A cable material separation device and working method

Abstract

The present invention relates to the technical field of cable material separation, and specifically to a cable material separation device and working method. Among them, a high-frequency vibration variable-pitch roller conveyor line conveys the pre-processed cables, and through vibration and lateral dispersion of the cables, the core material and the coating material of the cables are separated; the coating material conveyor belt line is located in the lower space of the high-frequency vibration variable-pitch roller conveyor line and is used to receive and convey the separated coating material; the 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 core material; the AI vision automatic blanking robot is located on one side of the core connection belt line and is used to identify and grab the core and transfer it to a set position; by using the vibration effect and the lateral dispersion effect, the core is separated from the coating layer, and the separated coating material falls into the waste bin, while the core is clamped and transferred to the storage container by the robot, realizing the automatic separation and recycling of cable materials.

Description

Technical Field

[0001] The present invention relates to the technical field of cable material separation, and specifically provides a cable material separation device and a working method thereof. Background Technique

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

[0003] Cables will gradually age during operation. After aging, the conductor material and the coating material in the cable can be recycled. The recycling methods generally include mechanical cutting and peeling separation, chemical separation, pyrolysis treatment, etc. Among them, mechanical separation has a relatively good effect in solving the separation of the metal wire core and the coating material. However, at present, most devices only realize cable cutting and peeling and cannot automatically separate the cable wire core and the coating material after cutting. Summary of the Invention

[0004] In order to solve the technical problems in the above background technique, the present invention provides a cable material separation device and a working method thereof. During the conveying of the pre-processed cable, the wire core and the coating layer are separated by using the vibration effect and the horizontal dispersion effect. The separated coating material falls into the waste box through the roller spacing for recycling, while the wire core is conveyed to the wire core connection belt line and then clamped and transferred to the storage container by a robot equipped with an AI vision algorithm, realizing the automatic separation and recycling of cable materials.

[0005] In order to achieve the above object, the present invention adopts the following technical embodiments:

[0006] The first aspect of the present invention provides a cable material separation device, including:

[0007] A high-frequency vibration variable-spacing roller conveyor line for conveying the pre-processed cable and generating vibration and dispersion on the cable to separate the wire core material and the coating material of the cable;

[0008] A coating material conveying belt line located in the lower space of the high-frequency vibration variable-spacing roller conveyor line for receiving and conveying the separated coating material;

[0009] A wire core connection belt line located at the end of the high-frequency vibration variable-spacing roller conveyor line for receiving the wire core;

[0010] An AI vision automatic blanking robot located on one side of the wire core connection belt line for identifying and grasping the wire core and transferring it to a set position;

[0011] Among them, the high-frequency vibration variable-pitch roller conveyor line includes multiple groups of rollers arranged side by side 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 generate a change in pitch through the variable-pitch moving shafts; a transverse stacking and dispersing device is provided on the side of the plane formed by the multiple groups of rollers.

[0012] As a further implementation method, the pre-processed cable is specifically: the coating layer is cut along the axial direction of the cable and circumferentially cut, and a cable with equally spaced coating layer segments is obtained.

[0013] As a further implementation method, the high-frequency vibration variable-pitch roller conveyor line, the coating material conveyor belt line, and the core connection belt line are all connected to the frame structure. The frame structure includes a table top cover plate, and the table top cover plate is connected to a square tube welded frame. Casters are provided at the bottom of the square tube welded frame.

[0014] As a further implementation method, the multiple groups of rollers are connected to the top ends of the roller line welding legs through roller line bending sheet metal parts, and the exciters are connected to the roller line welding legs. The bottom ends of the roller line welding legs are softly connected to the base fixing blocks through springs.

[0015] As a further implementation method, among the multiple groups of rollers, a set number of roller ends are connected to variable-pitch moving shafts. The variable-pitch moving shafts are arranged along the cable traveling direction and are located on one side of the plane formed by the multiple groups of rollers. The variable-pitch moving shafts are connected to the linear guide sliders in the servo variable-pitch ball screw module. Under the rotation of the ball screw, the linear guide sliders drive the variable-pitch moving shafts together with the rollers to generate a movement along the cable transmission direction, realizing the adjustment of the pitch between adjacent two groups of rollers.

