Control cable stripping method based on machine vision

Abstract

The invention relates to the field of cable recycling, in particular to a control cable stripping method based on machine vision. Comprising a workbench, a clamping and cutting assembly, a separating roller, a motor I, a separating plate, a pulling assembly and the like. The workbench is connected with a clamping and cutting assembly. The workbench is provided with a connecting frame, and the connecting frame is rotationally connected with a separating roller. The workbench is connected with a pulling assembly. The pulling assembly is connected with a motor I, and an output shaft of the motor I is fixedly connected with the separating roller; and the separating roller is fixedly connected with a separating plate. According to the cable pre-separation device, the cutting groove part is prevented from continuing to move upwards through the groove in the separation plate, so that an insulating layer is prevented from moving upwards, the inner cable core is continuously extruded through the extrusion wheel, the cable core is extruded out of the insulating layer, the parts of all the cable core are exposed in the cutting groove part, and therefore the cable is pre-separated; and subsequent separation of the insulating layer of the cable core box is facilitated.

Description

Technical Field

[0001] The invention relates to the field of cable recycling, and in particular to a machine vision-based controlled cable stripping method. Background Art

[0002] Scrap cables contain a large amount of copper, so when recycling scrap cables, it is usually necessary to strip the insulation layer of the cable and take out the copper wire for recycling. A Chinese patent with publication number CN115133466A discloses a cable stripping machine, which cuts a cutting groove on the cable to facilitate stripping the cable core from the cutting groove, and then slides the cable core out of the cutting groove through a separation device to achieve complete stripping of the cable skin and the cable core; however, scrap cables are usually curved, and even after being positioned by a positioning device, the scrap cables will still return to a curved shape, making the position of the cutting groove unstable, so that less insulation layer is cut off at some positions of the cable, resulting in the cable core not being exposed in the cutting groove, so that during subsequent separation, it is difficult for the cable core to slide out of the cutting groove, causing the cable core at some positions to still be connected to the insulation layer, so that the staff will need to separate them later, which creates a workload for the staff. Summary of the invention

[0003] In order to overcome the disadvantage that when the cable core is not exposed in the cutting groove, the subsequently separated cable core is difficult to slide out of the cutting groove, resulting in that the cable core in some positions is still connected to the insulation layer, and the staff are required to separate it later, which creates a workload for the staff, the present invention provides a controlled cable stripping method based on machine vision.

[0004] The technical solution is as follows: A control cable stripping method based on machine vision, characterized in that it includes the following steps:

[0005] Step 1: The staff places the cable on the conveying device of the peripheral device;

[0006] Step 2: Push the cable into the cable stripping device through the external conveying device;

[0007] Step 3: Use the cable stripping device to cut a cutting groove on the cable horizontally, and use the external camera to monitor to ensure the cutting position is accurate;

[0008] Step 4: Use the cable stripping device to squeeze the cable to pre-separate the cable core from the insulation layer;

[0009] Step 5: Use the cable stripping device to strip the insulation layer along the cutting groove, so as to separate the insulation layer of the cable from the cable core;

[0010] Step 6: The staff collects the separated cable cores.

[0011] Preferably, the cable stripping device described in step 2 of the stripping method comprises a workbench and a clamping and cutting assembly; the workbench is connected to the clamping and cutting assembly, and a cutting groove is cut on the cable by the clamping and cutting assembly; it also comprises a separation roller, a motor I, a separation plate, a driving push rod I, a support plate, an extrusion wheel and a pulling assembly; the workbench is provided with a connecting frame; the connecting frame is rotatably connected to a plurality of separation rollers; the workbench is connected to the pulling assembly, and two adjacent separation rollers are driven to rotate towards each other by the pulling assembly; the pulling assembly is connected to the motor I, and the output shaft of the motor I is fixedly connected to the adjacent separation rollers; each separation roller is fixedly connected to a separation plate; the workbench is fixedly connected to a plurality of driving push rods I; the telescopic ends of all driving push rods I are commonly fixedly connected to the support plate; the support plate is rotatably connected to a plurality of extrusion wheels.

