Cable material separation device and working method

Abstract

The invention relates to the technical field of cable material separation, in particular to a cable material separation device and a working method.A high-frequency vibration variable-pitch roller conveying line conveys a preprocessed cable, and the cable is vibrated and transversely scattered, so that a cable core material and a coating layer material of the cable are separated; the coating layer material conveying belt line is located in the space below the high-frequency vibration variable-pitch roller conveying line and used for receiving and conveying the separated coating layer materials. The wire core connection belt line is located at the tail end of the high-frequency vibration variable-pitch roller conveying line and used for receiving separated wire core materials. The AI visual automatic discharging robot is located on one side of the wire core connection belt line and used for recognizing and grabbing the wire core to be transferred to a set position. The cable core and the coating layer are separated through the vibration effect and the transverse scattering effect, the separated coating layer material falls into the waste box, the cable core is clamped by the robot and transferred into the storage container, and automatic separation and recycling of the cable material are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of cable material separation, and in particular to a cable material separation device and a working method. 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] Cables will gradually age as they are used. The conductor materials and coating materials of aged cables can be recycled. The recycling methods generally include mechanical cutting and stripping separation, chemical separation, pyrolysis treatment, etc. Among them, mechanical separation has a relatively considerable effect in separating the metal core and the coating material. However, at the current stage, most devices can only achieve cable cutting and stripping, and cannot automatically separate the cut cable core from the coating material. 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 material separation device and a working method. During the transportation of the pre-processed cable, the wire core and the coating layer are separated by vibration and lateral breaking up. The separated coating material falls into the waste box through the roller spacing for recycling. After the wire core is transported to the wire core connecting belt line, it is clamped by a robot equipped with an AI vision algorithm and transferred to a storage container, thereby realizing the automated separation and recycling of cable materials.

[0005] In order to achieve the above object, the present invention adopts the following technical embodiments: A first aspect of the present invention provides a cable material separation device, comprising: 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 variable-pitch moving shafts, and the variable-pitch moving shafts are connected to linear guide sliders. Under the rotation of the ball screw, the linear guide sliders drive the rollers to change their spacing through the variable-pitch moving shafts; a horizontal stacking and breaking device is provided on the side of the plane formed by the multiple groups of rollers.

[0006] As a further implementation method, the pre-processed cable is specifically: the coating layer is cut along the axial direction of the cable, and the coating layer is cut circumferentially to obtain a cable with equally spaced sections of the coating layer.

[0007] As a further implementation method, the high-frequency vibration variable-pitch roller conveyor line, the coating material conveying belt line and the wire core connecting belt line are all connected to the frame structure. The frame structure includes a table cover plate, the table cover plate is connected to the square tube welded frame, and casters are provided at the bottom of the square tube welded frame.

[0008] As a further implementation method, multiple groups of rollers are connected to the top of the roller line welding legs through the roller line bent sheet metal, the exciter is connected to the roller line welding legs, and the bottom end of the roller line welding legs is softly connected to the base fixing block through a spring.

[0009] As a further implementation method, among the 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 linear guide slider in the servo variable pitch screw module. Under the rotation of the ball screw, the linear guide slider drives the variable pitch movable shaft and the rollers to move along the cable transmission direction, thereby realizing the adjustment of the distance between two adjacent groups of rollers.

[0010] As a further implementation method, the transverse stacking and breaking up device has at least two groups, which are 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 that 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.

[0011] As a further implementation method, 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.

[0012] As a further implementation method, the wire core connecting belt line includes a conveyor line body, the bottom of the conveyor line body is connected to the frame structure through a connecting plate, and a safety light curtain and a rear baffle are provided at the end of the conveyor line body. When the wire core passes through the safety light curtain, a signal to stop the operation of the conveyor line body is triggered, and the rear baffle is used to prevent the wire core from continuing to run.

[0013] As a further implementation method, the AI ​​vision automatic unloading robot includes a unloading robot fixed on a robot base, and a light source, a vision camera and a gripper are provided at the end of the unloading robot.

[0014] A second aspect of the present invention provides a working method of a cable material separation device, comprising the following steps: The sheath is cut along the axial direction of the cable, and the sheath is cut circumferentially at set intervals to obtain a pre-processed cable; The pre-processed cables pass through the high-frequency vibration variable-pitch roller conveyor line. The high-frequency vibration and the side-over rolling action of the transverse stacking and breaking device separate the wire core from the coating layer. The coating layer material falls through the roller spacing to the coating layer material conveying belt line below, and is further transported to the waste box. After the wire core is transferred from the upper surface of the roller to the wire core connecting belt line, the AI ​​vision automatic unloading robot clamps the wire core and transfers it to the storage container.