[0016] As a further implementation method, there are at least two sets of transverse stacking and dispersing devices, which are respectively located on both sides of the high-frequency vibration variable-pitch roller conveyor line. Each set of transverse stacking and dispersing devices includes a pusher cylinder and a guide shaft arranged side by side on a horizontal plane. The pusher cylinder drives the pusher plate to move. The two sets of transverse stacking and dispersing devices move alternately on both sides of the plane formed by the multiple groups of rollers to separate and disperse the coating material and the core of the cable.

[0017] As a further implementation method, the coating material conveyor belt line includes a conveyor belt line body connected to the frame structure through a wire body fixing sheet metal part. Wedge-shaped baffle sheet metal parts are provided on both sides of the conveyor belt line body, and a blanking guide sheet metal part is provided at the end of the conveyor belt line body.

[0018] As a further implementation method, the core connecting belt line includes a conveying line body. The bottom of the conveying line body is connected to the frame structure through a connecting plate. A safety light curtain and a rear baffle are provided at the end of the conveying line body. When the core passes through the safety light curtain, a signal to stop the operation of the conveying line body is triggered, and the rear baffle is used to block the continuous movement of the core.

[0019] As a further implementation method, the AI vision automatic blanking robot includes a blanking robot fixed on the robot base. A light source, a vision camera, and a gripper are provided at the end of the blanking robot.

[0020] The second aspect of the present invention provides a working method for a cable material separation device, including the following steps:

[0021] Cut the coating layer along the axial direction of the cable and circumferentially cut the coating layer at set intervals to obtain a pre-processed cable.

[0022] The pre-processed cable is conveyed through a high-frequency vibration variable-spacing roller conveyor line. Through the high-frequency vibration effect and the side-tipping and rolling effect of the transverse stacking and dispersing device, the core is separated from the coating layer. The coating layer material falls through the roller spacing into the coating layer material conveying belt line below and is further conveyed to the waste bin.

[0023] After the core is transported on the upper surface of the roller to the core connecting belt line, the AI vision automatic blanking robot is used to pick up the core and transfer it to the storage container.

[0024] Compared with the prior art, the above one or more technical embodiments have the following beneficial effects:

[0025] 1. During the transportation of the pre-processed cable, the vibration effect and the transverse dispersing effect are used to separate the core from the coating layer. The separated coating layer material falls through the roller spacing into the waste bin for recycling. After the core is conveyed to the core connecting belt line, it is picked up by the robot equipped with the AI vision algorithm and transferred to the storage container, realizing the automatic separation and recycling of cable materials.

[0026] 2. In the structure of the high-frequency vibration variable-spacing roller conveyor line, a plane formed by multiple groups of rollers is used to convey the pre-processed cable under the rotation of the rollers. Moreover, the spacing between the rollers can be changed at any time according to the pre-processing situation, enabling the space between adjacent two groups of rollers to have a sorting effect on the cable, causing the coating layer material smaller than the roller spacing to fall into the coating layer material conveying belt line below, while the core, which is the material larger than the roller spacing, remains on the plane formed by multiple groups of rollers, realizing the separation of the core material and the coating layer material.

[0027] 3. In the structure of the high-frequency vibration variable-pitch roller conveyor line, by utilizing the vibration generated by the vibrator and the linear displacement of the transverse stacking and dispersing device on the side of the plane formed by multiple groups of rollers, the coating material of the cable is dispersed and separated from the core wire, which is beneficial for subsequent recycling. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0029] Figure 1 It is a schematic diagram of the main structure of the cable material separation device provided by one or more embodiments of the present invention;

[0030] Figure 2 It is a schematic diagram of the frame structure in the cable material separation device provided by one or more embodiments of the present invention;

[0031] Figure 3 It is a schematic diagram of the structure of the coating material conveyor belt line in the cable material separation device provided by one or more embodiments of the present invention;

[0032] Figure 4 It is a schematic diagram of the structure of the high-frequency vibration variable-pitch roller conveyor line in the cable material separation device provided by one or more embodiments of the present invention;

[0033] Figure 5 is Figure 4 a partial enlarged view of;

