High-precision controllable allowance polishing system and method for high-voltage cable insulation layer robot

Abstract

The application discloses a high-precision controllable allowance grinding and polishing system and method for high-voltage cable insulation layer, and relates to the field of high-voltage cable pretreatment.The system comprises a 6-axis collaborative robot, a force control device, a sand belt machine, a rotary drive assembly, a supporting frame and a high-voltage cable clamp.The rotary drive assembly is arranged above the supporting frame, the 6-axis collaborative robot is installed on the rotary drive assembly, the force control device and the sand belt machine are installed at the end of the robot, the force control device can control the polishing force of the sand belt machine, and the high-voltage cable clamp is arranged in the supporting frame.The application breaks the traditional grinding and polishing processing mode of the high-voltage cable insulation layer, and uses a robot to replace a person to process, thereby ensuring the accuracy of a track, and the force control device is provided to ensure the accurate output of the polishing force, so that the consistency of the grinding and polishing quality of the insulation layer surface can be ensured, and meanwhile, the operator can be prevented from working in a grinding and polishing dust harsh environment.

Description

Technical Field

[0001] This invention relates to the field of high-voltage cable pretreatment, specifically to a high-precision, controllable margin polishing system and method for high-voltage cable insulation layer robotic polishing. Background Technology

[0002] The statements in this section are provided only as background information in relation to this disclosure and may not constitute prior art.

[0003] Currently, the insulation layer polishing process in the pretreatment of high-voltage cables in the industry is carried out manually using belt sanders or sanders. Due to the inability of manual control over polishing force and trajectory, as well as the lack of accurate and efficient measurement methods, the polishing of high-voltage cable insulation layers relies entirely on the operator's sense or experience. This results in poor roundness and inconsistent quality of the polished high-voltage cable insulation layers, making it difficult to meet the required roundness and surface quality. This greatly increases the risk of high-voltage cable breakdown and seriously threatens the safe and stable operation of high-voltage cables.

[0004] In addition, a large amount of dust is generated during the polishing of cable insulation, resulting in a harsh working environment on site. However, since the polishing of high-voltage cable insulation is often carried out during the installation or maintenance of the cable, and because the cable is long and cannot be rotated, it is not possible to use machine tools to improve the processing quality and improve the working environment. Summary of the Invention

[0005] The purpose of this invention is to address the problems existing in the current high-voltage cable insulation layer polishing process and the practical conditions of such processing. It provides a high-precision, controllable margin polishing system and method for high-voltage cable insulation layers using a robot. This system employs a lightweight 6-axis collaborative robot, a force control device, and a belt sander, along with a vision measurement device and corresponding mechanical systems, to replace manual labor in polishing the high-voltage cable insulation layer. The robot solves the problem of inaccurate trajectory control during manual polishing and avoids the harsh working environment issues associated with direct manual polishing. The force control device precisely controls the output of polishing force, resolving the inaccurate force control problem of manual polishing. The vision device efficiently and accurately measures the margin of the high-voltage cable insulation layer, analyzes and locates the margin using point cloud measurement and analysis software, and then the robot performs high-precision polishing to remove the margin, ultimately achieving high-precision control over the roundness and surface quality of the high-voltage cable insulation layer.

[0006] The technical solution of the present invention is as follows:

[0007] A high-precision, controllable margin polishing system for high-voltage cable insulation, comprising:

[0008] 6-axis collaborative robot, force control device, belt sander, rotary drive assembly, support frame and high-voltage cable clamp;

[0009] The rotary drive assembly is positioned above the support frame;

[0010] The 6-axis collaborative robot is mounted on a rotary drive assembly;

[0011] The force control device and the belt sander are installed at the end of the robot and move along the end trajectory of the robot. The force control device can control the sanding force of the belt sander.

[0012] The high-voltage cable clamp is installed inside the support frame and is used to fix the high-voltage cable.

[0013] Furthermore, the rotary drive assembly is driven by a motor to rotate, enabling the 6-axis collaborative robot to rotate 360° around the axis of the high-voltage cable.

[0014] Furthermore, the 6-axis collaborative robot is mounted on the rotary drive assembly via a robot mounting bracket.