[0015] Compared with the prior art, one or more of the above technical embodiments have the following beneficial effects: 1. During the transportation of pre-processed cables, the wire core and the coating are separated by vibration and lateral breaking up. The separated coating material falls into the waste box through the roller spacing for recycling. The wire core is transported to the wire core connection belt line, where it is clamped by a robot equipped with an AI visual algorithm and transferred to a storage container, realizing the automated separation and recycling of cable materials.

[0016] 2. In the structure of the high-frequency vibration variable-pitch roller conveyor line, a plane formed by multiple groups of rollers is used to convey pre-processed cables under the rotation of the rollers, and the spacing between the rollers can be changed at any time according to the pre-processing conditions, so that the space between two adjacent groups of rollers can produce a sorting effect on the cables, so that the coating material smaller than the roller spacing falls into the coating material conveying belt line below, while the wire core material larger than the roller spacing is retained on the plane formed by multiple groups of rollers, thereby realizing the separation of the wire core material and the coating material.

[0017] 3. In the structure of the high-frequency vibration variable-pitch roller conveyor line, the vibration effect generated by the exciter and the linear displacement of the transverse stacking and breaking up device on the side of the plane formed by multiple groups of rollers are used to break up and separate the cable coating material from the wire core, which is beneficial to subsequent recycling. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 is a schematic diagram of the main structure of a cable material separation device provided by one or more embodiments of the present invention; Figure 2 is a schematic diagram of a frame structure of a cable material separation device provided by one or more embodiments of the present invention; Figure 3 It is a structural schematic diagram of a coating material conveying belt line in a cable material separation device provided by one or more embodiments of the present invention; Figure 4 It is a structural schematic diagram of a high-frequency vibration variable-pitch roller conveyor line in a cable material separation device provided by one or more embodiments of the present invention; Figure 5 yes Figure 4 A partial enlarged view of the Figure 6 It is a structural schematic diagram of a high-frequency vibration variable-pitch roller conveyor line in a cable material separation device provided by one or more embodiments of the present invention from another perspective; Figure 7 yes Figure 6 A partial enlarged view of the Figure 8 It is a structural schematic diagram of a servo variable pitch screw module in a high-frequency vibration variable pitch roller conveyor line provided by one or more embodiments of the present invention; Fig. 9 It is a schematic structural diagram of a transverse stacking and dispersing device in a cable material separation device provided by one or more embodiments of the present invention; Fig.10 is a structural schematic diagram of another perspective of a transverse stacking and dispersing device in a cable material separation device provided by one or more embodiments of the present invention; Fig.11 It is a structural schematic diagram of a wire core connection belt line in a cable material separation device provided by one or more embodiments of the present invention; Fig.12 It is a structural schematic diagram of another perspective of a cable core connection belt line in a cable material separation device provided by one or more embodiments of the present invention; Fig.13 It is a structural schematic diagram of an AI vision automatic unloading robot in a cable material separation device provided by one or more embodiments of the present invention; Fig.14 yes Fig.13 A partial enlarged view of the Fig.15It is a schematic diagram of a cable cutting the coating material into equally spaced segments by circumferential cutting provided by one or more embodiments of the present invention; Fig.16 It is a schematic diagram of the relative position between a cutting tool and a cable provided by one or more embodiments of the present invention.