[0012] Preferably, the clamping and cutting assembly includes a fixed plate, a driving push rod II, a clamping bar, a driving push rod III, a cutter and a guide plate; the workbench is fixedly connected to the fixed plate; the fixed plate is fixedly connected to a plurality of driving push rods II, and the telescopic ends of two adjacent driving push rods II on the left and right are both fixedly connected to another fixed plate; two adjacent fixed plates on the front and back are both fixedly connected to a plurality of clamping bars; the workbench is fixedly connected to a plurality of driving push rods III; the telescopic ends of all the driving push rods III are fixedly connected to the cutter; the cutter is fixedly connected to the guide plate.

[0013] Preferably, a plurality of grooves are provided on the lower side of the separation plate.

[0014] Preferably, the surface of the separation roller is provided with a plurality of ridges.

[0015] Preferably, a guide bar is further included; the guide plate is fixedly connected to the guide bar.

[0016] Preferably, a heating block is further included; the guide plate is fixedly connected to the heating block, the heating block is located on the central axis of the guide plate, and a heating module is arranged inside the heating block.

[0017] Preferably, the pulling assembly includes a bidirectional push rod, a pulling block and a fixed block; both telescopic ends of the bidirectional push rod are fixedly connected to a pulling block; each pulling block is movably connected to a fixed block, each fixed block is fixedly connected to an adjacent separation roller, and each fixed block is fixedly connected to an adjacent motor I.

[0018] Preferably, a detection camera is also included, and the workbench is fixedly connected to the detection camera.

[0019] Preferably, it also includes a pulling rod I, a motor II, a driving push rod IV, a fixed cylinder and a pulling rod II; the workbench is rotatably connected to the pulling rod I; the workbench is fixedly connected to the motor II, and the output shaft of the motor II is fixedly connected to the pulling rod I; the workbench is fixedly connected to a plurality of driving push rods IV; the telescopic ends of all the driving push rods IV are fixedly connected to a fixed cylinder; all the fixed cylinders are rotatably connected to the pulling rod II.

[0020] Beneficial effects of the present invention: The present invention blocks the cutting groove part from further moving upward through the groove on the separation plate, thereby blocking the insulation layer from moving upward, and continues to squeeze the internal cable core through the extrusion wheel, thereby squeezing the cable core out of the insulation layer, so that all parts of the cable core will be exposed in the cutting groove part, thereby pre-separating the cable, which is convenient for separating the insulation layer of the cable core box later;

[0021] The present invention heats the middle part of the cutting groove part by a heating block, so that the middle part of the cutting groove part is softened. Therefore, when the subsequent extrusion wheel extrudes the inner cable core through the insulating layer, the cable core can more easily break the middle part of the cutting groove part. Therefore, it is easier to extrude the cable core that was not originally exposed in the cutting groove to be exposed in the cutting groove part, thereby further improving the extrusion effect of the extrusion wheel;

[0022] The present invention uses two separation plates to repeatedly move toward each other, so that the separation plates clamp and squeeze the cable part, squeeze and crack the burnt cable insulation layer, and facilitate subsequent separation, and further squeeze the cable insulation layer through two separation rollers to further crack the cable insulation layer, and then the burnt insulation layer is partially peeled off by the two separation rollers rotating toward each other, so as to separate the burnt insulation layer from the cable core;

[0023] According to the present invention, the cable core will subsequently enter between the pulling rod I and the pulling rod II in an upwardly inclined state, so that the cable core will be more closely fitted to the separation roller, which is beneficial for the separation roller to separate the cable core and the insulation layer. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the structure disclosed in the control cable stripping method based on machine vision of the present invention;

[0025] Figure 2 A schematic diagram of the structure of a workbench, a fixing plate, a driving push rod II, a clamping bar, a driving push rod III, a cutter, a guide plate, a guide bar and a detection camera disclosed in the control cable stripping method based on machine vision of the present invention;

[0026] Figure 3 A schematic diagram of the structure of a cutter disclosed in the control cable stripping method based on machine vision of the present invention;

[0027] Figure 4A cross-sectional view of a workbench disclosed in the control cable stripping method based on machine vision of the present invention;

[0028] Figure 5 It is a schematic diagram of the structure of the working table, separation roller, motor I, bidirectional push rod, pulling block and fixed block disclosed in the control cable stripping method based on machine vision of the present invention;

[0029] Figure 6 The present invention is a schematic diagram of the cable cutting state disclosed in the machine vision-based control cable stripping method.