[0015] Furthermore, it also includes a vision device for acquiring point cloud data of the surface of the high-voltage cable insulation layer.

[0016] Furthermore, the vision device is a laser tracker or a handheld laser scanner.

[0017] A high-precision, controllable margin polishing method for high-voltage cable insulation layers using robots, based on the aforementioned high-precision, controllable margin polishing system for high-voltage cable insulation layers, includes:

[0018] Step S1: Design the process experimental parameter set according to the orthogonal experimental design method;

[0019] Step S2: Prepare high-voltage cable insulation layer polishing test specimens;

[0020] Step S3: Conduct grinding and polishing tests according to the process parameter group, and measure and obtain small sample test data;

[0021] Step S4: Establish a prediction model for the amount of high-precision polishing material removed from the insulating layer;

[0022] Step S5: Construct a high-density set of process parameters for single-pass grinding and polishing removal;

[0023] Step S6: Measure the actual cable insulation surface to obtain point cloud data;

[0024] Step S7: Fit the target cylinder of the cable insulation layer in the point cloud measurement and analysis software;

[0025] Step S8: Determine the margin and its position in the measurement coordinate system in the point cloud measurement and analysis software;

[0026] Step S9: Select the process parameters from the process parameter set to polish the cable insulation layer, and measure whether the roundness meets the target value. If it does, the polishing of the high-voltage cable insulation layer is completed. If it does not meet the target value, jump to step S8 and continue polishing until it meets the target value.

[0027] Furthermore, the set of process experimental parameters includes: abrasive belt mesh size, polishing force, and feed rate.

[0028] Further, step S3 includes:

[0029] The insulation layer of the high-voltage cable insulation layer polishing specimen was polished according to the process experimental parameter group. For each set of process experimental parameters, the polishing area of ​​the high-voltage cable insulation layer polishing specimen was measured with a vision device before and after polishing. The point cloud of the high-voltage cable insulation layer polishing specimen before and after polishing was matched and measured in the measurement and analysis software to obtain the single polishing removal amount of each set of process experimental parameters. Thus, small sample test data consisting of the single polishing removal amount corresponding to each set of process experimental parameters can be obtained.

[0030] Further, step S4 includes:

[0031] Based on small sample experimental data, a high-precision model for predicting the amount of material removed from the insulating layer by grinding and polishing was constructed using the random forest algorithm.

[0032] Step S5 includes:

[0033] Based on the high-precision grinding and polishing material removal prediction model of the insulating layer, a high-density set of process parameters for single grinding and polishing removal is constructed.

[0034] Step S6 includes:

[0035] When polishing actual high-voltage cables, the surface point cloud data of the cable insulation layer is first obtained by measuring the surface of the cable insulation layer using a vision device.

[0036] Step S7 includes:

[0037] The point cloud is fitted in the measurement and analysis software to fit the target cylinder;

[0038] Step S8 includes:

[0039] In point cloud measurement and analysis software, the margin of high-voltage cable insulation layer and the corresponding coordinate values ​​based on the measurement coordinate system are obtained by matching the point cloud of the target cylinder with that of the cable insulation layer.

[0040] Step S9 includes:

[0041] Based on the remaining amount of high-voltage cable insulation and its coordinate position obtained in step S8, the corresponding process parameter group from the high-density single-time polishing removal process parameter set described in step S5 is selected for polishing. High-precision and high-surface-quality cable insulation polishing is achieved through a dynamic processing method of measurement-polishing.

[0042] Furthermore, in steps S3 and S4, point cloud matching is performed using a marker point matching method.