[0020] Figure 1 In the figure: 1 - Frame structure; 2 - Coating layer material conveying belt line; 3 - High-frequency vibration variable pitch roller conveyor line; 4 - Horizontal stacking and dispersing device; 5 - Core connection belt line; 6 - AI vision automatic blanking robot; Figure 2 In the figure: 11 - Square tube welding frame; 12 - Tabletop cover plate; 13 - Caster mounting plate; 14 - Mobile self-locking caster; Figure 3 In the figure: 21 - Conveying belt line body; 22 - Line body fixing sheet metal part; 23 - Wedge-shaped material blocking sheet metal part; 24 - Blanking guiding sheet metal part; 25 - Line body floor fixing part; Figure 4 and Figure 5 In the figure: 31 - Base fixing block; 32 - Roller conveyor line welding leg; 33 - High compression spring; 34 - Roller conveyor line bending sheet metal part; 35 - Special-shaped electric roller; 36 - Left exciter fixing sheet metal part; 37 - Right exciter fixing sheet metal part; 38 - Exciter; 39 - Servo variable pitch lead screw module; 310 - Upper clamp block on the module connecting shaft; 311 - Lower clamp block on the module connecting shaft; Figure 6 and Figure 7 In the figure: 312 - First fixed cross beam of the variable pitch shaft assembly; 313 - Second fixed cross beam of the variable pitch shaft assembly; 314 - Block type T-bearing; 315 - Variable pitch moving shaft; 316 - Shaft end retaining ring; 317 - Upper clamp block on the roller connecting shaft; 318 - Lower clamp block on the roller connecting shaft; 319 - T-shaped guide shaft support; 320 - Electric roller fixed shaft; Figure 8 In the figure: 391 - L-shaped fixing plate of the variable pitch module; 392 - Fixed bottom plate of the variable pitch module; 393 - Servo motor; 394 - Motor fixing plate; 395 - Motor fixing side A plate; 396 - Motor fixing side B plate; 397 - Coupling; 398 - Ball screw; 399 - Side pad for fixing the screw; 3910 - Side support for fixing the screw; 3911 - Side pad for supporting the screw; 3912 - Side support for supporting the screw; 3913 - Standard nut for the ball screw; 3914 - Ball screw nut support; 3915 - Linear guide rail; 3916 - Linear guide rail slider; 3917 - Module connecting plate; Fig. 9 and Fig.10Middle: 41-push plate; 42-shaft fixing seat; 43-linear bearing; 44-guide shaft; 45-push cylinder connecting plate; 46-floating joint; 47-push cylinder; 48-cylinder fixing plate; 49-cylinder support A plate; 410-cylinder support B plate; 411-push assembly fixing plate; Fig.11 Middle: 51-wire core connection belt line fixing bracket; 52-wire core connection belt line side profile; 53-active end electric roller fixing seat; 54-driven end roller fixing seat; 55-electric roller; 56-driven roller; 57-transmission belt; 58-A side sheet metal; 59-B side sheet metal; 510-A side long sheet metal; 511-B side long sheet metal; 512-A bottom pad; 514-B bottom pad; 520-A safety light curtain bracket; 521-B safety light curtain bracket; 522-safety light curtain; Fig.12 Middle: 513-A mirror bottom pad; 515-B mirror bottom pad; 516-rear baffle connector; 517-rear baffle; 518-photoelectric bracket; 519-detection photoelectric; Fig.13 and Fig.14 In the figure: 61-robot base; 62-unloading robot; 63-solenoid valve mounting plate; 64-solenoid valve protection cover; 65-in-line sheet metal; 66-gripper mounting flange plate; 67-gripper fixing plate; 68-gripper cylinder; 69-pneumatic finger A clamp; 610-pneumatic finger B clamp; 611-visual component Z-type connecting plate; 612-visual component long strip plate; 613-visual component assembly plate; 614-camera fixing sheet metal; 615-visual camera; 616-ring light source fixing sheet metal; 617-ring light source. DETAILED DESCRIPTION

[0021] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0022] It should be noted that the following detailed descriptions are exemplary and are 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.

[0023] As introduced in the background technology, mechanical separation has a considerable effect in solving the separation of metal wire core and coating material. However, at the current stage, most devices only realize cable cutting and stripping, and cannot automatically separate the cut cable core from the coating material.

[0024] Therefore, the following embodiment provides a cable material separation device and working method. The pre-processed cable passes through a high-frequency vibration variable-pitch roller conveyor line, and the wire core and the coating are separated by high-frequency vibration and lateral breaking up. The coating material falls into the waste box below through the roller spacing, and the internal wire core is conveyed to the wire core connection belt line, and then is clamped by an AI vision automatic unloading robot and placed in a storage container, thereby realizing the automated separation and recycling of waste cable materials.

[0025] Embodiment 1: like Figure 1 As shown, a cable material separation device includes a frame structure 1, a coating material conveying belt line 2, a high-frequency vibration variable-pitch roller conveyor line 3, a transverse stacking and breaking up device 4, a wire core connection belt line 5 and an AI vision automatic unloading robot 6.

[0026] The working principle is as follows: the pre-processed cables pass through the high-frequency vibration variable-pitch roller conveyor line 3, and the wire core and the coating are separated by high-frequency vibration combined with the side-over rolling of the horizontal stacking and breaking-up device 4. The coating material falls through the roller spacing to the coating material conveying belt line 2 below and is transported to the waste box. The internal wire core is transported to the wire core connecting belt line 5, and then is clamped by the AI ​​vision automatic unloading robot 6 and placed in the storage container.