[0034] Figure 6 It is a schematic diagram of the structure of the high-frequency vibration variable-pitch roller conveyor line in the cable material separation device provided by one or more embodiments of the present invention from another perspective;

[0035] Figure 7 is Figure 6 a partial enlarged view of;

[0036] Figure 8 It is a schematic diagram of the structure of the servo variable-pitch lead screw module in the high-frequency vibration variable-pitch roller conveyor line provided by one or more embodiments of the present invention;

[0037] Figure 9 It is a schematic diagram of the structure of the transverse stacking and dispersing device in the cable material separation device provided by one or more embodiments of the present invention;

[0038] Figure 10 It is a schematic diagram of the structure of the transverse stacking and dispersing device in the cable material separation device provided by one or more embodiments of the present invention from another perspective;

[0039] Figure 11It is a schematic structural diagram of the wire core connecting belt line in the cable material separation device provided by one or more embodiments of the present invention;

[0040] Figure 12 It is a schematic structural diagram of another perspective of the wire core connecting belt line in the cable material separation device provided by one or more embodiments of the present invention;

[0041] Figure 13 It is a schematic structural diagram of the AI vision automatic blanking robot in the cable material separation device provided by one or more embodiments of the present invention;

[0042] Figure 14 is Figure 13 a partial enlarged view in;

[0043] Figure 15 It is a schematic diagram of the cable cutting the coating material into equally spaced segments by circumferential cutting provided by one or more embodiments of the present invention;

[0044] Figure 16 It is a schematic diagram of the relative position of the cutting tool and the cable provided by one or more embodiments of the present invention.

[0045] Figure 1 In: 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 - Wire core connecting belt line; 6 - AI vision automatic blanking robot;

[0046] Figure 2 In: 11 - Square tube welded frame; 12 - Table top cover plate; 13 - Caster mounting plate; 14 - Mobile self-locking caster;

[0047] Figure 3 In: 21 - Conveyor 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;

[0048] Figure 4 and Figure 5 In: 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;

[0049] Figure 6 and Figure 7Chinese: 312 - First Fixed Cross Beam of Pitch-changing Shaft Assembly; 313 - Second Fixed Cross Beam of Pitch-changing Shaft Assembly; 314 - T-shaped Bearing with Housing; 315 - Pitch-changing Moving Shaft; 316 - Shaft End Retaining Ring; 317 - Upper Clamp Block of Roller Connecting Shaft; 318 - Lower Clamp Block of Roller Connecting Shaft; 319 - T-shaped Guide Shaft Support; 320 - Fixed Shaft of Electric Roller

[0050] Figure 8 Chinese: 391 - L-shaped Fixed Plate of Pitch-changing Module; 392 - Fixed Bottom Plate of Pitch-changing Module; 393 - Servo Motor; 394 - Motor Fixed Plate; 395 - Motor Fixed Side A Plate; 396 - Motor Fixed Side B Plate; 397 - Coupling; 398 - Ball Screw; 399 - Side Pad for Screw Fixing; 3910 - Side Support for Screw Fixing; 3911 - Side Pad for Screw Support; 3912 - Side Support for Screw Support; 3913 - Standard Nut of Ball Screw; 3914 - Ball Screw Nut Bracket; 3915 - Linear Guide Rail; 3916 - Linear Guide Rail Slide Block; 3917 - Module Connection Plate

[0051] Figure 9 and Figure 10 Chinese: 41 - Pushing Plate; 42 - Shaft Fixed Seat; 43 - Linear Bearing; 44 - Guide Shaft; 45 - Connecting Plate of Pushing Cylinder; 46 - Floating Joint; 47 - Pushing Cylinder; 48 - Cylinder Fixed Plate; 49 - Cylinder Support A Plate; 410 - Cylinder Support B Plate; 411 - Fixed Plate of Pushing Component