[0043] Compared with existing technologies, the advantages of this invention are:

[0044] 1. This invention employs a lightweight 6-axis collaborative robot for polishing the insulation layer of high-voltage cables, breaking away from traditional polishing methods. By replacing humans with a robot, the accuracy of the trajectory is ensured. Equipped with a force control device, precise output of polishing force is guaranteed, thus ensuring consistent polishing quality of the insulation layer surface. Simultaneously, it avoids the need for operators to work in harsh dusty environments. By employing a high-precision, controllable margin polishing method, high-precision, controllable margin polishing of the high-voltage cable insulation layer can be achieved, producing a high-roundness insulation layer, significantly improving the polishing quality and intelligence level of high-voltage cable insulation. Furthermore, based on this invention, a corresponding vision device can be installed at the robot's end effector. Combined with the high-precision, controllable margin polishing method described in this invention, the measurement and processing automation of the actual high-voltage cable insulation layer polishing can be achieved through software and electrical control, further improving the efficiency and intelligence level of high-precision, high-quality polishing of high-voltage cable insulation layers.

[0045] 2. This invention uses a 6-axis collaborative robot + rotary drive system, adding one more axis to the robot, making the entire system a 7-axis machining system, which can solve the problem that the working area cannot be fully covered by a single 6-axis collaborative robot.

[0046] 3. This invention obtains a set of process parameters for the single grinding and polishing removal amount of cable insulation layer with high density by conducting small-sample experiments and constructing a material removal amount prediction model. This allows for control of the single grinding and polishing removal amount, and ultimately, control of the grinding and polishing allowance of the cable insulation layer, thereby achieving high-precision and controllable allowance grinding and polishing.

[0047] 4. This invention determines the allowance and its location by using a point cloud of the cable insulation layer obtained from actual field measurements and fitting it to a target cylinder. This method of determining the allowance minimizes the removal of insulation material, thereby improving the cable's insulation performance.

[0048] 5. This invention improves measurement accuracy by employing a marker point matching measurement method. Attached Figure Description

[0049] Figure 1 Block diagram of a high-precision, controllable margin grinding and polishing system for high-voltage cable insulation layers using a robot.

[0050] Figure 2 This is a schematic diagram of the process parameter group;

[0051] Figure 3 This is a schematic diagram illustrating the amount of material removed by grinding.

[0052] Figure 4 This is a schematic diagram of small sample experimental data;

[0053] Figure 5 Schematic diagram of the marker matching measurement method

[0054] Figure 6 A schematic diagram of a high-precision grinding and polishing material removal prediction model;

[0055] Figure 7 A schematic diagram of fitting the target cylinder;

[0056] Figure 8 A schematic diagram showing the remaining cable insulation layer and its location;

[0057] Figure 9 Flowchart of a high-precision, controllable margin polishing method for high-voltage cable insulation layers. Detailed Implementation

[0058] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0059] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0060] Example 1

[0061] To meet the requirements for roundness and surface quality consistency in the polishing of high-voltage cable insulation layers and to avoid workers operating in environments with severe polishing dust, this embodiment provides a high-precision, controllable-margin robotic polishing system and method for high-voltage cable insulation layers. The robotic polishing system provides the hardware conditions for high-precision polishing of high-voltage cable insulation layers, and the high-precision, controllable-margin polishing method achieves high-precision, high-surface-quality polishing of the high-voltage cable insulation layers. This high-precision, controllable-margin robotic polishing system and method for high-voltage cable insulation layers can be applied not only to the polishing of high-voltage cable insulation layers but also to other similar processing fields.

[0062] Please see Figure 1 A high-precision, controllable margin polishing system for high-voltage cable insulation, comprising:

[0063] 6-axis collaborative robot, force control device, belt sander, rotary drive assembly, support frame and high-voltage cable clamp;

[0064] The rotary drive assembly is positioned above the support frame;

[0065] The 6-axis collaborative robot is mounted on a rotary drive assembly;

[0066] The force control device and belt sander are installed at the end of the robot, following the robot's end-effector trajectory. The force control device can control the sander's grinding force, enabling adjustable and precise output of grinding force. Specifically, the force control device is installed on the end flange of the 6-axis collaborative robot and connected to the belt sander. It should be noted that the 6-axis collaborative robot is a lightweight robot, facilitating on-site installation. It can be programmed using the robot's teach pendant to achieve corresponding trajectory movements at the end of the robot. Applying the 6-axis collaborative robot to the grinding and polishing process in the pretreatment of high-voltage cables ensures accurate control of the grinding and polishing trajectory. The combination of a force control device and a belt sander allows for precise control of the output force and facilitates robot operation.