[0027] In this embodiment, the pre-processed cable refers to a cable whose coating has been cut by a cutter and divided into equally spaced segments by a ring cutting tool. 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 multiple equally spaced segments, and the cross section of the coating in each spacing segment is cut into a semicircular shape, but it does not completely fall off the core due to friction and other effects.

[0028] Specific implementation method The following figures further describe this embodiment: like Figure 2 As shown, the frame structure 1 includes a square tube welded frame 11 , a table top cover 12 , a caster mounting plate 13 and movable self-locking casters 14 .

[0029] The table cover 12 is fixed to the square tube welding frame 11 by bolts, and the other parts of the device are fixed to the space above the table cover 12 by bolts; the movable self-locking casters 14 are fixed to the caster mounting plate 13 by bolts, and the caster mounting plate 13 is fixed to the bottom of the square tube welding frame 11 by bolts. Compared with the commonly used aluminum profile frame, the square tube welding frame 11 has the advantages of large weight and stable structure, and is suitable for use in high-frequency vibration occasions.

[0030] like Figure 3As shown, the coating material conveying belt line 2 includes a conveying belt line body 21, a line body fixing sheet metal part 22, a wedge-shaped material blocking sheet metal part 23, a blanking guide sheet metal part 24 and a line body anchor fixing part 25.

[0031] The conveyor belt line 21 is connected to the frame structure 1 through the line fixing sheet metal 22; the wedge-shaped material blocking sheet metal 23 is fixed to both sides of the conveyor belt line 21 by bolts to prevent the coating material from falling and splashing during transportation; the falling material guide sheet metal 24 is fixed to the bottom of the motor end of the conveyor belt line 21 by bolts, and the inclined surface arrangement can guide the coating material to fall into the waste box.

[0032] like Figure 4-Figure 8 As shown, the high-frequency vibration variable pitch roller conveyor line 3 is fixed on the panel of the frame structure 1 by bolts, including a base fixing block 31, a roller line welding leg 32, a high compression spring 33, a roller line bent sheet metal 34, a special-shaped electric roller 35, a left exciter fixing sheet metal 36, a right exciter fixing sheet metal 37, an exciter 38, a servo variable pitch screw module 39, a module connecting shaft upper clamp 310, a module connecting shaft lower clamp 311, a variable pitch shaft assembly first fixed beam 312, a variable pitch shaft assembly second fixed beam 313, a T-type bearing with seat 314, a variable pitch moving shaft 315, a shaft end retaining ring 316, a roller connecting shaft upper clamp 317, a roller connecting shaft lower clamp 318, a T-type guide shaft support 319 and an electric roller fixed shaft 320.

[0033] The servo variable pitch screw module 39 includes a variable pitch module L-shaped fixing plate 391, a variable pitch module fixed base plate 392, a servo motor 393, a motor fixing plate 394, a motor fixed A side plate 395, a motor fixed B side plate 396, a coupling 397, a ball screw 398, a screw fixed side pad 399, a screw fixed side support 3910, a screw support side pad 3911, a screw support side support 3912, a screw standard nut 3913, a ball screw nut bracket 3914, a linear guide 3915, a linear guide slider 3916 and a module connecting plate 3917.

[0034] In this embodiment, the special-shaped electric roller 35 refers to a roller that is adaptively 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.

[0035] like Figure 4-Figure 6As shown, the base fixing block 31 is fixed to the table cover 12 by bolts; the top of the roller line welding leg 32 is connected to the roller line bent sheet metal 34, and the bottom end is softly connected to the base fixing block 31 through a high compression spring 33, and has a vibration space margin in the vertical direction; the left exciter fixing sheet metal 36 and the right exciter fixing sheet metal 37 are fixed to the roller line welding leg 32 by bolts; the exciter 38 is fixed to the exciter fixing sheet metal on both sides by bolts, and the exciter 38 can generate high-frequency vibration through the centrifugal force generated by high-speed rotation; the servo variable pitch screw module 39 is fixed to the roller line welding leg 32 by bolts.

