Self-adaptive cable disassembling method and self-adaptive cable disassembling system

Abstract

The invention belongs to the field of cable disassembly, and provides a cable self-adaptive disassembly method and a self-adaptive disassembly system in order to solve the problems that cable disassembly operation is complex and the like. The cable self-adaptive disassembling method comprises the following steps: acquiring a multi-modal image of a cable to be loaded, and determining a metal core material and cable specification parameters in combination with a pre-trained multi-modal identification model; adaptively adjusting control parameters according to the material of the metal core and the specification parameters of the cable; the control parameters comprise a straightening clamping diameter, a fixed-length knife type, a primary cutting depth and a secondary cutting depth; on the basis of the position information of the to-be-fed cable and the control parameters after self-adaptive adjustment, sequentially performing grabbing feeding, cable straightening, fixed-length processing, coating layer stripping and insulating layer stripping operation on the cable; and products obtained after the insulating layer stripping operation are correspondingly sorted to set storage positions according to categories, and self-adaptive disassembly can be carried out on the cable.

Description

Technical Field

[0001] The invention belongs to the field of cable disassembly, and in particular relates to a cable adaptive disassembly method and an adaptive disassembly system. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] In the process of recycling waste cables, cable disassembly is an important task. Due to the various specifications and standards of waste cables, the waste cables are piled together in a disorderly manner before they are disassembled and loaded. The existing cable disassembly system has the following problems: (1) When using manual or semi-automatic equipment to strip cables, different tools or parameters need to be used, which increases the complexity and cost of operation; (2) In the loading stage, the large number and type of waste cables make it difficult to identify, which limits the grasping accuracy of the robot; in the incoming / feeding stage before cutting and engraving, the size and type of the cable need to be manually inspected and identified, resulting in large measurement errors and low inspection efficiency, which makes it difficult to meet the high requirements of modern production lines for product quality. (3) The degree of automation of separating the cable core and the sheath material after cutting is poor. Summary of the invention

[0004] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a cable adaptive disassembly method and an adaptive disassembly system, which can adaptively disassemble the cable.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: A first aspect of the present invention provides a cable adaptive disassembly method.

[0006] A cable adaptive disassembly method, comprising: Obtain multimodal images of the cables to be loaded, and combine them with the pre-trained multimodal recognition model to simultaneously determine the metal core material and cable specification parameters; Adaptively adjust control parameters according to metal core material and cable specification parameters; the control parameters include straightening clamping diameter, fixed length knife type, primary cutting depth and secondary cutting depth; Based on the position information of the cable to be loaded and the adaptively adjusted control parameters, the cable is sequentially loaded, straightened, fixed-length processed, and the coating and insulation stripping operations are performed; The products after the insulation stripping operation are sorted into the set storage locations according to their categories.

[0007] As an implementation method, the position information of the cable to be loaded is determined according to the cable progressive secondary positioning method, and the process is as follows: Use the images before and after placing the cable as the background image and the cable image respectively; Subtracting the cable image from the background image to obtain a rough cable positioning result; The minimum circumscribed rectangle of the cable is extracted based on the rough positioning result, the cable is precisely positioned, and the precise positioning result is used as the final cable position.

[0008] As an implementation method, the process of extracting the minimum circumscribed rectangle of the cable according to the rough positioning result is as follows: Extract the appearance of the cable and perform contour fitting on the extracted area; Calculate the centroid and covariance matrix of the point set on the contour; Solve the eigenvalues ​​and eigenvectors of the covariance matrix, where the eigenvectors define the directions of the major and minor axes of the minimum bounding rectangle; and obtain the rotation angle of the minimum bounding rectangle based on the eigenvectors.

[0009] As an implementation method, the point set The centroid And the covariance matrix C is: ; ; ; in, n is the number of all points in the contour.

[0010] As an implementation manner, the multimodal image to be loaded includes a cable 2D image, a cable 3D image, and a cable infrared image.

[0011] As an implementation method, the process of simultaneously determining the metal core material and cable specification parameters using the multimodal recognition model is as follows: Extracting the detection area from the cable 2D image; According to the position matching relationship between the cable 2D image, the cable 3D image and the cable infrared image, the corresponding detection area in the cable 3D image and the cable infrared image is determined; Extracting 2D features, 3D features and infrared features from the detection areas of the cable 2D image, the cable 3D image and the cable infrared image respectively; Fusing 2D features, 3D features and infrared features to obtain fused features; Based on the mapping relationship between the fusion features and the metal core material and cable specification parameters, the corresponding metal core material and cable specification parameters are obtained.

[0012] As an implementation method, the expression for extracting the detection area from the cable 2D image is: ; in, is the between-class variance; and are the pixel ratios of foreground and background, respectively; and are the average grayscale of the foreground and background respectively; the noise in the object is removed through the corrosion operation, and then the corrosion image is expanded to restore the size of the corroded object.

[0013] A second aspect of the present invention provides a cable adaptive disassembly system.

[0014] A cable adaptive disassembly system comprises: a control unit and an execution unit; The control unit is configured as follows: Obtain multimodal images of the cables to be loaded, and combine them with the pre-trained multimodal recognition model to simultaneously determine the metal core material and cable specification parameters; Adaptively adjust control parameters according to metal core material and cable specification parameters; the control parameters include straightening clamping diameter, fixed length knife type, primary cutting depth and secondary cutting depth; The execution unit comprises: A cable feeding mechanism, which is used to grab the cable and feed the cable according to the cable position and the affine transformation matrix; A pre-processing mechanism, which is used to straighten the fed cables according to the straightening clamping diameter, and to perform fixed-length processing according to the fixed-length knife type to obtain fixed-length cables; A primary stripping mechanism, which is used to strip the coating of a fixed-length cable according to a primary cutting depth; A secondary stripping mechanism, which is used to strip the insulation layer of the wire core after the coating layer is stripped according to the secondary cutting depth; The sorting mechanism is used to sort the products after the insulation layer is stripped to the set storage position according to the category.

[0015] As an implementation method, the cable specification parameters include cable diameter, coating thickness and insulation layer thickness; Determine the straight clamping diameter according to the cable diameter; determine the primary cutting depth according to the coating thickness; determine the secondary cutting depth according to the insulation thickness; determine the fixed length knife type according to the metal core material.

[0016] As an implementation mode, in the control unit, the position information of the cable to be loaded is determined according to the cable progressive secondary positioning method, and the process is as follows: Use the images before and after placing the cable as the background image and the cable image respectively; Subtracting the cable image from the background image to obtain a rough cable positioning result; The minimum circumscribed rectangle of the cable is extracted based on the rough positioning result, the cable is precisely positioned, and the precise positioning result is used as the final cable position.

[0017] As an implementation mode, in the control unit, the process of extracting the minimum circumscribed rectangle of the cable according to the rough positioning result is: Extract the appearance of the cable and perform contour fitting on the extracted area; Calculate the centroid and covariance matrix of the point set on the contour; Solve the eigenvalues ​​and eigenvectors of the covariance matrix, where the eigenvectors define the directions of the major and minor axes of the minimum bounding rectangle; and obtain the rotation angle of the minimum bounding rectangle based on the eigenvectors.

[0018] As an implementation mode, in the control unit, the point set The centroid And the covariance matrix C is: ; ; ; in, n is the number of all points in the contour.

[0019] As an implementation mode, in the control unit, the multimodal image to be loaded includes a cable 2D image, a cable 3D image, and a cable infrared image; The process of using the multimodal recognition model to simultaneously determine the metal core material and cable specification parameters is as follows: Extracting the detection area from the cable 2D image; According to the position matching relationship between the cable 2D image, the cable 3D image and the cable infrared image, the corresponding detection area in the cable 3D image and the cable infrared image is determined; Extracting 2D features, 3D features and infrared features from the detection areas of the cable 2D image, the cable 3D image and the cable infrared image respectively; Fusing 2D features, 3D features and infrared features to obtain fused features; Based on the mapping relationship between the fusion features and the metal core material and cable specification parameters, the corresponding metal core material and cable specification parameters are obtained.

[0020] As an implementation mode, in the control unit, the expression for extracting the detection area from the cable 2D image is: ; in, is the between-class variance; and are the pixel ratios of foreground and background, respectively; and are the average grayscale of the foreground and background respectively; the noise in the object is removed through the corrosion operation, and then the corrosion image is expanded to restore the size of the corroded object.

[0021] As an embodiment, the primary stripping mechanism includes an annular cutter arranged along the axial direction of the cable, and the distance between the annular cutter and the cable is adjustable.

[0022] As an embodiment, the secondary stripping mechanism includes a visual mechanism, a ring cutting mechanism, a pressing mechanism, a four-way cutter mechanism and a clamping and conveying mechanism arranged in sequence along the cable transmission direction: the visual mechanism obtains a cross-sectional image of the cable entering the ring cutting mechanism, and determines the diameter and insulation thickness of the cable through a controller; The circular cutting mechanism obtains a circular cutting seam on the cable surface by changing the spacing between at least two groups of cutting knives. The pressing mechanism clamps the cable and sends it to the four-way cutting mechanism by changing the spacing between at least two groups of pressing wheels. The four-way cutting mechanism uses at least four groups of knives evenly distributed along the circumferential direction of the cable to cut and separate the cable insulation layer and send it to the clamping and conveying mechanism. The clamping and conveying mechanism includes an upper roller and a lower roller which are arranged in a vertical direction and can rotate. An upper floating plate is provided in the space above the upper roller. An elastic member is provided between the upper floating plate and the upper connecting plate. The driving cylinder drives the upper connecting plate together with the upper floating plate and the upper roller to move vertically to clamp the cable after the insulation layer is stripped off. When the diameter of the cable changes, the elastic member is compressed.

[0023] As an embodiment, the circular cutting mechanism includes a rotating plate that rotates, and a through hole is provided on the rotating plate to accommodate the cable passing through. Cutting blades are provided on both sides of the through hole, and each group of cutting blades moves along the diameter direction of the through hole.

[0024] As an embodiment, the pressing mechanism includes an upper pressing wheel and a lower pressing wheel arranged in a vertical direction, the two pressing wheels are connected to corresponding conveying motors, the conveying motors have corresponding motor mounting plates, the pressing screw passes through the motor mounting plate and is movably connected, and the pressing screw is driven to rotate by the second servo motor assembly, so that the upper pressing wheel and the lower pressing wheel can be synchronously approached or synchronously moved away.