[0067] The high-voltage cable clamp is installed inside the support frame and is used to fix the high-voltage cable.

[0068] In this embodiment, specifically, the rotary drive assembly is driven by a motor to rotate, enabling the 6-axis collaborative robot to rotate 360° around the axis of the high-voltage cable; that is, the rotary drive assembly is driven by a motor-driven pinion gear that drives the gear ring of the slewing bearing to rotate, thereby enabling the 6-axis collaborative robot to rotate 360° around the axis of the high-voltage cable, thus achieving full coverage of the polishing area of ​​the high-voltage cable insulation layer.

[0069] In this embodiment, specifically, the 6-axis collaborative robot is mounted on the rotary drive assembly via a robot mounting base.

[0070] In this embodiment, specifically, it also includes a vision device, which is used to acquire point cloud data of the surface of the high-voltage cable insulation layer.

[0071] In this embodiment, specifically, the vision device is a laser tracker or a handheld laser scanner. It should be noted that when using a handheld laser scanner, to obtain higher accuracy results, the point clouds before and after polishing are matched using scanning marker points. The matched marker points are placed outside the polishing area, and scanning begins from the area of ​​the matched marker points. A schematic diagram is shown below. Figure 5 As shown.

[0072] In this embodiment, for details, please refer to... Figure 9 Based on the aforementioned high-precision controllable margin grinding and polishing system for high-voltage cable insulation layers using robots, a method for high-precision controllable margin grinding and polishing of high-voltage cable insulation layers using robots is also proposed, including:

[0073] Step S1: Design the process experimental parameter set according to the orthogonal experimental design method;

[0074] Step S2: Prepare high-voltage cable insulation layer polishing test specimens;

[0075] Step S3: Conduct grinding and polishing tests according to the process parameter group, and measure and obtain small sample test data;

[0076] Step S4: Establish a prediction model for the amount of high-precision polishing material removed from the insulating layer;

[0077] Step S5: Construct a high-density set of process parameters for single-pass grinding and polishing removal;

[0078] Step S6: Measure the actual cable insulation surface to obtain point cloud data;

[0079] Step S7: Fit the target cylinder of the cable insulation layer in the point cloud measurement and analysis software;

[0080] Step S8: Determine the margin and its position in the measurement coordinate system in the point cloud measurement and analysis software;

[0081] Step S9: Select the process parameters from the process parameter set to polish the cable insulation layer, and measure whether the roundness meets the target value. If it does, the polishing of the high-voltage cable insulation layer is completed. If it does not meet the target value, jump to step S8 and continue polishing until it meets the target value.

[0082] In this embodiment, specifically, such as Figure 2 As shown, the process experiment parameter set includes: abrasive belt mesh size, polishing force, and feed speed.

[0083] In this embodiment, specifically, step S3 includes:

[0084] The insulation layer of high-voltage cable insulation polishing specimens was polished according to the process experimental parameters. For each set of process experimental parameters, the polished area of ​​the high-voltage cable insulation polishing specimens was measured using a vision device before and after polishing. The point cloud of the high-voltage cable insulation polishing specimens before and after polishing was matched and measured in the measurement analysis software to obtain the single polishing removal amount for each set of process experimental parameters. Thus, small sample experimental data consisting of the single polishing removal amount corresponding to each set of process experimental parameters can be obtained. Schematic diagrams of polishing removal amount analysis and small sample experimental data are shown below. Figure 3 and Figure 4 As shown;

[0085] It should be noted that when the amount removed by a single grinding operation corresponding to a set of process parameters is very small, after multiple grinding operations and measuring the total amount removed, the average amount removed by a single grinding operation is taken as the amount removed by a single grinding operation corresponding to that set of process parameters.

[0086] In this embodiment, specifically, step S4 includes:

[0087] Based on small sample experimental data, a high-precision prediction model for the removal amount of polishing material in the insulating layer was constructed using the random forest algorithm; a schematic diagram of the high-precision prediction model for the removal amount of polishing material is shown below. Figure 6 As shown;

[0088] Step S5 includes:

[0089] Based on the high-precision grinding and polishing material removal prediction model of the insulating layer, a high-density set of process parameters for single grinding and polishing removal is constructed.