[0030] Explanation of the accompanying drawings: 1-workbench, 2-separation roller, 3-motor I, 4-separation plate, 5-driving push rod I, 6-support plate, 7-extrusion wheel, 101-fixed plate, 102-driving push rod II, 103-clamping bar, 104-driving push rod III, 105-cutter, 106-guide plate, 107-guide bar, 108-detection camera, 111-heating block, 201-pull rod I, 202-motor II, 203-driving push rod IV, 204-fixed cylinder, 205-pull rod II, 301-bidirectional push rod, 302-pull block, 303-fixed block, 1001-connecting frame, 100-cable part, 200-cutting groove part. DETAILED DESCRIPTION

[0031] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0032] Example 1

[0033] A control cable stripping method based on machine vision, characterized in that it includes the following steps:

[0034] Step 1: The staff places the cable on the conveying device of the peripheral device;

[0035] Step 2: Push the cable into the cable stripping device through the external conveying device;

[0036] Step 3: Use the cable stripping device to cut a cutting groove on the cable horizontally, and use the external camera to monitor to ensure the cutting position is accurate;

[0037] Step 4: Use the cable stripping device to squeeze the cable to pre-separate the cable core from the insulation layer;

[0038] Step 5: Use the cable stripping device to strip the insulation layer along the cutting groove, so as to separate the insulation layer of the cable from the cable core;

[0039] Step 6: The staff collects the separated cable cores.

[0040] like Figure 1-Figure 6As shown, the cable stripping device described in step 2 of the above stripping method includes a workbench 1 and a clamping and cutting assembly; the workbench 1 is connected to the clamping and cutting assembly, and a cutting groove is cut on the cable by the clamping and cutting assembly;

[0041] It also includes a separation roller 2, a motor Ⅰ3, a separation plate 4, a driving push rod Ⅰ5, a support plate 6, an extrusion wheel 7 and a pulling component; the workbench 1 is provided with a connecting frame 1001; the connecting frame 1001 is rotatably connected to two separation rollers 2; the workbench 1 is connected to a pulling component, which drives two adjacent separation rollers 2 to rotate towards each other; the pulling component is connected to the motor Ⅰ3, and the output shaft of the motor Ⅰ3 is fixedly connected to the adjacent separation roller 2; each separation roller 2 is fixedly connected to a separation plate 4; the workbench 1 is fixedly connected to two driving push rods Ⅰ5; the telescopic ends of all the driving push rods Ⅰ5 are commonly fixedly connected to the support plate 6; the support plate 6 is rotatably connected to three extrusion wheels 7.

[0042] The clamping and cutting assembly includes a fixed plate 101, a driving push rod II 102, a clamping strip 103, a driving push rod III 104, a cutter 105 and a guide plate 106; the workbench 1 is fixedly connected to the fixed plate 101; the fixed plate 101 is fixedly connected to two driving push rods II 102, and the telescopic ends of the two left and right adjacent driving push rods II 102 are both fixedly connected to another fixed plate 101; the two front and back adjacent fixed plates 101 are both fixedly connected to three clamping strips 103; the workbench 1 is fixedly connected to two driving push rods III 104; the telescopic ends of all the driving push rods III 104 are fixedly connected to the cutter 105; the cutter 105 is fixedly connected to the guide plate 106.

[0043] The lower side of the separation plate 4 is provided with a plurality of grooves.

[0044] The surface of the separation roller 2 is provided with a plurality of convex thorns, which penetrate into the cable insulation layer through the separation roller 2, so that the friction between the separation roller 2 and the insulation layer is increased, which is conducive to separating the insulation layer from the cable core.

[0045] It also includes a guide bar 107; the guide plate 106 is fixedly connected to the guide bar 107, and the guide bar 107 guides the insulating layer part above the cutting groove to the front or rear of the separation plate 4 to prevent the part above the cutting groove from hanging down to the separation plate 4, affecting the separation of the cables by the separation plate 4.