[0025] As an embodiment, a separation mechanism is further provided between the primary peeling mechanism and the secondary peeling mechanism, and the separation mechanism comprises: High-frequency vibration variable-pitch roller conveyor line is used to convey pre-processed cables and vibrate and break up the cables to separate the core material and coating material of the cables; The coating material conveying belt line is located in the lower space of the high-frequency vibration variable pitch roller conveying line and is used to receive and convey the separated coating material; The wire core connection belt line is located at the end of the high-frequency vibration variable pitch roller conveyor line and is used to receive the wire core; The AI ​​vision automatic unloading robot is located on one side of the wire core connection belt line, and is used to identify and grab the wire core and transfer it to the set position; Among them, the high-frequency vibration variable-pitch roller conveyor line includes multiple groups of rollers arranged in parallel on a horizontal plane. The multiple groups of rollers obtain vibration energy through exciters and transmit it to the plane formed by the multiple groups of rollers. A set number of roller ends are connected to the variable-pitch moving shaft, and the variable-pitch moving shaft is connected to the guide rail slider. Under the rotation of the ball screw, the guide rail slider drives the rollers to change their spacing through the variable-pitch moving shaft; a horizontal stacking and breaking device is provided on the side of the plane formed by the multiple groups of rollers.

[0026] As an implementation mode, among multiple groups of rollers, one end of a set number of rollers is connected to a variable pitch movable shaft, which is arranged along the direction of cable travel and located on one side of the plane formed by the multiple groups of rollers. The variable pitch movable shaft is connected to a guide rail slider in a servo variable pitch screw module. Under the rotation of the ball screw, the guide rail slider drives the variable pitch movable shaft and the rollers to move along the cable transmission direction, thereby realizing adjustable spacing between two adjacent groups of rollers.

[0027] As an embodiment, the transverse stacking and breaking up device has at least two groups, which are respectively located on both sides of the high-frequency vibration variable-pitch roller conveyor line. Each group of transverse stacking and breaking up device includes a pushing cylinder and a guide shaft which are arranged in a horizontal plane and in parallel. The pushing cylinder drives the pushing plate to move. The two groups of transverse stacking and breaking up devices move alternately on both sides of the plane formed by multiple groups of rollers to break up and separate the cable coating material from the wire core.

[0028] As an embodiment, the coating material conveying belt line includes a conveying belt line body connected to the frame structure through a line body fixing sheet metal, wedge-shaped material blocking sheet metal parts are provided on both sides of the conveying belt line body, and a blanking guide sheet metal part is provided at the end of the conveying belt line body.

[0029] The beneficial effects of the present invention are: (1) The present invention innovatively proposes a cable adaptive disassembly method and develops a cable adaptive disassembly system, which adaptively adjusts the parameters of the execution unit according to the cable specification parameters and automatically controls the execution of corresponding actions of the cable feeding mechanism, pretreatment mechanism, primary stripping mechanism, secondary stripping mechanism and sorting mechanism, thereby solving the problems of complex and high cost of automatic operation of multi-specification cable recycling, realizing the adaptability of cable disassembly and improving the cable disassembly efficiency.

[0030] (2) The present invention innovatively proposes a cable multimodal recognition technology, which uses a pre-trained multimodal recognition model to process the multimodal image of the cable, and simultaneously identifies the metal core material and cable specification parameters, providing a strong basis for the subsequent control of the tool's cutting operation parameters, thereby ensuring the cutting quality of the cable.

[0031] (3) The present invention innovatively proposes a progressive secondary positioning technology for cables, which processes the images before and after the placement of the cable and performs coarse positioning and fine positioning. According to the fine positioning result of the cable and the affine transformation matrix, the cable feeding mechanism is controlled to grab the cable for feeding, thereby achieving precise positioning of the cable, facilitating the accurate grabbing of the cable feeding mechanism, and ensuring the automated cable feeding process.

[0032] (4) The present invention innovatively develops an adaptive cable stripping device, which uses the cross-sectional image of the cable to determine the cable diameter and insulation thickness, controls the movement stroke of the ring cutting mechanism, the pressing mechanism and the four-way cutter mechanism, and copes with the stripping operation of cables of different specifications. At the same time, the clamping and conveying mechanism conveys the stripped insulation layer and the wire core to the subsequent process. When the cable diameter changes, the elastic member between the upper floating plate and the upper connecting plate is used to absorb the diameter change, thereby realizing the automation of stripping and simplifying the parameters of the device adjustment.

[0033] (5) The present invention innovatively develops an automatic cable material separation device, which uses vibration and lateral breaking up to separate the wire core from the coating. The separated coating material falls into the waste bin through the roller spacing for recycling. The wire core is transported to the wire core connection belt line, and then is clamped and transferred to a storage container by a robot equipped with an AI vision algorithm, thereby realizing the automated separation and recycling of cable materials.

[0034] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0036] Figure 1 is a schematic diagram of the structure of a cable adaptive disassembly system according to an embodiment of the present invention; Figure 2 Schematic diagram of the main structure of the secondary peeling mechanism of the embodiment of the present invention; Figure 3 It is a structural schematic diagram of a visual mechanism in a secondary peeling mechanism of an embodiment of the present invention; Figure 4It is a structural schematic diagram of the circumcision mechanism in the secondary peeling mechanism of an embodiment of the present invention; Figure 5 It is a structural schematic diagram of a pressure-feeding mechanism in a secondary peeling mechanism in an embodiment of the present invention; Figure 6 It is a partially enlarged schematic diagram of the structure of the pressure-feeding mechanism in the secondary peeling mechanism of an embodiment of the present invention; Figure 7 It is a structural schematic diagram of a four-way cutter mechanism in a secondary peeling mechanism of an embodiment of the present invention; Figure 8 It is a structural schematic diagram of the four-way cutter mechanism in the secondary peeling mechanism of the embodiment of the present invention from another perspective; Fig. 9 It is a structural schematic diagram of a clamping and conveying mechanism in a secondary peeling mechanism of an embodiment of the present invention; Fig.10 is a schematic diagram of the main structure of the separation mechanism of an embodiment of the present invention; Fig.11 is a schematic diagram of the framework structure of an embodiment of the present invention; Fig.12 2 is a schematic structural diagram of a conveying belt line for coating material according to an embodiment of the present invention; Fig.13 2 is a schematic structural diagram of a high-frequency vibration variable-pitch roller conveyor line according to an embodiment of the present invention; Fig.14 2 is a schematic structural diagram of a high-frequency vibration variable-pitch roller conveyor line according to an embodiment of the present invention from another perspective; Fig.15 1. It is a structural schematic diagram of a servo variable pitch lead screw module in a high-frequency vibration variable pitch roller conveyor line according to an embodiment of the present invention; Fig.16 2 is a schematic structural diagram of a transverse stacking and dispersing device according to an embodiment of the present invention; Fig.17 2 is a schematic diagram of the structure of a belt line connected with a clamping core according to an embodiment of the present invention; Fig.18 It is a structural schematic diagram of another perspective of the belt line connected with the center-clip wire core in an embodiment of the present invention; Fig.19 is a structural schematic diagram of an AI visual automatic unloading robot according to an embodiment of the present invention; Fig. 20 is a schematic diagram of a cable according to an embodiment of the present invention, wherein the cable coating material is cut into equally spaced segments by ring cutting; Fig.21 is a schematic diagram of the relative positions of a cutting tool and a cable according to an embodiment of the present invention; Fig. 22 It is a flow chart of the cable adaptive disassembly method according to an embodiment of the present invention.

