rotating frame to rotate, several grippers movably connected to the rotating frame, and a third drive mechanism for driving the grippers to open or close. Magnets are fixed on the grippers. It also includes a frame and a tilting drive mechanism mounted on the frame. One end of the fixed frame is hinged to the frame. The tilting drive mechanism is used to drive the fixed frame to tilt relative to the frame so that the fixed frame can switch between a horizontal state and a vertical state. It also includes a robotic arm with a clamping mechanism, which is mounted on the frame. When the fixed frame is in a vertical position, the clamping mechanism is located directly above the rotating frame. Several grippers are slidably connected to the rotating frame along the radial direction of the rotating frame. The third drive mechanism includes a locking disc and a rotation drive assembly for driving the locking disc. The locking disc is rotatably connected to the rotating frame, and their axes coincide. The rotation drive assembly is mounted on the sliding frame. The locking disc is provided with several guide grooves, which are circumferentially spaced along the axis of the rotating frame. Each guide groove corresponds to one of the grippers. A sliding shaft is fixed on each gripper. The sliding shaft is partially disposed in the corresponding guide groove and can slide along the length of the guide groove. The guide groove is radially inclined relative to the locking disc so that when the sliding shaft slides along the length of the guide groove, the gripper gradually moves away from or closer to the center of the locking disc.

2. The cable armor removal device according to claim 1, characterized in that, Several grippers are slidably connected to the rotating frame along the radial direction of the rotating frame. The third drive mechanism includes several linear actuators, each corresponding to one of the grippers. The linear actuators are mounted on the rotating frame and drive the corresponding grippers to slide relative to the rotating frame.

3. The cable armor removal device according to claim 1, characterized in that, A support frame is installed on the fixed frame, and the support frame has a first through hole. The support frame is located between two sliding frames.

4. The cable armor removal device according to claim 1, characterized in that, Both the rotating frame and the sliding frame are provided with a second through hole for passing a cable; one of the sliding frames is equipped with a baffle to cover one end of the second through hole, and the baffle is located on the side away from the other sliding frame.

5. The cable armor removal device according to claim 1, characterized in that, The magnet is an electromagnet.

6. The cable armor removal device according to claim 1, characterized in that, The second drive mechanism includes a drive motor, a worm gear, and a worm. The worm gear is coaxially fixed with the rotating frame, the drive motor is mounted on the sliding frame, the worm is connected to the output shaft of the drive motor, and the worm meshes with the worm gear.

7. A method for removing cable armor, characterized in that, The cable armor removal device according to claim 1 further includes the following steps: Step 100: Rotate the fixed frame to a horizontal position using the flipping drive mechanism, insert the cable into the two rotating frames, and then rotate the fixed frame to a vertical position using the flipping drive mechanism. Step 200: The first drive mechanism drives the upper sliding frame to move downward a certain distance, and then the two third drive mechanisms drive the grippers to close and clamp the cable. The two upper and lower second drive mechanisms drive the upper and lower rotating frames to rotate in opposite directions so that the steel armor on the cable is loosened. While the rotating frame is rotating, the third drive mechanism drives the grippers to open a certain distance. Step 300: The first drive mechanism drives the upper sliding frame to move upward a certain distance. At the same time as the upper sliding frame moves, the lower gripper releases the cable. After the upper sliding frame moves into place, the clamping mechanism clamps the steel armor that has been moved upward. Step 400: The upper jaws completely release the steel armor. The first drive mechanism drives the upper sliding frame to move downward a certain distance. Then, the two third drive mechanisms drive the jaws to close and clamp the cable. The upper second drive mechanism drives the upper rotating frame to rotate so that the steel armor on the cable is released. While the rotating frame is rotating, the upper third drive mechanism drives the upper jaws to open a certain distance. Step 500: The first drive mechanism drives the upper sliding frame to move upward a certain distance. At the same time as the upper sliding frame moves, the clamping mechanism releases the steel armor. After the upper sliding frame moves into place, the clamping mechanism clamps the upward-moved steel armor. Step 600: Repeat steps 400 and 500 until the steel armor is completely detached from the cable. Then, use a robotic arm to remove the steel armor, completing the removal of the cable armor.

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