[0046] A heating block 111 is also included; the guide plate 106 is fixedly connected with the heating block 111 , and the heating block 111 is located on the central axis of the guide plate 106 , and a heating module is disposed inside the heating block 111 .

[0047] The pulling assembly includes a bidirectional push rod 301, a pulling block 302 and a fixed block 303; the two telescopic ends of the bidirectional push rod 301 are fixedly connected to a pulling block 302; each pulling block 302 is movably connected to a fixed block 303, each fixed block 303 is fixedly connected to the adjacent separation roller 2, and each fixed block 303 is fixedly connected to the adjacent motor Ⅰ3.

[0048] The workbench 1 also includes a detection camera 108 , to which the detection camera 108 is fixedly connected, and the detection camera 108 is used to detect the burnt part of the cable.

[0049] The working steps of the above embodiment are: first, the staff places the waste cable between the upper and lower adjacent clamping bars 103, then controls the driving push rod II 102 to pull the upper fixing plate 101 and the clamping bar 103 to move downward, so that the cable is clamped by the clamping bar 103, and the cable is guided to the middle of the clamping bar 103 through the arc-shaped clamping bar 103, which is convenient for subsequent cable cutting, and then the cable is pushed to the right by the external conveying device. When the cable moves to the right to contact the cutter 105, the cutter 105 will cut the cable, thereby A cutting groove is cut horizontally on the cable, so that after the insulating layer above the cutting groove is removed, the insulation at the cable cutting groove becomes thinner. Therefore, compared with cutting a cutting groove longitudinally, it is easier to separate the cable insulation layer from the cable core. Then the cutter 105 separates the parts above and below the cutting groove, and the part of the insulation layer above the cutting groove will be guided by the guide plate 106 and the guide strip 107 to move to the front or rear of the separation plate 4, so as to prevent the part above the cutting groove from hanging down to the separation plate 4 and affecting the separation of the cable by the separation plate 4.

[0050] After being cut by the cutter 105, the cable is now in the form of Figure 6In the state shown, when the cable portion 100 moves to the right to below the separation plate 4, the driving push rod Ⅰ5 is controlled to push the support plate 6 and the extrusion wheel 7, so that the support plate 6 and the extrusion wheel 7 move upward, thereby squeezing and pushing the cable portion 100 to move upward. In the process of the cable portion 100 moving upward, the cutting groove portion 200 will first contact the separation plate 4, and the groove on the separation plate 4 will block the cutting groove portion 200 from moving upward, thereby blocking the insulation layer from moving upward, and the extrusion wheel 7 is below the central axis of the cable portion 100, so the extrusion wheel 7 will continue to pass through the insulation layer. The internal cable core is continuously squeezed, thereby squeezing the cable core out of the insulation layer, so that all parts of the cable core will be exposed in the cutting groove part 200, thereby pre-separating the cable, and facilitating the subsequent separation of the insulation layer of the cable core box, thereby avoiding the problem in the prior art that the cable core is not exposed in the cutting groove part 200, making it difficult for the cable core to slide out of the cutting groove part 200 during subsequent separation, causing the cable core in some positions to still be connected to the insulation layer, resulting in the need for subsequent separation by the staff, which creates a workload for the staff.

[0051] When the cable portion 100 moves to the right until it contacts the separation roller 2, the control motor Ⅰ3 drives the separation roller 2 to rotate in opposite directions. Since the separation roller 2 is in contact with the cable insulation layer at this time, the separation roller 2 will peel off the insulation layer along the cutting groove portion 200 through the friction force between the separation roller 2 and the insulation layer, thereby separating the insulation layer of the cable from the cable core.

[0052] It should be noted that when the cable portion 100 moves to the right and passes through the heating block 111, the heating module inside the heating block 111 is controlled to heat the heating block 111, so that the temperature of the heating block 111 increases, and the middle part of the cutting groove portion 200 is heated by the heating block 111, so that the middle part of the cutting groove portion 200 is softened. Therefore, when the subsequent extrusion wheel 7 squeezes the internal cable core through the insulating layer, the cable core can more easily squeeze the middle part of the cutting groove portion 200 off. Therefore, it is easier to squeeze the cable core that was not originally exposed in the cutting groove to be exposed in the cutting groove portion 200, thereby further improving the extrusion effect of the extrusion wheel 7.