[0090] Step S6 includes:

[0091] When polishing an actual high-voltage cable, the surface of the cable insulation layer is first measured using a vision device to obtain point cloud data of the cable insulation layer surface; that is, when polishing an actual high-voltage cable, the surface of the cable insulation layer is first measured using a vision device to obtain point cloud data of the cable insulation layer surface.

[0092] Step S7 includes:

[0093] The point cloud was fitted using measurement and analysis software to obtain the target cylinder; the target cylinder is shown in the schematic diagram below. Figure 7 As shown;

[0094] Step S8 includes:

[0095] In point cloud measurement and analysis software, by matching the point cloud of the target cylinder with that of the cable insulation layer, the remaining amount of the high-voltage cable insulation layer and the corresponding coordinate values ​​based on the measurement coordinate system are obtained, such as... Figure 8 As shown;

[0096] Step S9 includes:

[0097] Based on the remaining amount and coordinate position of the high-voltage cable insulation layer obtained in step S8, the corresponding process parameter set from the high-density single-pass polishing removal process parameter set described in step S5 is selected for polishing. High-precision and high-surface-quality cable insulation layer polishing is achieved through a dynamic processing method of measurement-polishing. Figure 9 As shown.

[0098] In this embodiment, specifically, in steps S3 and S4, a marker point matching method is used to perform point cloud matching.

[0099] The high-precision, controllable allowance polishing method proposed in this embodiment is as follows:

[0100] First, through a design process experiment, the insulation layer of the high-voltage cable specimen is polished according to the process parameter group (abrasive belt mesh size, polishing force, and feed speed). For each set of process parameters, the polishing area of ​​the cable specimen is measured using a vision device before and after polishing. The point cloud of the specimen before and after polishing is matched and measured in the measurement and analysis software to obtain the single polishing removal amount for each set of process parameters. This yields small sample experimental data consisting of the single polishing removal amount corresponding to each set of process parameters. Based on the small sample experimental data, a random forest algorithm is used to construct a prediction model for the single polishing material removal amount of the high-voltage cable insulation layer. Through the prediction model, a high-density set of process parameters for the single polishing material removal amount can be obtained.

[0101] Then, during the actual polishing of the high-voltage cable insulation layer, the surface of the high-voltage cable insulation layer is first measured using a vision device. The point cloud data of the measured high-voltage cable insulation layer surface is then fitted in the measurement analysis software to create a target cylinder. This target cylinder is then matched with the measured point cloud data of the insulation layer surface to obtain the required polishing allowance and its corresponding location. The appropriate process parameters from the process parameter set are then selected to polish the high-voltage cable insulation layer. After polishing, the roundness is measured using the vision device and then in the measurement analysis software. If the roundness meets the target requirements, the polishing process ends. If the roundness does not meet the target requirements, the required allowance and its location are analyzed, and the appropriate process parameters are selected to continue polishing until the target requirements are met.

[0102] To achieve high-precision and controllable material removal during polishing of high-voltage cable insulation, a large-density set of process parameters for single-pass polishing material removal is first needed. This includes a large number of polishing process parameters corresponding to various gradient values ​​of single-pass material removal, allowing for the selection of appropriate polishing process parameters based on the material removal distribution of the high-voltage cable insulation. However, determining the process parameter set through pure experimentation presents two main problems: first, the experimental workload is substantial, requiring polishing tests and measurements for each set of process parameters to determine its single-pass material removal; second, the final set of process parameters obtained from the tests is incomplete, potentially leading to the inability to find suitable polishing process parameters based on the remaining material in the high-voltage cable insulation. Therefore, this invention employs a method of constructing a prediction model for the amount of material removed during grinding and polishing to build the process parameter set. Only a small sample of process test data (grinding and polishing process parameters and their corresponding material removal amounts per grinding and polishing cycle) is needed to obtain the material removal amount prediction model. Then, the prediction model is used to construct the process parameter set. Theoretically, the prediction model can construct a process parameter set including countless process parameters and their corresponding material removal amounts. By randomly selecting a point on the prediction model, the process parameters at that point and their corresponding material removal amounts per grinding and polishing cycle can be obtained. The random forest algorithm is an ensemble learning method based on decision trees, capable of performing classification and regression predictions. This scheme uses the random forest algorithm to construct the prediction model.