[0037] in: 1. Welding bottom frame; 2. Visual mechanism; 3. Circular cutting mechanism; 4. Pressing mechanism; 5. Four-way cutting mechanism; 6. Clamping and conveying mechanism; 21. Camera mounting plate; 22. Camera clamping sleeve; 23. Slide cylinder; 24. Upper limit block; 25. Lower mounting block; 26. Limit screw; 27. Camera light source; 28. First Vision camera; 29. ​​Camera connector; 31. Circular cutting bottom plate; 32. Circular cutting rib plate; 33. Circular cutting mounting plate; 34. Driving gear; 35. Servo slide cylinder; 36. Spindle mounting plate; 37. Cutting spindle; 38. Spindle fixing clamp; 39. First servo motor assembly; 310. Rotary plate; 311. Cutting disc; 312. Rotary bearing gear ring; 41. Lower fixing plate; 42. Lower motor mounting plate; 43. Lower left support plate; 44. Lower guide shaft fixing ring; 45. Lower clamping wheel; 46. Lower right support plate; 47. Lower screw fixing seat; 48. First nut; 49. First guide shaft; 410. Feed screw; 411. Lower conveying motor; 412. Upper conveying motor; 413. Upper left support plate; 414. Second nut; 415. Upper fixing plate; 416. Upper right support plate; 41 7. Upper motor mounting plate; 418. Upper clamping wheel; 419. Bearing support seat; 420. Upper fixing seat of lead screw; 421. Driven bevel gear; 422. Active bevel gear; 423. Upper guide shaft fixing ring; 424. Transmission shaft; 425. Belt bearing; 426. Active synchronous pulley; 427. Driven synchronous pulley; 428. Conveyor belt; 429. Servo mounting plate; 430. First mounting seat; 431. Second servo motor assembly; 51. Upper mounting plate; 52. Longitudinal guide rail assembly; 53. Upper tool clamping block; 54. Transverse guide rail assembly; 55. Left tool clamping block; 56. Lower mounting plate; 57. Transverse mounting plate; 58. Transverse driving pulley; 59. Transverse synchronous belt; 510. Transverse driven pulley; 511. Right tool clamping block; 512. Transverse screw fixing seat; 513. Second mounting seat; 514. Transverse bidirectional screw; 515. Transverse right-hand nut; 516. Lower tool clamping block; 517. Left cutter knife; 518, lower cutter; 519, right cutter; 520, upper cutter; 521, connecting structure; 522, upper right-hand nut; 523, upper clamping sleeve; 524, longitudinal bidirectional lead screw; 525, lower clamping sleeve; 526, transverse left-hand nut; 527, lower left-hand nut; 528, longitudinal driven pulley; 529, longitudinal synchronous belt; 530, longitudinal servo assembly; 531, longitudinal active pulley; 532, longitudinal mounting plate; 533, lower rib plate; 534, transverse servo assembly; 61. Cylinder mounting plate; 62. Driving cylinder; 63. Rear rib plate; 64. Rear fixing plate; 65. Front rib plate; 66. Elastic member; 67. Upper floating plate; 68. Roller mounting seat assembly; 69. Left vertical plate; 611. Upper roller; 612. Upper connecting plate; 613. First floating joint; 614. Second guide shaft; 615. Lower roller; 616. First bearing; 617. Right vertical plate; 618. Lower reduction motor; 619. Upper reduction motor; 620. Copper sleeve; 621. Second bearing; 622. Fixing element; 71. Frame structure; 72. Belt line for conveying coating materials; 73. High-frequency vibration variable-pitch roller conveyor line; 74. Horizontal stacking and breaking device; 75. Belt line for connecting wire cores; 76. AI vision automatic unloading robot; 711. Square tube welding frame; 712. Table cover; 713. Caster mounting plate; 714. Movable self-locking casters; 721, conveyor belt line; 722, line fixing sheet metal; 723, wedge-shaped material blocking sheet metal; 724, blanking guide sheet metal; 725, line anchor fixing piece; 731, base fixing block; 732, roller line welding leg; 733, high compression spring; 734, roller line bending sheet metal; 735, special-shaped electric roller; 736, left exciter fixing sheet metal; 737, right exciter fixing sheet metal; 738, exciter; 739, servo variable pitch screw module; 7310, module connecting shaft upper clamping block; 7311, module connecting shaft lower clamping block; 7312, fixed crossbeam of the first pitch-changing shaft assembly; 7313, fixed crossbeam of the second pitch-changing shaft assembly; 7314, T-type bearing with seat; 7315, pitch-changing movable shaft; 7316, shaft end retaining ring; 7317, upper clamping block of roller connecting shaft; 7318, lower clamping block of roller connecting shaft; 7319, T-type guide shaft support; 7320, fixed shaft of electric roller; 7391, variable pitch module L-shaped fixing plate; 7392, variable pitch module fixing bottom plate; 7393, servo drive motor; 7394, motor fixing plate; 7395, first motor fixing side plate; 7396, second motor fixing side plate; 7397, coupling; 7398, ball screw; 7399, screw fixing side pad; 73910, screw fixing side support; 73911, screw support side pad; 73912, screw support side support; 73913, screw standard nut; 73914, ball screw nut bracket; 73915, linear guide; 73916, guide rail slider; 73917, module connecting plate; 741, push plate; 742, shaft fixing seat; 743, third bearing; 744, third guide shaft; 745, cylinder connecting plate; 746, second floating joint; 747, push cylinder; 748, cylinder fixing plate; 749, first cylinder support plate; 7410, second cylinder support plate; 7411, push assembly fixing plate; 751, fixed bracket; 752, side profile of wire core material belt line; 753, active end electric roller fixed seat; 754, driven end roller fixed seat; 755, electric roller; 756, driven roller; 757, transmission belt; 758, first sheet metal; 759, second sheet metal; 7510, third sheet metal; 7511, fourth sheet metal; 7512, first bottom pad; 7514, second bottom pad; 7520, first safety light curtain bracket; 7521, second safety light curtain bracket; 7522, safety light curtain; 7513, first mirror bottom pad; 7515, second mirror bottom pad; 7516, rear baffle connector; 7517, rear baffle; 7518, photoelectric bracket; 7519, detection photoelectric; 761. Robot base; 762. Unloading robot body; 763. Solenoid valve mounting plate; 764. Solenoid valve protection cover; 765. In-line sheet metal; 766. Gripper mounting flange plate; 767. Gripper fixing plate; 768. Gripper cylinder; 769. First pneumatic finger clamp; 7610. Second pneumatic finger clamp; 7611. Visual component Z-type connecting plate; 7612. Visual component long strip plate; 7613. Visual component assembly plate; 7614. Camera fixing sheet metal; 7615. Second visual camera; 7616. Light source fixing sheet metal; 7617. Ring light source. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0040] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0041] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0042] In the present invention, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Relevant scientific research or technical personnel in this field can determine the specific meanings of the above terms in the present invention according to specific circumstances, and they should not be understood as limiting the present invention.

[0043] according to Figure 1 , an embodiment of the present invention provides a cable adaptive disassembly system, comprising: a control unit and an execution unit; the control unit is configured to: obtain a multimodal image of a cable to be loaded, and determine the metal core material and cable specification parameters simultaneously in combination with a pre-trained multimodal recognition model; According to the metal core material and cable specification parameters, the control parameters are adaptively adjusted; the control parameters include straightening clamping diameter, fixed length knife type, primary cutting depth and secondary cutting depth.

[0044] The cable specification parameters include but are not limited to cable diameter, coating thickness and insulation layer thickness.

[0045] Specifically, the straight clamping diameter is determined according to the cable diameter; the primary cutting depth is determined according to the coating thickness; the secondary cutting depth is determined according to the insulation thickness; and the fixed-length knife type is determined according to the metal core material.

[0046] In some specific implementations, in the control unit, the multimodal image to be loaded includes a cable 2D image, a cable 3D image, and a cable infrared image; The process of using the multimodal recognition model to simultaneously determine the metal core material and cable specification parameters is as follows: Extracting the detection area from the cable 2D image; According to the position matching relationship between the cable 2D image, the cable 3D image and the cable infrared image, the corresponding detection area in the cable 3D image and the cable infrared image is determined; Extracting 2D features, 3D features and infrared features from the detection areas of the cable 2D image, the cable 3D image and the cable infrared image respectively; Fusing 2D features, 3D features and infrared features to obtain fused features; Based on the mapping relationship between the fusion features and the metal core material and cable specification parameters, the corresponding metal core material and cable specification parameters are obtained.

[0047] The expression for extracting the detection area from the cable 2D image is: ; in, is the between-class variance; and are the pixel ratios of foreground and background, respectively; and are the average grayscale of foreground and background respectively; The noise in the object is removed through the corrosion operation, and then the corrosion image is expanded to restore the size of the corroded object.

[0048] After obtaining the binary image, it is necessary to start the image information extraction process. The first step is to open the detection area. Since the opening operation is a processing method that first corrodes the image area and then expands it, its formula is first split. The structural element element is used to corrode the image src to remove small noise in the object. The formula for the corrosion operation is: ; in, represents the input image; the position in the image ; Represents the element of the structural element element; min represents the minimum value; Represents the output result after the input image is eroded.

[0049] Perform a dilation operation on the eroded image to restore the size of the eroded object. The formula for the dilation operation is: ; in, represents the expansion operation function; max represents the maximum value.

[0050] Finally it can be merged into: ; in, Represents the output result after the corrosion operation and then the expansion operation; Represents the output result after the input image is eroded.

[0051] In one or more embodiments, in the control unit, the position information of the cable to be loaded is determined according to the cable progressive secondary positioning method, and the process is as follows: Step b1: obtaining images before and after placing the cable, which are used as the background image and the cable image respectively; The image before unwinding is obtained as a background image, and the image after unwinding is obtained. The position of the cable is obtained based on the difference between the image before unwinding and the image after unwinding, and the obtained cable position is used as a template image to achieve rough positioning.

[0052] Step b2: subtracting the cable image from the background image to obtain a rough cable positioning result; Specifically, the cable recognition algorithm relies on the OpenCV open source algorithm library for subsequent development. First, an aerial photo sampling based on the material preparation carrier is used as the recognition background image. Then, after the material preparation is completed, a second photo sampling is performed. Based on the difference between the two pictures, the location of the cable is obtained, and the obtained cable position is used as a template image for rough positioning.

[0053] Assume that the two input images are src1 and src2, and their size and type must be the same. For each pixel position ( x , y ), the calculation formula for calculating the difference between two images is implemented using the absdiff function, and its expression is: ; in, and The two input images are at positions The pixel value of is the output image at position The pixel value represents the pixel difference between the corresponding pixels of the two input images.

[0054] The absdiff function is a function in the OpenCV open source algorithm library that is used to calculate the difference between two images.

[0055] Step b3: extract the minimum circumscribed rectangle of the cable according to the rough positioning result, perform fine positioning on the cable, and use the fine positioning result as the final cable position.

[0056] Wherein, in the control unit, the process of extracting the minimum circumscribed rectangle of the cable according to the rough positioning result is: Step b31: extracting the appearance of the cable and performing contour fitting on the extracted area; Step b32: Calculate the centroid and covariance matrix of the point set on the contour; Step b33: Solve the eigenvalues ​​and eigenvectors of the covariance matrix, wherein the eigenvectors define the directions of the major and minor axes of the minimum circumscribed rectangle; and obtain the rotation angle of the minimum circumscribed rectangle according to the eigenvectors.

[0057] During the production process of cables, the materials of each part are equal and evenly distributed. After segmenting and identifying the overall size of the target, the midpoint of the cable is obtained and then grasped, so that the entire feeding process can be smoothly moved to the feeding ring cutting device. Therefore, when designing a mechanical fixture to grasp the target cable, the appearance of the grasped target is extracted with vision, and the extracted area is contour fitted. After fitting to form a minimum circumscribed rectangle, the center point of the circumscribed rectangle is obtained, and the joint manipulator control algorithm is used to control the joint manipulator to move to the specified target point to perform the grasping and feeding task.

[0058] Point Set The centroid , and the covariance matrix C is: ; ; ; in, n is the number of all points in the contour.

[0059] Since the cable to be tested has passed the front-end straightening process before being placed at the loading position, the minimum circumscribed rectangle of the cable is extracted according to the rough positioning result, the center point of the rectangle is calculated, and then the precise positioning result is obtained based on the center point.

[0060] Further solution can obtain the eigenvalues ​​and eigenvectors of the covariance matrix, the eigenvalues ​​λ (including λ1 and λ2) and the corresponding eigenvectors and It can be obtained by solving the characteristic equation: ; in, is the identity matrix of the same size as C. The eigenvector and Defines the major and minor axis directions of the minimum bounding rectangle.

[0061] The rotation angle of the rectangle The eigenvectors in the direction of the principal axis and x The angle between the axes determines: ; in, is the inverse tangent function; and are the principal axis eigenvectors in y Direction and x Directional weight.

[0062] From the above calculation formula, we can get the center point of the minimum circumscribed rectangle as the centroid of the contour. The rotation angle of the minimum enclosing rectangle is , its main purpose is to determine the specific position of the minimum enclosing rectangle in the image.

[0063] In this embodiment, the execution unit at least includes the following mechanisms: (1) A cable feeding mechanism, which is used to grab the cable and feed the cable according to the cable position and the known affine transformation matrix.

[0064] In this embodiment, the cable feeding mechanism takes a joint manipulator as an example: An affine transformation matrix is ​​directly obtained by solving the x and y values ​​of the points in the nine sets of mutually corresponding pixel coordinate systems and the current position of the joint manipulator. The affine transformation matrix is ​​used for the motion control of the joint manipulator.