[0036] like Figure 8 As shown, the servo variable pitch screw module 39 includes an L-shaped fixed plate 391 of the variable pitch module, which is connected to the roller line welding leg 32 and the variable pitch module fixed base plate 392 by bolts; the servo motor 393 is fixed to the motor fixed plate 394 by bolts, and the motor fixed A side plate 395 and the motor fixed B side plate 396 are respectively fixed to the two sides of the motor fixed plate 394 by bolts, and the bottoms are respectively connected to the variable pitch module fixed base plate 392; the ball screw 398 is connected to the servo motor 393 through a coupling 397, and the servo plus ball screw mode can provide high-precision and high-speed roller spacing adjustment.

[0037] The screw fixed side pad 399 and the screw support side pad 3911 are respectively fixed to the fixed base plate 392 of the variable pitch module by bolts, and the top of each of them is respectively fixed with a screw fixed side support 3910 and a screw support side support 3912; the standard screw nut 3913 is arranged on the ball screw 398; the ball screw nut bracket 3914 is connected to the standard screw nut 3913 by bolts, and the bottom is connected to the linear guide slider 3916 by bolts; the linear guide 3915 is fixed to the fixed base plate 392 of the variable pitch module by bolts, and through the combination of the linear slide rail and the ball screw, it can have good guiding effect and bearing capacity.

[0038] One end of the module connecting plate 3917 is fixed to the ball screw nut bracket 3914 by bolts, and the other end is connected to the module connecting shaft upper clamp 310; the module connecting shaft upper clamp 310 and the module connecting shaft lower clamp 311 are locked with the variable pitch moving shaft 315 by screw clamping.

[0039] The working principle of the servo variable pitch screw module 39 is as follows: the servo motor 393 drives the ball screw 398 to rotate through the coupling 397, driving the linear guide slider 3916 to move along the linear guide 3915, and the linear guide slider 3916 drives the standard screw nut 3913, the ball screw nut bracket 3914, the module connecting plate 3917, the module connecting shaft upper clamp 310, the module connecting shaft lower clamp 311 together with the variable pitch moving shaft 315 to move linearly, changing the distance that the variable pitch moving shaft 315 moves forward and backward in the horizontal direction, and some special-shaped electric rollers 35 are driven by the variable pitch moving shaft 315, so that the special-shaped electric rollers 35 can achieve spacing adjustment by moving forward and backward in the horizontal direction. The ball screw 398 and the linear guide slider 3916 together with the linear guide 3915 have a higher movement speed, and the motion control accuracy of the servo motor 393 is even higher, thus forming a servo + ball screw mode to achieve high-precision and high-speed roller spacing adjustment.

[0040] like Figure 4-Figure 8 As shown, the first fixed beam 312 of the pitch-variable shaft assembly and the second fixed beam 313 of the pitch-variable shaft assembly are fixed to the roller line welding leg 32 by bolts; the T-shaped bearing 314 with a seat is fixed to the roller line welding leg 32, the first fixed beam 312 of the pitch-variable shaft assembly and the second fixed beam 313 of the pitch-variable shaft assembly by bolt connection; the special-shaped electric roller 35 is connected to the electric roller fixed shaft 320 on both sides by threaded connection, wherein the special-shaped electric roller 35 is provided with two triangular welded sheet metal parts, and the rotary motion of the roller can further increase the output The disassembled cable is shaken up and down to separate the wire core and the coating material; the electric roller fixed shaft 320 is fixed to the T-shaped guide shaft support 319 by means of top screw locking; the T-shaped guide shaft support 319 is fixed to the clamping block 317 on the roller connecting shaft by bolt connection; the clamping block 317 on the roller connecting shaft and the clamping block 318 under the roller connecting shaft are locked with the variable pitch moving shaft 315 by means of screw clamping; the shaft end retaining ring 316 is fixed to both sides of the variable pitch moving shaft 315 by bolt connection to prevent the moving shaft from being scratched out of the bearing seat during the distance adjustment process.

[0041] In summary, the coating material conveying belt line 2 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.

[0042] Specifically, a roller connecting shaft is provided at one end of the special-shaped electric roller 35, and part of the roller connecting shaft is locked with the variable pitch movable shaft 315 by means of screw clamping using an upper clamp 317 and a lower clamp 318 of the roller connecting shaft. The variable pitch movable shaft 315 is arranged along the direction of cable travel. When the variable pitch movable shaft 315 is driven by the linear guide slider 3916 in the servo variable pitch screw module 39 and moves along the direction of cable travel, the distance of the variable pitch movable shaft 315 in the horizontal front and rear directions can be changed, thereby indirectly adjusting the spacing between the special-shaped electric rollers 35.