[0053] Since the waste cables may contain some burnt cables, and the insulation layer of the cables will harden after being burnt, making the originally soft insulation layer difficult to cut or peel off, when the detection camera 108 detects that the cable part 100 is burnt, the two-way push rod 301 is controlled to repeatedly push and pull the pulling block 302, and the pulling block 302 repeatedly pushes and pulls the fixed block 303 and the separation roller 2, so that the two separation rollers 2 repeatedly move toward each other around the connecting frame 1001, and the two separation rollers 2 drive the two separation plates 4 to repeatedly move toward each other, so that the cable part 100 is clamped and squeezed by the separation plates 4. Since the insulation layer is burnt, it hardens and also makes it brittle; therefore The burnt cable insulation layer is squeezed and cracked by the separation plate 4 to facilitate subsequent separation; it should be noted that since the cable insulation layer is usually thick, the cable insulation layer is usually not completely burnt, and there is still an elastic part inside it. Therefore, after the cable insulation layer is squeezed and cracked, the cable insulation layer will not immediately fall off; then when the burnt cable part 100 moves between the two separation rollers 2, the cable insulation layer is further squeezed by the two separation rollers 2 that repeatedly rotate toward and away from each other, so that the cable insulation layer is further cracked, and then the burnt insulation layer is partially peeled off by the two separation rollers 2 rotating toward each other, thereby separating the burnt part of the insulation layer from the cable core.

[0054] After the cable is completely removed from the separation roller 2, the staff will place a new cable between the upper and lower adjacent clamping strips 103, and repeat this process to strip the waste cable. Subsequent staff only need to collect the separated cable cores, and there is no need for the staff to strip the cable cores from the insulation layer, which reduces the staff's workload.

[0055] Example 2

[0056] On the basis of Example 1, Figure 4 As shown, it also includes a pulling rod I 201, a motor II 202, a driving push rod IV 203, a fixed cylinder 204 and a pulling rod II 205; the workbench 1 is rotatably connected to the pulling rod I 201; the workbench 1 is fixedly connected to the motor II 202, and the output shaft of the motor II 202 is fixedly connected to the pulling rod I 201; the workbench 1 is fixedly connected to two driving push rods IV 203; the telescopic ends of all the driving push rods IV 203 are fixedly connected to a fixed cylinder 204; all the fixed cylinders 204 are rotatably connected to the pulling rod II 205 together.

[0057] The working steps of the above embodiment are: after the separation roller 2 completes the separation of the cable core and the insulation layer, the staff pulls the separated cable core to move between the pulling rod Ⅰ201 and the pulling rod Ⅱ205, and then controls the driving push rod Ⅳ203 to push the fixing cylinder 204 and the pulling rod Ⅱ205 to move upward, so that the cable is clamped by the pulling rod Ⅱ205 and the pulling rod Ⅰ201, and then controls the motor Ⅱ202 to drive the pulling rod Ⅰ201 to rotate counterclockwise from a front view, thereby pulling the cable core to move to the right. And because pulling rod I 201 and pulling rod II 205 are higher than the separation roller 2, the subsequent cable core will enter between pulling rod I 201 and pulling rod II 205 in an upward tilted state, so that the cable core will fit more closely with the separation roller 2, which is beneficial for the separation roller 2 to separate the cable core and the insulation layer. The staff can set a collecting device at the lower right side between pulling rod I 201 and pulling rod II 205 to collect the cable core, avoiding the need for staff to collect it again later, thereby reducing the staff's workload.

[0058] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A control cable stripping method based on machine vision, characterized in that: The following steps are included: Step 1: The staff places the cable on the conveying device of the peripheral device; Step 2: Push the cable into the cable stripping device through the external conveying device; Step 3: Use the cable stripping device to cut a cutting groove horizontally on the cable, and use the external camera to monitor to ensure the cutting position is accurate; Step 4: Use the cable stripping device to squeeze the cable to pre-separate the cable core from the insulation layer; Step 5: Use the cable stripping device to strip the insulation layer along the cutting groove, so as to separate the insulation layer of the cable from the cable core; Step 6: The staff collects the separated cable cores.