[0065] The hand-eye calibration algorithm is used to realize the affine transformation of the image pixel coordinate system and the base coordinate system of the joint manipulator through the following formula to establish the matrix transformation relationship between the two coordinate systems: ; The image position In Columns representing pixel coordinates, Represents the row of the pixel coordinate system; Represents the rotation angle of the coordinate system; Represents the horizontal translation of the coordinate system; Represents the vertical translation of the coordinate system; Represents the horizontal scaling of the coordinate system; Representing coordinate system The amount of scaling in the direction; Represents the horizontal coordinate of the robot base coordinate system; Represents the vertical coordinate of the robot base coordinate system.

[0066] Optionally, considering the ease of use of the device during operation, the SDK (Software Development Kit) interface provided by the joint manipulator is combined with C# voice; a total of nine photo points that the joint manipulator can reach are generated within the field of view covered by the camera to take photos, and the photo results of the cable are obtained respectively. An affine transformation matrix is ​​directly obtained through the values ​​of the points in the nine sets of corresponding pixel coordinate systems and the current position of the joint manipulator. The affine transformation matrix is ​​used as the result of hand-eye calibration when controlling the motion of the joint manipulator.

[0067] Based on the current process flow and carrier size issues, it is considered that there may be cable or joint robot collision issues for point-to-point motion instructions of the joint robot. Therefore, in order to address the potential safety hazards caused by this problem, a visual inspection device is added to the appearance of the carrier, and the visual component is mounted on the visual bracket to perform anti-collision monitoring of the joint robot. When the joint robot moves into the working area, the camera starts working to detect in real time whether the movement path of the joint robot is offset. When the movement path of the joint robot is offset, the PLC will sound a buzzer alarm to avoid collision.

[0068] The main purpose of this embodiment is to carry out preliminary preparations such as feeding and conveying for the automated cable disassembly process. In addition to the above-mentioned articulated manipulators, industrial cameras and visual algorithms, it also includes a mechanical clamping and conveying part. When the articulated manipulator clamps the cable to be disassembled to the next process, in order to ensure that the cable can be smoothly and accurately delivered to the feeding port, the articulated manipulator is assisted by clamping and conveying to transport the cable to the ring cutting feeding port for subsequent work processes such as cutting and disassembly.

[0069] After obtaining the cable information, the joint manipulator is guided to perform fixed-point grabbing. During the operation of the joint manipulator, a camera is added to detect the movement trajectory of the joint manipulator in real time to protect and prevent collisions. When the joint manipulator completes the visual guidance task, the joint manipulator grabs the cable and moves it to the holding conveyor for secondary clamping, and then gradually transports it to the circular cutting loading port to realize the subsequent process flow.

[0070] (2) A pre-processing mechanism, which is used to straighten the fed cables according to the straightening clamping diameter and to perform fixed-length processing according to the fixed-length knife type to obtain fixed-length cables.

[0071] In some optional embodiments, the preprocessing mechanism includes a straightening sub-mechanism and a length fixing sub-mechanism. The straightening sub-mechanism is used to straighten the loaded cables after clamping them according to the straightening clamping diameter; the length fixing sub-mechanism is used to cut cable segments of set length according to the set length of the straightened cables.

[0072] It should be noted here that both the straightening sub-mechanism and the length-fixing sub-mechanism can be implemented using existing technologies and will not be described in detail here.

[0073] (3) A one-time stripping mechanism, which is used to strip the coating of a fixed-length cable according to a one-time cutting depth.

[0074] In this embodiment, the primary stripping mechanism comprises an annular cutter arranged along the axial direction of the cable, and the distance between the annular cutter and the cable is adjustable.

[0075] In other optional embodiments, the one-time stripping mechanism may also be implemented using other existing structures, such as two cutters arranged opposite to each other, and the distance between the cutters and the cable is adjustable.

[0076] (4) A secondary stripping mechanism, which is used to strip the insulation layer of the wire core after the sheath is stripped according to the secondary cutting depth.

[0077] like Figure 2 As shown, the secondary peeling mechanism of this embodiment includes a welding bottom frame 1, a visual mechanism 2, a ring cutting mechanism 3, a pressing mechanism 4, a four-way cutting mechanism 5 and a clamping and conveying mechanism 6; The circular cutting mechanism 3 is connected to the welding bottom frame 1 by screws; the visual mechanism 2 and the four-way cutter mechanism 5 are connected to the pressure feeding mechanism 4 by screws, and the three are connected to the welding bottom frame 1 together; the clamping and conveying mechanism 6 is connected to the four-way cutter mechanism 5 by screws.

[0078] like Figure 3 As shown, the visual mechanism 2 includes a camera mounting plate 21, a camera clamping sleeve 22, a slide cylinder 23, an upper limit block 24, a lower mounting block 25, a limit screw 26, a camera light source 27, a first visual camera 28, and a camera connecting member 29; The camera clamping sleeve 22 is connected to the camera mounting plate 21 by screws; the upper limit block 24 is connected to the slide cylinder 23 by screws; the limit screw 26 is connected to the lower mounting block 25 by screws, and the two are connected together to the slide cylinder 23; the camera light source 27 and the first visual camera 28 are connected together to the camera connecting piece 29 by screws, and the three are connected together to the slide cylinder 23.

[0079] When the slide cylinder 23 moves, the camera light source 27 and the first visual camera 28 are driven to rise and fall vertically, and the first visual camera 28 is used to obtain the cross-sectional image of the cable entering the ring cutting mechanism 3, and the cable diameter and the thickness of the inner and outer sheaths are calculated by the AI ​​algorithm. The AI ​​algorithm is not limited to the specific algorithm type, and can be a mature image recognition algorithm. The specific process is not described in detail in this embodiment.

[0080] like Figure 4 As shown, the ring cutting mechanism 3 includes a ring cutting bottom plate 31, a ring cutting rib plate 32, a ring cutting mounting plate 33, a driving gear 34, a servo slide cylinder 35, a spindle mounting plate 36, a cutting spindle 37, a spindle fixing clamp 38, a first servo motor assembly 39, a rotary plate 310, a cutting blade 311 and a rotary support gear ring 312; The annular cutting rib plate 32 and the annular cutting mounting plate 33 are connected to the annular cutting base plate 31 by screws; the slewing plate 310 is connected to the slewing bearing gear ring 312 by screws, and the slewing bearing gear ring 312 is rotatably connected to the annular cutting mounting plate 33; the driving gear 34 meshing with the slewing bearing gear ring 312 is connected to the first servo motor assembly 39, and the first servo motor assembly 39 is connected to the annular cutting mounting plate 33; the cutting spindle 37 is connected to the spindle mounting plate 36 by the spindle fixing clamp 38, and the three are connected to the movable part of the servo slide cylinder 35 by screws; the fixed part of the servo slide cylinder 35 is connected to the slewing plate 310 by screws; the cutting blade 311 is connected to the cutting spindle 37 by a nut.

[0081] The cutting spindle 37 refers to a structure that, driven by a motor, enables the spindle to output a certain speed and torque. In this embodiment, the cutting spindle 37 is used to drive the cutting blade 311 to rotate.

[0082] The servo slide cylinder 35 refers to a movable part that can move linearly along the slide rail on the surface of the fixed part under the drive of the servo motor (or electric cylinder). In this embodiment, the servo slide cylinder 35 drives the cutting blade 311 and the cutting spindle 37 to move linearly, which is used to adjust the distance between the two sets of cutting blades 311 to cope with the ring cutting of cable sheaths of different diameters.

[0083] In this embodiment, a hole is provided on the rotating plate 310 for accommodating the passage of the cable. At least two groups of cutting blades 311 and corresponding cutting spindles 37 and servo slide cylinders 35 are evenly distributed along the circumferential direction of the hole. The two groups of cutting blades 311 are driven by their respective servo slide cylinders 35 to move closer to or away from each other to adapt to the circular cutting of the outer sheaths of cables with different diameters.

[0084] After the cable passes through the visual mechanism 2 to obtain a cross-sectional image, it passes through the hole reserved on the rotating plate 310. The cutting spindle 37 drives the cutting blade 311 to rotate, and the servo slide cylinder 35 is extended according to the thickness of the insulation layer. After it is in place, the first servo motor assembly 39 drives the slewing bearing gear ring 312 to rotate via the driving gear 34. After rotating 190°, the circular cutting is completed, the servo slide cylinder 35 retracts, and the first servo motor assembly 39 flips over and resets.

[0085] like Figure 5 and Figure 6As shown, the pressing mechanism 4 includes a lower fixing plate 41, a lower motor mounting plate 42, a lower left support plate 43, a lower guide shaft fixing ring 44, a lower clamping wheel 45, a lower right support plate 46, a lower fixing seat 47 of the screw, a first nut 48, a first guide shaft 49, a pressing screw 410, a lower conveying motor 411, an upper conveying motor 412, an upper left support plate 413, a second nut 414, an upper fixing plate 415, an upper right support plate 416, an upper motor mounting plate 417, an upper clamping wheel 418, a bearing support seat 419, an upper fixing seat 420 of the screw, a driven bevel gear 421, an active bevel gear 422, an upper guide shaft fixing ring 423, a transmission shaft 424, a seat bearing 425, an active synchronous pulley 426, a driven synchronous pulley 427, a conveyor belt 428, a servo mounting plate 429, a first mounting seat 430, and a second servo motor assembly 431; The lower fixing plate 41 and the upper fixing plate 415 are connected to form an overall frame through the lower guide shaft fixing ring 44, the upper guide shaft fixing ring 423, and the first guide shaft 49; the first nut 48 and the second nut 414 are connected to the pressure feeding screw 410, and are fixed to the lower fixing plate 41 and the upper fixing plate 415 respectively through the lower fixing seat 47 of the screw and the upper fixing seat 420 of the screw; the lower motor mounting plate 42 is connected to the lower left support plate 43 and the lower right support plate 46 by screws, and the three are connected to the first nuts 48 on both sides; the upper motor mounting plate 417 is connected to the upper left support plate 413 and the upper right support plate 416 by screws, and the three are connected to the second nuts 414 on both sides; the lower clamping wheel 45 is connected to the output shaft of the lower conveying motor 411, and the lower conveying motor 411 is connected to the lower motor mounting plate 42; the upper clamping wheel 418 is connected to the It is connected to the output shaft of the upper conveying motor 412, and the upper conveying motor 412 is connected to the upper motor mounting plate 417; the driven bevel gear 421 is connected to the pressure feed screw 410 by screws; the active bevel gear 422 meshing with the driven bevel gear 421 is connected to the transmission shaft 424 by screws; the transmission shaft 424 passes through the seat bearing 425 and is connected to the bearing support seat 419 by screws; the bearing support seat 419 is fixed to the upper fixing plate 415 by screws; the active synchronous pulley 426 is fixed to the transmission shaft 424 by screws; the second servo motor assembly 431 is connected to the servo mounting plate 429 by screws, and the two are connected together to the first mounting seat 430; the active synchronous pulley 426 is connected to the second servo motor assembly 431 by screws, and is transmitted to the driven synchronous pulley 427 through the conveyor belt 428.