[0043] In this embodiment, for ease of understanding, Figure 4 and Figure 5 A total of 6 groups of special-shaped electric rollers 35 are shown. Except for the first group of special-shaped electric rollers 35, the other 5 groups of special-shaped electric rollers 35 have a movement margin on the roller line bending sheet metal 34 (realized by the strip holes opened on the roller line bending sheet metal 34), and these special-shaped electric rollers 35 are all connected to the variable pitch moving shaft 315. This method is used to adjust the initial position of the special-shaped electric rollers 35 and the distance between the second group of special-shaped electric rollers 35 and the first group of special-shaped electric rollers 35.

[0044] In actual applications, it is necessary to determine that a portion of the special-shaped electric rollers 35 are driven by the variable pitch moving shaft 315 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 39 to drive different numbers of variable pitch moving shafts 315 and special-shaped electric rollers 35 according to the cable specifications and pre-processing conditions of the materials to be separated.

[0045] like Fig. 9 As shown, the transverse stacking and breaking device 4 includes at least two sets of pushing mechanisms, each set of pushing mechanisms includes a pushing plate 41, an axis fixing seat 42, a linear bearing 43, a guide shaft 44, a pushing cylinder connecting plate 45, a floating joint 46, a pushing cylinder 47, a cylinder fixing plate 48, a cylinder support A plate 49, a cylinder support B plate 410 and a pushing assembly fixing plate 411.

[0046] In this embodiment, two sets of pushing mechanisms are provided, which are fixed on both sides of the high-frequency vibration variable pitch roller conveyor line 3. The pushing cylinder 47 is connected to the cylinder fixing plate 48 by bolts; the cylinder fixing plate 48 is provided with a cylinder support A plate 49 and a cylinder support B plate 410 on both sides; the pushing assembly fixing plate 411 is connected to the cylinder support A plate 49 and the cylinder support B plate 410 by bolts on one side, and is fixed on the variable pitch roller conveyor line by bolts on the other side; the pushing cylinder 47 is provided with a floating joint 46, which is fixed to the pushing cylinder connecting plate 45 by an internal thread connection; the pushing cylinder connecting plate 45 is provided on the pushing plate 41 by bolts; the pushing plate 41 is provided with two shaft fixing seats 42 by bolts, and the entire pushing out and retracting guidance is realized by a linear bearing 43 and a guide shaft 44.

[0047] The working principle of the transverse stacking and breaking up device 4 is as follows: the pushing cylinder 47 is actuated to drive the pushing plate 41 to push out and retract, thereby pushing and striking the coating material and the wire core in the high-frequency vibration variable pitch roller conveyor line 3. The pushing cylinders 47 in the two sets of pushing mechanisms move alternately and rapidly, so that the coating material and the wire core of the cable are dispersed and separated under the pushing and striking action of the pushing plate 41.

[0048] like Figure 11-Figure 12 As shown, the wire core connecting belt line 5 includes a wire core connecting belt line fixing bracket 51, a wire core connecting material belt line side profile 52, an active end electric roller fixing seat 53, a driven end roller fixing seat 54, an electric roller 55, a driven roller 56, a transmission belt 57, an A side sheet metal part 58, a B side sheet metal part 59, an A side long sheet metal part 510, a B side long sheet metal part 511, an A bottom pad 512, an A mirror bottom pad 513, a B bottom pad 514, a B mirror bottom pad 515, a rear baffle connecting part 516, a rear baffle 517, a photoelectric bracket 518, a detection photoelectric 519, an A safety light curtain bracket 520, a B safety light curtain bracket 521 and a safety light curtain 522.