[0103] In acquiring small-sample process test data, a vision device is needed to measure the specimens before and after each set of grinding and polishing process parameters to obtain corresponding point clouds. Then, by matching the specimens before and after grinding and polishing in point cloud measurement and analysis software, the amount of material removed by grinding and polishing can be obtained. Handheld laser scanners are widely used in the field of measurement due to their ease of operation and high accuracy. The traditional measurement method involves attaching markers to the workpiece and then scanning. By fixing at least three standard spheres on the workpiece, the standard spheres are scanned together with the workpiece during the first and second scans to obtain a workpiece point cloud with the standard spheres. Then, in the point cloud measurement and analysis software, the point clouds obtained from the first and second scans are matched with the standard spheres to analyze the changes in the point cloud on the workpiece surface. However, the matching process using standard spheres involves fitting the point cloud of the standard sphere itself. For example, when the point cloud of the standard sphere is fitted to a sphere, there is also a fitting error, which reduces the accuracy of the workpiece point cloud matching and further reduces the accuracy of the amount of material removed by grinding and polishing. Therefore, this scheme uses a marker point matching method for point cloud matching, without using intermediate bodies such as standard spheres, which improves measurement accuracy. Analysis of the scanner's scanning characteristics shows that as long as the marker points in the initial scanning area remain unchanged, the measurement coordinate system remains constant. This means that the point clouds from multiple measurements are all within this coordinate system. Since the point clouds obtained from the first and second measurements are in the same coordinate system, they are also in the same coordinate system in the point cloud measurement analysis software, thus obtaining high-precision measurement data. Therefore, this scheme involves attaching marker points both inside and outside the polishing area of ​​the specimen. Before polishing, the specimen is measured once, and the marker points within the polishing area are removed, while those outside are retained. After polishing, marker points are attached to the polishing area, and the specimen is measured again. Because the starting area for both pre- and post-polishing measurements is the marker point area outside the polishing area, and the marker points remain unchanged, it ensures that the point clouds from both measurements are in the same coordinate system, avoiding errors beyond the measurement scope and improving the accuracy of measuring the amount of polishing material removed.

[0104] Since the actual forming dimensions and roundness of the insulation layer of high-voltage cables of the same specification are inconsistent, in order to ensure that the insulation layer material of the high-voltage cable is removed as little as possible to improve the insulation performance of the high-voltage cable, this solution uses point cloud measurement and analysis software to fit a corresponding cylinder as the target cylinder based on the actual measured point cloud data of the cable insulation layer. Then, the fitted target cylinder is matched and compared with the measured point cloud of the cable insulation layer to obtain the remaining amount of the cable insulation layer and the corresponding position of the remaining amount.

[0105] The embodiments described above merely illustrate specific implementation methods of this application, and while the descriptions are detailed and specific, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the technical solution of this application, and these modifications and improvements all fall within the scope of protection of this application.

[0106] This background section is provided to generally present the context of the invention. The work of the currently named inventors, the work to the extent described in this background section, and aspects of this section that did not constitute prior art at the time of application are neither expressly nor impliedly acknowledged as prior art to the invention.