[0086] According to the obtained cable diameter, the second servo motor assembly 431 drives the active synchronous pulley 426 to rotate, and drives the driven synchronous pulley 427 together with the transmission shaft 424 and the active bevel gear 422 to rotate through the conveyor belt 428, and transmits power to the driven bevel gear 421, so that the pressure feed screw 410 rotates, and the rotation action of the pressure feed screw 410 is used to push the lower conveying motor 411 to rise and fall through the first nut 48, and push the upper conveying motor 412 to rise and fall through the second nut 414, so as to realize the synchronous adjustment of the spacing between the two groups of conveying motors. After adjusting to the spacing that can clamp the cable, the lower conveying motor 411 and the upper conveying motor 412 respectively drive the lower clamping wheel 45 and the upper clamping wheel 418 to rotate, and utilize the synchronous opposite rotation of the two clamping wheels to pull the cable for transportation. In this embodiment, the thread on the surface of the pressure-feeding screw 410 has two sets of opposite directions, which are used to push the nut installed thereon to achieve synchronous approach or synchronous separation.

[0087] like Figure 7 and Figure 8 As shown, the four-way cutter mechanism 5 includes an upper mounting plate 51, a longitudinal guide rail assembly 52, an upper tool clamping block 53, a transverse guide rail assembly 54, a left tool clamping block 55, a lower mounting plate 56, a transverse mounting plate 57, a transverse driving pulley 58, a transverse synchronous belt 59, a transverse driven pulley 510, a right tool clamping block 511, a transverse screw fixing seat 512, a second mounting seat 513, a transverse bidirectional screw 514, a transverse right-hand nut 515, and a lower tool clamping block 516. , left cutter 517, lower cutter 518, right cutter 519, upper cutter 520, connecting structure 521, upper right-handed nut 522, upper clamping sleeve 523, longitudinal bidirectional lead screw 524, lower clamping sleeve 525, transverse left-handed nut 526, lower left-handed nut 527, longitudinal driven pulley 528, longitudinal synchronous belt 529, longitudinal servo assembly 530, longitudinal driving pulley 531, longitudinal mounting plate 532, lower rib plate 533, transverse servo assembly 534; The upper tool clamping block 53 is connected to the upper mounting plate 51 via the longitudinal guide rail assembly 52 by screws; the left tool clamping block 55 and the right tool clamping block 511 are connected to the upper mounting plate 51 and the lower mounting plate 56 by screws via the transverse guide rail assembly 54; the left cutter 517, the lower cutter 518, the right cutter 519, and the upper cutter 520 are connected to the left tool clamping block 55, the lower tool clamping block 516, the right tool clamping block 511, and the upper tool clamping block 53 by screws; the transverse mounting plate 57 The transverse servo assembly 534 is connected to the transverse mounting plate 57 by screws; the transverse screw fixing seat 512 is fixed to the second mounting seat 513 by screws, and the two are connected to the lower mounting plate 56; the transverse bidirectional screw 514 is connected to the transverse screw fixing seat 512 by nuts; the transverse driven pulley 510 is fixed to the transverse bidirectional screw 514 by screws; the transverse driving pulley 58 is fixed to the transverse bidirectional screw 514 by screws; The lateral servo assembly 534 is connected to the lateral driving pulley 58 through the lateral synchronous belt 59 and the lateral driven pulley 510 for transmission; the lateral right-handed nut 515 is connected to the left tool clamping block 55 by screws; the lateral left-handed nut 526 is connected to the right tool clamping block 511 by screws; the upper right-handed nut 522 is connected to the upper tool clamping block 53 by screws; the lower left-handed nut 527 is connected to the lower tool clamping block 516 by screws; the longitudinal mounting plate 532 and the lower rib plate 533 are connected by screws. Connected to the lower mounting plate 56; the longitudinal servo assembly 530 is connected to the longitudinal mounting plate 532 by screws; the longitudinal driving pulley 531 is connected to the longitudinal servo assembly 530 by screws; the longitudinal driven pulley 528 is connected to the longitudinal bidirectional screw 524 by screws; the longitudinal driving pulley 531 is transmitted to the longitudinal driven pulley 528 through the longitudinal synchronous belt 529; the upper clamping sleeve 523 is connected to the upper mounting plate 51 by screws; the lower clamping sleeve 525 is connected to the lower mounting plate 56 by screws.

[0088] During cable stripping, the pressing mechanism 4 clamps and conveys the cable. According to the obtained insulation layer thickness, the longitudinal servo assembly 530 drives the longitudinal active pulley 531 to drive the longitudinal driven pulley 528 to operate via the longitudinal synchronous belt 529, the longitudinal bidirectional screw 524 rotates, the upper right-handed nut 522 drives the upper tool clamping block 53 to rise and fall, and the lower left-handed nut 527 drives the lower tool clamping block 516 to rise and fall. After adjusting to the actual required size, it stops; the transverse servo assembly 534 drives the transverse active pulley 58 to drive the transverse driven pulley 510 to operate via the transverse synchronous belt 59, the transverse bidirectional screw 514 rotates, the transverse right-handed nut 515 drives the left tool clamping block 55 to move, and the transverse left-handed nut 526 drives the right tool clamping block 511 to move. After adjusting to the actual required size, it stops; the left cutter 517, the lower cutter 518, the right cutter 519 and the upper cutter 520 are used to perform four-way stripping and separation of the cable insulation layer.

[0089] like Fig. 9 As shown, the clamping and conveying mechanism 6 includes a cylinder mounting plate 61, a driving cylinder 62, a rear rib plate 63, a rear fixed plate 64, a front rib plate 65, an elastic member 66, an upper floating plate 67, a roller mounting seat assembly 68, a left vertical plate 69, an upper roller 611, an upper connecting plate 612, a first floating joint 613, a second guide shaft 614, a lower roller 615, a first bearing 616, a right vertical plate 617, a lower reduction motor 618, an upper reduction motor 619, a copper sleeve 620, a second bearing 621, and a fixing element 622; wherein the elastic member 66 can be implemented by a spring; The cylinder mounting plate 61 and the rear rib plate 63 are connected to the rear fixing plate 64 by screws; the driving cylinder 62 is connected to the cylinder mounting plate 61 by screws; the left vertical plate 69 and the right vertical plate 617 are connected to the cylinder mounting plate 61 by screws via the front rib plate 65; the copper sleeve 620 is connected to the upper connecting plate 612 by screws; the upper connecting plate 612 is connected to the driving cylinder 62 by screws via the first floating joint 613; the second bearing 621 is connected to the cylinder mounting plate 61 by screws; the second guide shaft 614 passes through the second bearing 621 and the copper sleeve 620, and is connected to the cylinder mounting plate 61 by screws. It is connected to the upper floating plate 67 by screws, and the elastic member 66 is connected to the middle position of the upper floating plate 67 and the upper connecting plate 612; the fixing element 622 is fixed to the second guide shaft 614 by screws, and is located in the middle position of the cylinder mounting plate 61 and the upper connecting plate 612; the upper roller 611 and the upper reduction motor 619 are connected to the roller mounting seat assembly 68 by screws, and the roller mounting seat assembly 68 is connected to the upper floating plate 67; the first bearing 616 is connected to the right vertical plate 617 by a retaining spring; the lower reduction motor 618 is connected to the right vertical plate 617 by screws.

[0090] The cable passes through the clamping and conveying mechanism 6, driving the cylinder 62 to descend, so that the distance between the upper roller 611 and the lower roller 615 can clamp the stripped cable. At the same time, the lower reduction motor 618 and the upper reduction motor 619 respectively drive the upper roller 611 and the lower roller 615 to rotate, driving the insulation layer and the wire core to be conveyed to the subsequent process. When the cable diameter changes, the elastic member 66 between the upper floating plate 67 and the upper connecting plate 612 is compressed, so that the upper roller 611 and the lower roller 615 always maintain contact with the cable, that is, they float through the elastic member 66 to adapt to the transportation of cables of different diameters.

[0091] Here’s how it works: After the cable is in place from the previous process, the slide cylinder 23 is started to drive the camera light source 27 and the first visual camera 28 to descend. After they are in place, the cable cross section is photographed and the cable diameter and the thickness of the inner and outer sheaths are calculated, and the data is transmitted to the PLC; According to the cable diameter transmitted by the PLC, the second servo motor assembly 431 operates, the active synchronous pulley 426 drives the driven synchronous pulley 427 to operate via the conveyor belt 428, the transmission shaft 424 drives the active bevel gear 422 to rotate, and transmits the power to the driven bevel gear 421; the pressure feed screw 410 rotates, the first nut 48 drives the lower conveying motor 411 to move up and down, and the second nut 414 drives the upper conveying motor 412 to move up and down, and stops after adjusting to the actual required size; According to the thickness of the inner and outer sheaths transmitted by the PLC, the longitudinal servo assembly 530 operates, the longitudinal active pulley 531 drives the longitudinal driven pulley 528 to operate via the longitudinal synchronous belt 529, the longitudinal bidirectional lead screw 524 rotates, the upper right-handed nut 522 drives the upper tool clamping block 53 to move up and down, and the lower left-handed nut 527 drives the lower tool clamping block 516 to move up and down, and stops after adjusting to the actual required size; The transverse servo assembly 534 operates, the transverse driving pulley 58 drives the transverse driven pulley 510 to operate via the transverse synchronous belt 59, the transverse bidirectional lead screw 514 rotates, the transverse right-handed nut 515 drives the left tool clamping block 55 to move, and the transverse left-handed nut 526 drives the right tool clamping block 511 to move, and stops after adjusting to the actual required size; After the pressing mechanism 4 and the four-way cutter mechanism 5 are adjusted in place, the cable is continuously conveyed forward from the previous process to the circular cutting mechanism 3, the cutting spindle 37 starts the cutting blade 311 to rotate, and the servo slide cylinder 35 is extended according to the thickness of the inner and outer sheaths transmitted by the PLC. After it is in place, the first servo motor assembly 39 drives the slewing bearing gear ring 312 to rotate via the driving gear 34. After rotating 190°, the servo slide cylinder 35 retracts, and the first servo motor assembly 39 flips and resets; The lower conveying motor 411 and the upper conveying motor 412 start the lower pressing wheel 45 and the upper pressing wheel 418 to rotate, and the cable is pulled forward to be conveyed. The left cutter 517, the lower cutter 518, the right cutter 519 and the upper cutter 520 perform four-way stripping and separation of the inner and outer sheaths of the cable. The cable continues to flow, passes through the clamping and conveying mechanism 6, and the lower reduction motor 618 and the upper reduction motor 619 start to drive the upper roller 611 and the lower roller 615 to rotate, driving the cylinder 62 to descend, and floats through the elastic member 66 to adapt to the transportation of cables of different diameters.