2. According to the method for stripping a control cable based on machine vision as described in claim 1, the cable stripping device described in step 2 of the stripping method comprises a workbench (1) and a clamping and cutting component; the workbench (1) is connected to the clamping and cutting component, and a cutting groove is cut on the cable by the clamping and cutting component; it is characterized in that It also includes a separation roller (2), a motor I (3), a separation plate (4), a driving push rod I (5), a support plate (6), an extrusion wheel (7) and a pulling assembly; the workbench (1) is provided with a connecting frame (1001); the connecting frame (1001) is rotatably connected to a plurality of separation rollers (2); the workbench (1) is connected to a pulling assembly, and the pulling assembly drives two adjacent separation rollers (2) to rotate towards each other; the pulling assembly is connected to the motor I (3), and the output shaft of the motor I (3) is fixedly connected to the adjacent separation rollers (2); each separation roller (2) is fixedly connected to a separation plate (4); the workbench (1) is fixedly connected to a plurality of driving push rods I (5); the telescopic ends of all the driving push rods I (5) are commonly fixedly connected to the support plate (6); The support plate (6) is rotatably connected to a plurality of extrusion wheels (7).

3. The control cable stripping method based on machine vision according to claim 2 is characterized in that: The clamping and cutting assembly comprises a fixing plate (101), a driving push rod II (102), a clamping strip (103), a driving push rod III (104), a cutter (105) and a guide plate (106); the workbench (1) is fixedly connected to the fixing plate (101); the fixing plate (101) is fixedly connected to a plurality of driving push rods II (102), and the telescopic ends of two adjacent driving push rods II (102) on the left and right are both fixedly connected to another fixing plate (101); the two adjacent fixing plates (101) on the front and back are both fixedly connected to a plurality of clamping strips (103); the workbench (1) is fixedly connected to a plurality of driving push rods III (104); the telescopic ends of all the driving push rods III (104) are fixedly connected to the cutter (105); and the cutter (105) is fixedly connected to the guide plate (106).

4. The control cable stripping method based on machine vision according to claim 3 is characterized in that: The lower side of the separation plate (4) is provided with a plurality of grooves.

5. The control cable stripping method based on machine vision according to claim 3 is characterized in that: The surface of the separation roller (2) is provided with a plurality of ridges.

6. The control cable stripping method based on machine vision according to claim 3 is characterized in that: It also includes a guide bar (107); the guide plate (106) is fixedly connected to the guide bar (107).

7. The control cable stripping method based on machine vision according to claim 3 is characterized in that: It also includes a heating block (111); the guide plate (106) is fixedly connected to the heating block (111), the heating block (111) is located on the central axis of the guide plate (106), and a heating module is arranged inside the heating block (111).

8. A control cable stripping method based on machine vision according to any one of claims 3 to 6, characterized in that: The pulling assembly comprises a bidirectional push rod (301), a pulling block (302) and a fixed block (303); the two telescopic ends of the bidirectional push rod (301) are fixedly connected to a pulling block (302); each pulling block (302) is movably connected to a fixed block (303), each fixed block (303) is fixedly connected to an adjacent separation roller (2), and each fixed block (303) is fixedly connected to an adjacent motor I (3).

9. The control cable stripping method based on machine vision according to claim 8, characterized in that: It also includes a detection camera (108), and the workbench (1) is fixedly connected to the detection camera (108).

10. A control cable stripping method based on machine vision according to claim 9, characterized in that: The invention also comprises a pulling rod I (201), a motor II (202), a driving push rod IV (203), a fixing cylinder (204) and a pulling rod II (205); the working table (1) is rotatably connected to the pulling rod I (201); the working table (1) is fixedly connected to the motor II (202), and the output shaft of the motor II (202) is fixedly connected to the pulling rod I (201); the working table (1) is fixedly connected to a plurality of driving push rods IV (203); the telescopic ends of all the driving push rods IV (203) are fixedly connected to a fixing cylinder (204); and all the fixing cylinders (204) are rotatably connected to the pulling rod II (205) together.

Images