Claims

1. A high-precision, controllable margin polishing system for high-voltage cable insulation layers using robots, characterized in that: include: 6-axis collaborative robot, force control device, belt sander, rotary drive assembly, support frame and high-voltage cable clamp; The rotary drive assembly is positioned above the support frame; The 6-axis collaborative robot is mounted on a rotary drive assembly; The force control device and the belt sander are installed at the end of the robot and move along the end trajectory of the robot. The force control device can control the sanding force of the belt sander. The high-voltage cable clamp is installed inside the support frame and is used to fix the high-voltage cable. Based on the aforementioned high-precision controllable margin grinding and polishing system for high-voltage cable insulation layers using robots, a method for high-precision controllable margin grinding and polishing of high-voltage cable insulation layers using robots is also proposed, including: Step S1: Design the process experimental parameter set according to the orthogonal experimental design method; Step S2: Prepare high-voltage cable insulation layer polishing test specimens; Step S3: Conduct grinding and polishing tests according to the process parameter group, and measure and obtain small sample test data; Step S4: Establish a prediction model for the amount of high-precision polishing material removed from the insulating layer; Step S5: Construct a high-density set of process parameters for single-pass grinding and polishing removal; Step S6: Measure the actual cable insulation surface to obtain point cloud data; Step S7: Fit the target cylinder of the cable insulation layer in the point cloud measurement and analysis software; Step S8: Determine the margin and its position in the measurement coordinate system in the point cloud measurement and analysis software; Step S9: Select the process parameters from the process parameter set to polish the cable insulation layer, and measure whether the roundness meets the target value. If it does, the polishing of the high-voltage cable insulation layer is completed. If it does not meet the target value, jump to step S8 and continue polishing until it does. Step S4 includes: Based on small sample experimental data, a high-precision model for predicting the amount of material removed from the insulating layer by grinding and polishing was constructed using the random forest algorithm. Step S5 includes: Based on the high-precision grinding and polishing material removal prediction model of the insulating layer, a high-density set of process parameters for single grinding and polishing removal is constructed. Step S6 includes: When polishing actual high-voltage cables, the surface point cloud data of the cable insulation layer is first obtained by measuring the surface of the cable insulation layer using a vision device. Step S7 includes: The point cloud is fitted in the measurement and analysis software to fit the target cylinder; Step S8 includes: In point cloud measurement and analysis software, the margin of high-voltage cable insulation layer and the corresponding coordinate values ​​based on the measurement coordinate system are obtained by matching the point cloud of the target cylinder with that of the cable insulation layer. Step S9 includes: Based on the remaining amount of high-voltage cable insulation and its coordinate position obtained in step S8, the corresponding process parameter group from the high-density single-time polishing removal process parameter set described in step S5 is selected for polishing. High-precision and high-surface-quality cable insulation polishing is achieved through a dynamic processing method of measurement-polishing.

2. The high-precision controllable allowance grinding and polishing system for high-voltage cable insulation layer as described in claim 1, characterized in that, The rotary drive assembly is driven by a motor to rotate, enabling the 6-axis collaborative robot to rotate 360° around the axis of the high-voltage cable.

3. The high-precision controllable allowance grinding and polishing system for high-voltage cable insulation layer as described in claim 1, characterized in that, The 6-axis collaborative robot is mounted on the rotary drive assembly via a robot mounting base.

4. The high-precision controllable allowance grinding and polishing system for high-voltage cable insulation layer as described in claim 1, characterized in that, Also includes: A vision device for acquiring point cloud data of the surface of a high-voltage cable insulation layer.

5. The high-precision controllable allowance grinding and polishing system for high-voltage cable insulation layer as described in claim 4, characterized in that, The vision device is a laser tracker or a handheld laser scanner.

6. The high-precision controllable allowance grinding and polishing system for high-voltage cable insulation layer as described in claim 5, characterized in that, The set of process experimental parameters includes: abrasive belt mesh size, polishing force, and feed rate.

7. The high-precision controllable allowance grinding and polishing system for high-voltage cable insulation layer as described in claim 6, characterized in that, Step S3 includes: The insulation layer of the high-voltage cable insulation layer polishing specimen was polished according to the process experimental parameter group. For each set of process experimental parameters, the polishing area of ​​the high-voltage cable insulation layer polishing specimen was measured with a vision device before and after polishing. The point cloud of the high-voltage cable insulation layer polishing specimen before and after polishing was matched and measured in the measurement and analysis software to obtain the single polishing removal amount of each set of process experimental parameters. Thus, small sample test data consisting of the single polishing removal amount corresponding to each set of process experimental parameters can be obtained.

8. The high-precision controllable allowance grinding and polishing system for high-voltage cable insulation layer as described in claim 7, characterized in that, In steps S3 and S4, point cloud matching is performed using a marker point matching method.

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