[0092] (5) A sorting mechanism, which is used to sort the products after the insulation layer is stripped into a set storage location according to their categories.

[0093] In one or more embodiments, a separation mechanism is further provided between the primary peeling mechanism and the secondary peeling mechanism. Fig.10 As shown, the separation mechanism includes: a frame structure 71, a coating material conveying belt line 72, a high-frequency vibration variable-pitch roller conveyor line 73, a transverse stacking and breaking up device 74, a wire core connecting belt line 75 and an AI vision automatic unloading robot 76.

[0094] The working principle is as follows: the pre-processed cables pass through the high-frequency vibration variable-pitch roller conveyor line 73, and the wire core and the coating are separated by high-frequency vibration and the sideways rolling of the horizontal stacking and breaking up device 74. The coating material falls through the roller spacing to the coating material conveying belt line 72 below and is transported to the waste box. The internal wire core is transported to the wire core connecting belt line 75, and then is clamped by the AI ​​vision automatic unloading robot 76 and placed in the storage container.

[0095] In this embodiment, the pre-processed cable refers to a cable whose coating has been cut by a cutter and whose coating has been divided into equally spaced segments by a ring cutting mechanism. In this state, the core of the cable is still a complete piece of metal, while the coating on the surface is ring cut into a plurality of equally spaced segments, and the cross section of the coating in each spacing segment is cut into a semicircular shape, but is not completely detached from the core due to friction and other effects.

[0096] like Fig.11 As shown, the frame structure 71 includes a square tube welded frame 711 , a table cover 712 , a caster mounting plate 713 and movable self-locking casters 714 .

[0097] The table cover 712 is fixed to the square tube welding frame 711 by bolts, and the other parts of the device are fixed to the space above the table cover 712 by bolts; the movable self-locking caster 714 is fixed to the caster mounting plate 713 by bolts, and the caster mounting plate 713 is fixed to the bottom of the square tube welding frame 711 by bolts. Compared with the commonly used aluminum profile frame, the square tube welding frame 711 has the advantages of large weight and stable structure, and is suitable for use in high-frequency vibration occasions.

[0098] like Fig.12 As shown, the coating material conveying belt line 72 includes a conveying belt line body 721, a line body fixing sheet metal part 722, a wedge-shaped material blocking sheet metal part 723, a blanking guide sheet metal part 724 and a line body anchor fixing part 725.

[0099] The conveyor belt line 721 is connected to the frame structure 71 through the line fixing sheet metal 722; the wedge-shaped material blocking sheet metal 723 is fixed to both sides of the conveyor belt line 721 by bolts to prevent the coating material from falling and splashing during transportation; the falling material guide sheet metal 724 is fixed to the bottom of the motor end of the conveyor belt line 721 by bolts, and the inclined surface arrangement can guide the coating material to fall into the waste box.

[0100] like Figure 13-Figure 15 As shown, the high-frequency vibration variable pitch roller conveyor line 73 is fixed on the panel of the frame structure 71 by bolts, including a base fixing block 731, a roller line welding leg 732, a high compression spring 733, a roller line bent sheet metal 734, a special-shaped electric roller 735, a left-side exciter fixing sheet metal 736, a right-side exciter fixing sheet metal 737, an exciter 738, a servo variable pitch screw module 739, a module connecting shaft upper clamp 7310, a module connecting shaft lower clamp 7311, a first variable pitch shaft assembly fixed beam 7312, a second variable pitch shaft assembly fixed beam 7313, a T-shaped bearing with a seat 7314, a variable pitch moving shaft 7315, a shaft end retaining ring 7316, a roller connecting shaft upper clamp 7317, a roller connecting shaft lower clamp 7318, a T-shaped guide shaft support 7319 and an electric roller fixed shaft 7320.

[0101] The servo variable pitch screw module 739 includes a variable pitch module L-shaped fixed plate 7391, a variable pitch module fixed base plate 7392, a servo drive motor 7393, a motor fixed plate 7394, a first motor fixed side plate 7395, a second motor fixed side plate 7396, a coupling 7397, a ball screw 7398, a screw fixed side pad 7399, a screw fixed side support 73910, a screw support side pad 73911, a screw support side support 73912, a screw standard nut 73913, a ball screw nut bracket 73914, a linear guide rail 73915, a guide rail slider 73916 and a module connecting plate 73917.

[0102] In this embodiment, the special-shaped electric roller 735 refers to a roller that is specially designed with additional functions such as drive structure, speed regulation, positioning and reversal in order to meet the needs of vibration action and lateral breaking up action during the separation of cable materials. The specific structure is not described in detail in this embodiment.

[0103] like Figure 13-14 As shown, the base fixing block 731 is fixed to the table cover 712 by bolts; the top of the roller line welding leg 732 is connected to the roller line bent sheet metal 734, and the bottom end is softly connected to the base fixing block 731 through a high compression spring 733, and has a vibration space margin in the vertical direction; the left exciter fixing sheet metal 736 and the right exciter fixing sheet metal 737 are fixed to the roller line welding leg 732 by bolts; the exciter 738 is fixed to the exciter fixing sheet metal on both sides by bolts, and the exciter 738 can generate high-frequency vibration through the centrifugal force generated by high-speed rotation; the servo variable pitch screw module 739 is fixed to the roller line welding leg 732 by bolts.

[0104] like Fig.15 As shown, the servo variable pitch screw module 739 includes: the variable pitch module L-shaped fixed plate 7391 is connected to the roller line welding leg 732 and the variable pitch module fixed base plate 7392 by bolts; the servo drive motor 7393 is fixed to the motor fixed plate 7394 by bolts, the first motor fixed side plate 7395 and the second motor fixed side plate 7396 are respectively fixed to the two sides of the motor fixed plate 7394 by bolts, and the bottoms are respectively connected to the variable pitch module fixed base plate 7392; the ball screw 7398 is connected to the servo drive motor 7393 through a coupling 7397; the screw fixed side pad 7399 and the screw support side pad 73911 are respectively fixed to the variable pitch module fixed base plate 7392 by bolts, and the tops are respectively fixed with the screw fixed side support 73910 and the screw support side support 73912; the screw standard nut 73913 is arranged on the ball screw 7398; the ball screw nut bracket 73914 is connected to the standard screw nut 73913 by bolts, and the bottom is connected to the guide rail slider 73916 by bolts; the linear guide 73915 is fixed to the variable pitch module fixed base plate 7392 by bolts, and through the combination of the linear guide rail and the ball screw, it can have good guiding effect and bearing capacity; one end of the module connecting plate 73917 is fixed to the ball screw nut bracket 73914 by bolts, and the other end is connected to the clamping block 7310 on the module connecting shaft; the clamping block 7310 on the module connecting shaft and the clamping block 7311 on the module connecting shaft are locked with the variable pitch moving shaft 7315 by screw clamping, so that the distance of the variable pitch moving shaft 7315 moving forward and backward in the horizontal direction can be adjusted by moving the servo variable pitch screw module 739.

[0105] like Figure 13-Figure 15 As shown, the first variable pitch shaft assembly fixed beam 7312 and the second variable pitch shaft assembly fixed beam 7313 are fixed to the roller line welding leg 732 by bolts; the seated T-shaped bearing 7314 is fixed to the roller line welding leg 732, the first variable pitch shaft assembly fixed beam 7312 and the second variable pitch shaft assembly fixed beam 7313 by bolt connection; the special-shaped electric roller 735 is connected to the electric roller fixed shaft 7320 on both sides by threaded connection, wherein the special-shaped electric roller 735 is provided with two triangular welded sheet metal parts, which can further increase the rotation of the roller The conveying and disassembling cables are shaken up and down to separate the wire core and the coating material; the electric roller fixed shaft 7320 is fixed to the T-guide shaft support 7319 by means of top screw locking; the T-guide shaft support 7319 is fixed to the clamping block 7317 on the roller connecting shaft by bolt connection; the clamping block 7317 on the roller connecting shaft and the clamping block 7318 under the roller connecting shaft are locked with the variable pitch moving shaft 7315 by means of screw clamping; the shaft end retaining ring 7316 is fixed to both sides of the variable pitch moving shaft 7315 by bolt connection to prevent the moving shaft from being scratched out of the bearing seat during the distance adjustment process.

[0106] In summary, the coating material conveying belt line 72 provides transmission power through electric rollers, and adjusts the roller spacing through a servo screw module, a bearing seat, and a sliding shaft to adapt to the falling of the coating material after different cutting lengths.

[0107] Specifically, a roller connecting shaft is provided at one end of the special-shaped electric roller 735, and part of the roller connecting shaft is locked with the variable pitch movable shaft 7315 by means of screw clamping using an upper clamp 7317 on the roller connecting shaft and a lower clamp 7318 on the roller connecting shaft. The variable pitch movable shaft 7315 is arranged along the direction of cable travel. When the variable pitch movable shaft 7315 is driven by the guide slider 73916 in the servo variable pitch screw module 739 and moves along the direction of cable travel, the distance of the variable pitch movable shaft 7315 in the horizontal front and rear directions can be adjusted, thereby indirectly adjusting the spacing between the special-shaped electric rollers 735.

[0108] In this embodiment, for ease of understanding, Fig.13 and Fig.14 A total of six groups of special-shaped electric rollers 735 are displayed. Except for the first group of special-shaped electric rollers 735, the other five groups of special-shaped electric rollers 735 have a movement margin on the roller line bending sheet metal 734 (realized by the strip holes opened on the roller line bending sheet metal 734), and these special-shaped electric rollers 735 are all connected to the variable pitch moving shaft 7315. This method is used to adjust the initial position of the special-shaped electric roller 735 and the distance between the second group of special-shaped electric rollers 735 and the first group of special-shaped electric rollers 735.

[0109] In actual applications, it is necessary to determine that a portion of the special-shaped electric rollers 735 are driven by the variable pitch moving shaft 7315 according to actual needs, and the spacing is adjusted by moving forward and backward. It is also possible to set multiple servo variable pitch screw modules 739 to drive different numbers of variable pitch moving shafts 7315 and special-shaped electric rollers 735 according to the cable specifications and pre-processing conditions of the materials to be separated.