[0049] The wire core connection belt line fixing bracket 51 is a square tube welding structure, which supports the upper part of the conveying line body, and a connecting plate is welded at the bottom, which is fixed to the frame structure 1 by bolt connection; the wire core connection belt line 5 is mainly provided with transmission power by an electric roller 55, and is combined with a driven roller 56 and a transmission belt 57 to form the main conveying components; the active end electric roller fixing seat 53 and the driven end roller fixing seat 54 are fixed to the roller and the wire core connection belt line side profile 52 by bolt connection; the A side sheet metal 58, the B side sheet metal 59, the A side long sheet metal 510, and the B side long sheet metal 511 are respectively fixed to the wire core connection belt line side profile 52 by bolt connection, which mainly guides and blocks the wire core; the A bottom pad 512, the A mirror bottom pad 513, the B bottom pad 514, and the B mirror bottom pad 515 are respectively One side is fixed to the bottom of the side profile 52 of the wire core connection belt line by bolt connection, and the other side is fixed to the fixed bracket 51 of the wire core connection belt line; there are two rear baffle connecting parts 516, which are fixed to the B bottom pad 514 and the B mirror bottom pad 515 by bolts; the rear baffle 517 is fixed to the rear baffle connecting part 516 by bolt connection; the photoelectric bracket 518 is fixed to the B mirror bottom pad 515 by bolt connection; the detection photoelectric 519 is arranged on the photoelectric bracket 518, and provides signal interaction to the AI ​​visual automatic unloading robot 6 after the detection wire core is in place; the safety light curtain 522 is fixed to the rear baffle 517 by the A safety light curtain bracket 520 and the B safety light curtain bracket 521 on both sides. The main function of the safety light curtain 522 is to provide a stop signal to the unloading robot when the wire core is manually handled, so as to protect the safety of personnel operation.

[0050] like Figure 13-14 As shown, the AI ​​vision automatic unloading robot 6 includes a robot base 61, a unloading robot 62, a solenoid valve mounting plate 63, a solenoid valve protection cover 64, an in-line sheet metal part 65, a gripper mounting flange plate 66, a gripper fixing plate 67, a gripper cylinder 68, a pneumatic finger A clamp block 69, a pneumatic finger B clamp block 610, a vision component Z-type connecting plate 611, a vision component long strip plate 612, a vision component assembly plate 613, a camera fixing sheet metal part 614, a vision camera 615, a ring light source fixing sheet metal part 616 and a ring light source 617.

[0051] The unloading robot 62 is fixed to the robot base 61 by bolt connection; the solenoid valve mounting plate 63 is fixed to the unloading robot 62 by bolt connection, and the solenoid valve protection cover 64 is fixed to the solenoid valve mounting plate 63 by bolt connection; the in-line sheet metal 65 is arranged at the front end of the unloading robot, and is used to bundle and fix the sensor cable and the vacuum air pipe; the clamp mounting flange plate 66 is respectively connected to the unloading robot 62 and the clamp fixing plate 67 by bolts; the clamp cylinder 68 is provided with a pneumatic finger A clamp block 69 and a pneumatic finger B clamp block 610 for clamping the wire core Action, this part of the assembly is fixed to the clamp fixing plate 67 by bolts; the visual camera 615 is fixed to the camera fixing sheet metal 614 by bolts, and the annular light source 617 is fixed to the annular light source fixing sheet metal 616 by bolts; the visual component assembly plate 613 is connected to the visual camera part and the light source part by bolts; the visual component assembly plate 613 is fixed to the visual component long plate 612 by bolts; the visual component Z-type connecting plate 611 is respectively connected to the clamp fixing plate 67 and the visual component long plate 612 by bolts.

[0052] In summary, the automatic unloading robot can flexibly clamp cable cores of various specifications and various incoming material positions by combining visual recognition with a robotic arm. Since the materials distributed in each part of the core are equal and evenly distributed, the core midpoint is obtained after segmenting and identifying the overall size of the core and then grasping it, so that the entire unloading process can be smoothly moved to the core storage container. When the mechanical clamp grasps the target core, it uses vision to extract the appearance of the grasped target, fits the contour of the extracted area, and after fitting to form a minimum circumscribed rectangle, obtains the center point of the circumscribed rectangle, and controls the robotic arm to move to the specified target point through the robotic arm control algorithm to perform the grasping and loading task.

[0053] In the robot arm control algorithm, for the point set on the contour , first calculate its centroid : , ; Then calculate the covariance matrix C: ; Among them, i is the point set The i-th point in the point set There are n points in total.

[0054] Further solution can obtain the eigenvalues ​​and eigenvectors of the covariance matrix, the eigenvalues ​​λ1 and λ2 and the corresponding eigenvectors and It can be obtained by solving the characteristic equation: ; The eigenvector and Defines the major and minor axis directions of the minimum bounding rectangle.

[0055] The rotation angle of the rectangle It is determined by the angle between the eigenvector in the main axis direction and the x-axis, through and Two components are used to calculate: ; 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 .

[0056] The wire core can be considered as a rectangle in the image. Therefore, during image processing, the extracted area is contour fitted. After fitting to form a minimum circumscribed rectangle, the area where the rectangle is located is considered to be the wire core. The center point of the circumscribed rectangle is obtained, and the robot arm is controlled by the robot arm control algorithm to move to the specified target point to perform the grasping and feeding task. The specified target point to which the robot arm is to move can be the center point of the circumscribed rectangle.