[0110] like Fig.16 As shown, the transverse stacking and breaking up device 74 includes a pushing plate 741, an axis fixing seat 742, a third bearing 743, a third guide shaft 744, a cylinder connecting plate 745, a second floating joint 746, a pushing cylinder 747, a cylinder fixing plate 748, a first cylinder support plate 749, a second cylinder support plate 7410 and a pushing assembly fixing plate 7411.

[0111] In this embodiment, two sets of transverse stacking and disintegrating devices 74 are provided, which are respectively fixed on both sides of the high-frequency vibration variable pitch roller conveyor line 73. The push cylinder 747 is connected to the cylinder fixing plate 748 by bolts; the first cylinder support plate 749 and the second cylinder support plate 7410 are provided on both sides of the cylinder fixing plate 748; the push assembly fixing plate 7411 is connected to the first cylinder support plate 749 and the second cylinder support plate 7410 by bolts on one side, and is fixed to the variable pitch roller conveyor line by bolts on the other side; the push cylinder 747 is provided with a second floating joint 746, which is fixed to the cylinder connecting plate 745 by internal thread connection; the cylinder connecting plate 745 is provided on the push plate 741 by bolts; the push plate 741 is provided with two shaft fixing seats 742 by bolts, and the entire push-out and retracting guidance is realized by the third bearing 743 and the third guide shaft 744.

[0112] like Figure 17-Figure 18 As shown, the wire core connection belt line 75 includes a fixed bracket 751, a wire core connection belt line side profile 752, an active end electric roller fixing seat 753, a driven end roller fixing seat 754, an electric roller 755, a driven roller 756, a transmission belt 757, a first sheet metal part 758, a second sheet metal part 759, a third sheet metal part 7510, a fourth sheet metal part 7511, a first bottom pad 7512, a first mirror bottom pad 7513, a second bottom pad 7514, a second mirror bottom pad 7515, a rear baffle connecting part 7516, a rear baffle 7517, a photoelectric bracket 7518, a detection photoelectric 7519, a first safety light curtain bracket 7520, a second safety light curtain bracket 7521 and a safety light curtain 7522.

[0113] The fixed bracket 751 is a square tube welding structure, which supports the upper part of the conveyor line body. A connecting plate is welded at the bottom and fixed to the frame structure 71 by bolt connection; the wire core connection belt line 75 is mainly provided with transmission power by the electric roller 755, and is combined with the driven roller 756 and the transmission belt 757 to form the main conveying components; the active end electric roller fixing seat 753 and the driven end roller fixing seat 754 are fixed to the roller and the side profile 752 of the wire core connection belt line by bolt connection; the first sheet metal part 758, the second sheet metal part 759, the third sheet metal part 7510 and the fourth sheet metal part 7511 are respectively fixed to the side profile 752 of the wire core connection belt line by bolt connection, which mainly guides and blocks the wire core; the first bottom pad 7512, the first mirror bottom pad 7513, the second bottom pad 7514 and the second mirror bottom pad 751 5 are respectively fixed to the bottom of the side profile 752 of the core material receiving belt line by bolt connection on one side, and fixed to the fixed bracket 751 on the other side; there are two rear baffle connecting pieces 7516, which are fixed to the second bottom pad 7514 and the second mirror bottom pad 7515 by bolts; the rear baffle 7517 is fixed to the rear baffle connecting piece 7516 by bolt connection; the photoelectric bracket 7518 is fixed to the second mirror bottom pad 7515 by bolt connection; the detection photoelectric 7519 is arranged on the photoelectric bracket 7518, and provides a signal interaction to the unloading robot after the detection core is in place; the safety light curtain 7522 is fixed to the rear baffle 7517 by the first safety light curtain bracket 7520 and the second safety light curtain bracket 7521 on both sides. The main function of the safety light curtain is to provide a stop signal to the unloading robot when the core is manually handled, so as to protect the safety of personnel operation.

[0114] like Fig.19 As shown, the AI ​​vision automatic unloading robot 76 includes a robot base 761, a unloading robot body 762, a solenoid valve mounting plate 763, a solenoid valve protection cover 764, an in-line sheet metal part 765, a gripper mounting flange plate 766, a gripper fixing plate 767, a gripper cylinder 768, a first pneumatic finger clamp 769, a second pneumatic finger clamp 7610, a vision component Z-type connecting plate 7611, a vision component long strip plate 7612, a vision component assembly plate 7613, a camera fixing sheet metal part 7614, a second vision camera 7615, a light source fixing sheet metal part 7616 and a ring light source 7617.

[0115] The feeding robot body 762 is fixed to the robot base 761 by bolt connection; the solenoid valve mounting plate 763 is fixed to the feeding robot body 762 by bolt connection, and the solenoid valve protection cover 764 is fixed to the solenoid valve mounting plate 763 by bolt connection; the in-line sheet metal part 765 is arranged at the front end of the feeding robot body 762, and is used to bundle and fix the sensor cable and the vacuum air pipe; the clamp mounting flange plate 766 is respectively connected to the feeding robot body 762 and the clamp fixing plate 767 by bolts; the first pneumatic finger clamp block 76 is arranged on the clamp cylinder 768 9. The second pneumatic finger clamp block 7610 is used to realize the clamping action of the wire core. This part of the components is fixed to the clamping claw fixing plate 767 by bolt connection; the second visual camera 7615 is fixed to the camera fixing sheet metal 7614 by bolt connection, and the annular light source 7617 is fixed to the light source fixing sheet metal 7616 by bolt connection; the visual component assembly plate 7613 is fixed to the visual component long plate 7612 by bolt connection; the visual component Z-type connecting plate 7611 is respectively connected to the clamping claw fixing plate 767 and the visual component long plate 7612 by bolts.

[0116] like Figure 20-21 As shown, the device of this embodiment is for cables whose coating has been cut by a cutter, and the coating is divided into equally spaced segments by a ring cutting mechanism. Specifically, the cutter cuts the coating of the cable into two parts with semicircular cross-sections along the axial direction of the cable, and the cable is divided into equally spaced segments by a ring cutting mechanism. In this state, the core of the cable is still a complete section of metal, while the coating on the surface is ring cut into multiple equally spaced segments, and the cross-section of the coating in each spacing segment is cut into a semicircle. Since the coating has not completely fallen off the core due to friction and adhesion at this time, the separation of the core and the coating is achieved through the vibration and lateral breaking up of the device of this embodiment.

[0117] The separated coating material falls into the waste bin through the roller spacing for recycling, and the wire core is transported to the wire core connection belt line, where it is picked up by a robot equipped with an AI visual algorithm and transferred to a storage container, thus realizing the automated separation and recycling of cable materials. Since the wire core in the pre-processed cable is a complete conductor and its length is much longer than the coating, the wire core and the coating can be completely separated through vibration and lateral breaking up, while the spacing between the rollers is variable and produces an approximate screening effect, which can select the wire core from the separated material, and can achieve separation and recycling in a simpler way.

[0118] like Fig. 22 As shown, a cable adaptive disassembly method is also provided, which includes the following steps: Step S1: obtaining a multimodal image of the cable to be loaded, combining it with a pre-trained multimodal recognition model, and determining the metal core material and cable specification parameters at the same time; Step S2: adaptively adjusting control parameters according to the metal core material and cable specification parameters; the control parameters include straightening clamping diameter, fixed length knife type, primary cutting depth and secondary cutting depth; Step S3: Based on the position information of the cable to be loaded and the adaptively adjusted control parameters, the cable is sequentially loaded with the cable, the cable is straightened, the length is fixed, the coating is stripped, and the insulation is stripped; Step S4: sorting the products after the insulation layer stripping operation into set storage locations according to their categories.

[0119] In step S3, the position information of the cable to be loaded is determined according to the cable progressive secondary positioning method, and the process is as follows: Use the images before and after placing the cable as the background image and the cable image respectively; Subtracting the cable image from the background image to obtain a rough cable positioning result; The minimum circumscribed rectangle of the cable is extracted based on the rough positioning result, the cable is precisely positioned, and the precise positioning result is used as the final cable position.

[0120] Specifically, the process of extracting the minimum circumscribed rectangle of the cable according to the rough positioning result is as follows: Extract the appearance of the cable and perform contour fitting on the extracted area; Calculate the centroid and covariance matrix of the point set on the contour; Solve the eigenvalues ​​and eigenvectors of the covariance matrix, where the eigenvectors define the directions of the major and minor axes of the minimum bounding rectangle; and obtain the rotation angle of the minimum bounding rectangle based on the eigenvectors.

[0121] Among them, the point set The centroid And the covariance matrix C is: ; ; ; in, n is the number of all points in the contour.

[0122] In step S1, the multimodal image to be loaded includes a cable 2D image, a cable 3D image, and a cable infrared image. The process of simultaneously determining the metal core material and cable specification parameters using the multimodal recognition model is as follows: Extracting the detection area from the cable 2D image; According to the position matching relationship between the cable 2D image, the cable 3D image and the cable infrared image, the corresponding detection area in the cable 3D image and the cable infrared image is determined; Extracting 2D features, 3D features and infrared features from the detection areas of the cable 2D image, the cable 3D image and the cable infrared image respectively; Fusing 2D features, 3D features and infrared features to obtain fused features; Based on the mapping relationship between the fusion features and the metal core material and cable specification parameters, the corresponding metal core material and cable specification parameters are obtained.

[0123] The expression for extracting the detection area from the cable 2D image is: ; in, is the between-class variance; and are the pixel ratios of foreground and background, respectively; and are the average grayscale of the foreground and background respectively; the noise in the object is removed through the corrosion operation, and then the corrosion image is expanded to restore the size of the corroded object.

[0124] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cable adaptive disassembly method, characterized in that: include: Obtain multimodal images of the cables to be loaded, and combine them with the pre-trained multimodal recognition model to simultaneously determine the metal core material and cable specification parameters; Adaptively adjust control parameters according to metal core material and cable specification parameters; the control parameters include straightening clamping diameter, fixed length knife type, primary cutting depth and secondary cutting depth; Based on the position information of the cable to be loaded and the adaptively adjusted control parameters, the cable is sequentially loaded, straightened, fixed-length processed, and the coating and insulation stripping operations are performed; The products after the insulation stripping operation are sorted into the set storage locations according to their categories.

2. The cable adaptive disassembly method according to claim 1, characterized in that: According to the cable progressive secondary positioning method, the position information of the cable to be loaded is determined, and the process is as follows: Use the images before and after placing the cable as the background image and the cable image respectively; Subtracting the cable image from the background image to obtain a rough cable positioning result; The minimum circumscribed rectangle of the cable is extracted based on the rough positioning result, the cable is precisely positioned, and the precise positioning result is used as the final cable position.

3. The cable adaptive disassembly method according to claim 2, characterized in that: The process of extracting the minimum circumscribed rectangle of the cable based on the rough positioning results is as follows: Extract the appearance of the cable and perform contour fitting on the extracted area; Calculate the centroid and covariance matrix of the point set on the contour; Solve the eigenvalues ​​and eigenvectors of the covariance matrix, where the eigenvectors define the directions of the major and minor axes of the minimum bounding rectangle; and obtain the rotation angle of the minimum bounding rectangle based on the eigenvectors.

4. The cable adaptive disassembly method according to claim 3, characterized in that: Point Set The centroid And the covariance matrix C is: ； ； ； in, n is the number of all points in the contour.

5. The cable adaptive disassembly method according to claim 1, characterized in that: The multimodal images to be loaded include cable 2D images, cable 3D images and cable infrared images.

6. The cable adaptive disassembly method according to claim 5, characterized in that: The process of using the multimodal recognition model to simultaneously determine the metal core material and cable specification parameters is as follows: Extracting the detection area from the cable 2D image; According to the position matching relationship between the cable 2D image, the cable 3D image and the cable infrared image, the corresponding detection area in the cable 3D image and the cable infrared image is determined; Extracting 2D features, 3D features and infrared features from the detection areas of the cable 2D image, the cable 3D image and the cable infrared image respectively; Fusing 2D features, 3D features and infrared features to obtain fused features; Based on the mapping relationship between the fusion features and the metal core material and cable specification parameters, the corresponding metal core material and cable specification parameters are obtained.

7. The cable adaptive disassembly method according to claim 6, characterized in that: The expression for extracting the detection area from the cable 2D image is: ； in, is the between-class variance; and are the pixel ratios of foreground and background, respectively; and are the average grayscale of the foreground and background respectively; the noise in the object is removed through the corrosion operation, and then the corrosion image is expanded to restore the size of the corroded object.

8. A cable adaptive disassembly system, characterized in that: include: Control and Execution Departments; The control unit is configured as follows: Obtain multimodal images of the cables to be loaded, and combine them with the pre-trained multimodal recognition model to simultaneously determine the metal core material and cable specification parameters; Adaptively adjust control parameters according to metal core material and cable specification parameters; the control parameters include straightening clamping diameter, fixed length knife type, primary cutting depth and secondary cutting depth; The execution unit comprises: A cable feeding mechanism, which is used to grab the cable and feed the cable according to the cable position and the affine transformation matrix; A pre-processing mechanism, which is used to straighten the fed cables according to the straightening clamping diameter, and to perform fixed-length processing according to the fixed-length knife type to obtain fixed-length cables; A primary stripping mechanism, which is used to strip the coating of a fixed-length cable according to a primary cutting depth; A secondary stripping mechanism, which is used to strip the insulation layer of the wire core after the coating layer is stripped according to the secondary cutting depth; The sorting mechanism is used to sort the products after the insulation layer is stripped to the set storage position according to the category.

9. The cable adaptive disassembly system according to claim 8, characterized in that: The cable specification parameters include cable diameter, coating thickness and insulation thickness; Determine the straight clamping diameter according to the cable diameter; determine the cutting depth at one time according to the coating thickness; The secondary cutting depth is determined according to the thickness of the insulation layer; the fixed-length knife type is determined according to the material of the metal core.

10. The cable adaptive disassembly system according to claim 8, characterized in that: In the control unit, the position information of the cable to be loaded is determined according to the cable progressive secondary positioning method, and the process is as follows: Use the images before and after placing the cable as the background image and the cable image respectively; Subtracting the cable image from the background image to obtain a rough cable positioning result; The minimum circumscribed rectangle of the cable is extracted based on the rough positioning result, the cable is precisely positioned, and the precise positioning result is used as the final cable position.

11. The cable adaptive disassembly system according to claim 10, characterized in that: In the control unit, the process of extracting the minimum circumscribed rectangle of the cable according to the rough positioning result is as follows: Extract the appearance of the cable and perform contour fitting on the extracted area; Calculate the centroid and covariance matrix of the point set on the contour; Solve the eigenvalues ​​and eigenvectors of the covariance matrix, where the eigenvectors define the directions of the major and minor axes of the minimum bounding rectangle; and obtain the rotation angle of the minimum bounding rectangle based on the eigenvectors.

12. The cable adaptive disassembly system according to claim 11, characterized in that: In the control unit, the point set The centroid And the covariance matrix C is: ； ； ； in, n is the number of all points in the contour.

13. The cable adaptive disassembly system according to claim 8, characterized in that: In the control unit, the multimodal image to be loaded includes a cable 2D image, a cable 3D image, and a cable infrared image; The process of using the multimodal recognition model to simultaneously determine the metal core material and cable specification parameters is as follows: Extracting the detection area from the cable 2D image; According to the position matching relationship between the cable 2D image, the cable 3D image and the cable infrared image, the corresponding detection area in the cable 3D image and the cable infrared image is determined; Extracting 2D features, 3D features and infrared features from the detection areas of the cable 2D image, the cable 3D image and the cable infrared image respectively; Fusing 2D features, 3D features and infrared features to obtain fused features; Based on the mapping relationship between the fusion features and the metal core material and cable specification parameters, the corresponding metal core material and cable specification parameters are obtained.

14. The cable adaptive disassembly system according to claim 13, characterized in that: In the control unit, the expression for extracting the detection area from the cable 2D image is: ； in, is the between-class variance; and are the pixel ratios of foreground and background, respectively; and are the average grayscale of the foreground and background respectively; the noise in the object is removed through the corrosion operation, and then the corrosion image is expanded to restore the size of the corroded object.

15. The cable adaptive disassembly system according to claim 8, characterized in that: The primary stripping mechanism comprises an annular cutter arranged along the axial direction of the cable, and the distance between the annular cutter and the cable is adjustable.

16. The cable adaptive disassembly system according to claim 8, characterized in that: The secondary stripping mechanism comprises a visual mechanism, a circular cutting mechanism, a pressing mechanism, a four-way cutter mechanism and a clamping and conveying mechanism arranged in sequence along the cable transmission direction: the visual mechanism obtains a cross-sectional image of the cable entering the circular cutting mechanism, and determines the diameter and insulation thickness of the cable through a controller; The circular cutting mechanism obtains a circular cutting seam on the cable surface by changing the spacing between at least two groups of cutting knives. The pressing mechanism clamps the cable and sends it to the four-way cutting mechanism by changing the spacing between at least two groups of pressing wheels. The four-way cutting mechanism uses at least four groups of knives evenly distributed along the circumferential direction of the cable to cut and separate the cable insulation layer and send it to the clamping and conveying mechanism. The clamping and conveying mechanism includes an upper roller and a lower roller which are arranged in a vertical direction and can rotate. An upper floating plate is provided in the space above the upper roller. An elastic member is provided between the upper floating plate and the upper connecting plate. The driving cylinder drives the upper connecting plate together with the upper floating plate and the upper roller to move vertically to clamp the cable after the insulation layer is stripped off. When the diameter of the cable changes, the elastic member is compressed.

17. The cable adaptive disassembly system according to claim 16, characterized in that: The circular cutting mechanism comprises a rotating plate that rotates, a through hole for accommodating the cable to pass through is arranged on the rotating plate, cutting blades are arranged on both sides of the through hole, and each group of cutting blades moves along the diameter direction of the through hole.

18. The cable adaptive disassembly system according to claim 16, characterized in that: The pressing mechanism includes an upper pressing wheel and a lower pressing wheel arranged in a vertical direction. The two pressing wheels are connected to corresponding conveying motors. The conveying motor has a corresponding motor mounting plate. The pressing screw passes through the motor mounting plate and is movably connected. The pressing screw is driven to rotate by the second servo motor assembly, so that the upper pressing wheel and the lower pressing wheel can approach or move away synchronously.

19. The cable adaptive disassembly system according to claim 8, characterized in that: A separation mechanism is also provided between the primary peeling mechanism and the secondary peeling mechanism, and the separation mechanism comprises: High-frequency vibration variable-pitch roller conveyor line is used to convey pre-processed cables and vibrate and break up the cables to separate the core material and coating material of the cables; The coating material conveying belt line is located in the lower space of the high-frequency vibration variable pitch roller conveying line and is used to receive and convey the separated coating material; The wire core connection belt line is located at the end of the high-frequency vibration variable pitch roller conveyor line and is used to receive the wire core; The AI ​​vision automatic unloading robot is located on one side of the wire core connection belt line, and is used to identify and grab the wire core and transfer it to the set position; Among them, the high-frequency vibration variable-pitch roller conveyor line includes multiple groups of rollers arranged in parallel on a horizontal plane. The multiple groups of rollers obtain vibration energy through exciters and transmit it to the plane formed by the multiple groups of rollers. A set number of roller ends are connected to the variable-pitch moving shaft, and the variable-pitch moving shaft is connected to the guide rail slider. Under the rotation of the ball screw, the guide rail slider drives the rollers to change their spacing through the variable-pitch moving shaft; a horizontal stacking and breaking device is provided on the side of the plane formed by the multiple groups of rollers.

20. The cable adaptive disassembly system according to claim 19, characterized in that: Among multiple groups of rollers, one end of a set number of rollers is connected to a variable pitch movable shaft, which is arranged along the direction of cable travel and located on one side of the plane formed by the multiple groups of rollers. The variable pitch movable shaft is connected to the guide rail slider in the servo variable pitch screw module. Under the rotation of the ball screw, the guide rail slider drives the variable pitch movable shaft and the rollers to move along the cable transmission direction, thereby realizing adjustable spacing between two adjacent groups of rollers.

21. The cable adaptive disassembly system according to claim 19, characterized in that: The transverse stacking and breaking up device has at least two groups, which are respectively located on both sides of the high-frequency vibration variable-pitch roller conveyor line. Each group of transverse stacking and breaking up device includes a pushing cylinder and a guide shaft which are arranged in parallel on a horizontal plane. The pushing cylinder drives the pushing plate to move. The two groups of transverse stacking and breaking up devices move alternately on both sides of the plane formed by multiple groups of rollers to break up and separate the cable coating material from the wire core.

22. The cable adaptive disassembly system according to claim 19, characterized in that: The coating material conveying belt line includes a conveying belt line body connected to a frame structure through a line body fixing sheet metal part, wedge-shaped material blocking sheet metal parts are arranged on both sides of the conveying belt line body, and a blanking guide sheet metal part is arranged at the end of the conveying belt line body.

Images