[0057] like Figure 15-16 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 circular cutting tool. 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 coating is divided into equally spaced segments by a circular cutting tool. In this state, the core of the cable is still a complete section of metal, while the coating on the surface is circularly 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.

[0058] 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.

[0059] Embodiment 2: A working method of a cable material separation device comprises the following steps: The sheath is cut along the axial direction of the cable, and the sheath is cut circumferentially at equal intervals to obtain a pre-processed cable; The pre-processed cables pass through the high-frequency vibration variable-pitch roller conveyor line. The high-frequency vibration and the side-over rolling action of the transverse stacking and breaking device separate the wire core from the coating layer. The coating layer material falls through the roller spacing to the coating layer material conveying belt line below, and is further transported to the waste box. After the wire core is transferred from the upper surface of the roller to the wire core connecting belt line, the AI ​​vision automatic unloading robot clamps the wire core and transfers it to the storage container.

[0060] During the transportation of pre-processed cables, the wire core and the coating are separated by vibration and lateral breaking up. The separated coating material falls into the waste bin through the roller spacing for recycling. The wire core is transported to the wire core connecting belt line, where it is clamped by a robot equipped with AI vision algorithm and transferred to a storage container, realizing the automated separation and recycling of cable materials.

[0061] The above are only preferred embodiments of the present invention and are 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 material separation device, characterized in that: include: High-frequency vibration variable-pitch roller conveyor line is used to convey pre-processed cables. It separates the core material and the sheath material of the cable by vibrating and laterally breaking up the cable. 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 separated wire core materials; 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 variable-pitch moving shafts, and the variable-pitch moving shafts are connected to linear guide sliders. Under the rotation of the ball screw, the linear guide sliders drive the rollers to change their spacing through the variable-pitch moving shafts; a horizontal stacking and breaking device is provided on the side of the plane formed by the multiple groups of rollers.

2. A cable material separation device according to claim 1, characterized in that: The high-frequency vibration variable-pitch roller conveyor line, the coating material conveying belt line and the wire core connection belt line are all connected to the frame structure. The frame structure includes a table cover plate, the table cover plate is connected to the square tube welding frame, and casters are provided at the bottom of the square tube welding frame.

3. A cable material separation device as claimed in claim 2, characterized in that: A plurality of roller groups are connected to the top of the roller line welding legs through roller line bent sheet metal parts, the vibrator is connected to the roller line welding legs, and the bottom of the roller line welding legs is softly connected to the base fixing block through a spring.

4. A cable material separation device as claimed in claim 2, 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 linear guide slider in the servo variable pitch screw module. Under the rotation of the ball screw, the linear guide slider drives the variable pitch movable shaft and the rollers to move along the cable transmission direction, thereby realizing the adjustment of the distance between two adjacent groups of rollers.

5. A cable material separation device as claimed in claim 2, 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.

6. A cable material separation device as claimed in claim 2, 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.

7. A cable material separation device as claimed in claim 2, characterized in that: The wire core connecting belt line includes a conveyor line body, the bottom of which is connected to the frame structure through a connecting plate, and a safety light curtain and a rear baffle are provided at the end of the conveyor line body. When the wire core passes through the safety light curtain, a signal to stop the operation of the conveyor line body is triggered, and the rear baffle is used to prevent the wire core from continuing to run.

8. A cable material separation device as claimed in claim 1, characterized in that: The AI ​​vision automatic unloading robot comprises an unloading robot fixed on a robot base, and a light source, a vision camera and a clamp are arranged at the end of the unloading robot.

9. A working method based on the cable material separation device according to any one of claims 1 to 8, characterized in that: The following steps are involved: The sheath is cut along the axial direction of the cable, and the sheath is cut circumferentially at set intervals to obtain a pre-processed cable; The pre-processed cables pass through the high-frequency vibration variable pitch roller conveyor line. The high-frequency vibration and the side-overturning rolling action of the transverse stacking and breaking device separate the wire core from the coating layer. The coating layer material falls through the roller spacing to the coating layer material conveying belt line below, and is further transported to the waste box. After the wire core is transferred from the upper surface of the roller to the wire core connecting belt line, the AI ​​vision automatic unloading robot clamps the wire core and transfers it to the storage container.

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