[0052] Figure 11 Chinese: 51 - Fixed Bracket of Core Connecting Belt Line; 52 - Side Profile of Core Feeding Belt Line; 53 - Fixed Seat of Driving End Electric Roller; 54 - Fixed Seat of Driven End Roller; 55 - Electric Roller; 56 - Driven Roller; 57 - Conveyor Belt; 58 - Sheet Metal Part of Side A; 59 - Sheet Metal Part of Side B; 510 - Long Sheet Metal Part of Side A; 511 - Long Sheet Metal Part of Side B; 512 - Bottom Pad of Side A; 514 - Bottom Pad of Side B; 520 - Safety Light Curtain Bracket of Side A; 521 - Safety Light Curtain Bracket of Side B; 522 - Safety Light Curtain

[0053] Figure 12 Chinese: 513 - Mirror Bottom Pad of Side A; 515 - Mirror Bottom Pad of Side B; 516 - Rear Baffle Connector; 517 - Rear Baffle; 518 - Photoelectric Bracket; 519 - Detection Photoelectric

[0054] Figure 13 and Figure 14In 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

[0055] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] Embodiment 1:

[0060] 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.

[0061] 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.

[0062] In this embodiment, the pre-processed cable refers to a cable whose coating layer has been cut open by a cutter and the coating layer has been divided into equally spaced segments by a circumferential cutting tool. In this state, the core of the cable is still a complete piece of metal, while the coating layer on the surface is circumferentially cut into multiple equally spaced segments. The cross-section of the coating layer in each spaced segment is cut into a semi-circular shape, but it has not completely fallen off the core due to the action of friction and the like.

[0063] The following is a further description of this embodiment with reference to the accompanying drawings:

[0064] As Figure 2 shown, the frame structure 1 includes a square tube welded frame 11, a tabletop cover plate 12, a caster mounting plate 13, and a mobile self-locking caster 14.

[0065] The tabletop cover plate 12 is fixed to the square tube welded frame 11 by bolts, and the remaining components of the device are all fixed in the space above the tabletop cover plate 12 by bolts; the mobile self-locking caster 14 is fixed to the caster mounting plate 13 by bolts, and the caster mounting plate 13 is fixed to the bottom of the square tube welded frame 11 by bolts. Compared with a commonly used aluminum profile frame, the square tube welded frame 11 has the advantages of large weight and stable structure, and is suitable for use in high-frequency vibration occasions.

[0066] As Figure 3 shown, the coating layer material conveying belt line 2 includes a conveying belt line body 21, a line body fixing sheet metal part 22, a wedge-shaped material retaining sheet metal part 23, a blanking guiding sheet metal part 24, and a line body floor fixing part 25.

[0067] The conveying belt line body 21 is connected to the frame structure 1 through the line body fixing sheet metal part 22; the wedge-shaped material retaining sheet metal part 23 is fixed to both sides of the conveying belt line body 21 by bolts to prevent the coating layer material from falling and splashing during the conveying process; the blanking guiding sheet metal part 24 is fixed to the bottom of the motor end of the conveying belt line body 21, and the inclined surface arrangement can guide the coating layer material to fall into the waste box.

[0068] As Figures 4 - 8 shown, the high-frequency vibration variable pitch roller conveyor line 3 is fixed to the panel of the frame structure 1 by bolts, and includes a base fixing block 31, a roller line welded leg 32, a high compression spring 33, a roller line bent sheet metal part 34, a special-shaped electric roller 35, a left vibration exciter fixing sheet metal part 36, a right vibration exciter fixing sheet metal part 37, a vibration exciter 38, a servo variable pitch lead screw module 39, an upper clamp block 310 on the module connecting shaft, a lower clamp block 311 on the module connecting shaft, a first fixed cross beam 312 of the variable pitch shaft assembly, a second fixed cross beam 313 of the variable pitch shaft assembly, a pedestal T-shaped bearing 314, a variable pitch moving shaft 315, an end retaining ring 316, an upper clamp block 317 on the roller connecting shaft, a lower clamp block 318 on the roller connecting shaft, a T-shaped guide shaft support 319, and an electric roller fixing shaft 320.

[0069] Among them, the servo variable pitch lead screw module 39 includes a variable pitch module L-shaped fixing plate 391, a variable pitch module fixed bottom plate 392, a servo motor 393, a motor fixing plate 394, a motor fixing A side plate 395, a motor fixing B side plate 396, a coupling 397, a ball screw 398, a lead screw fixing side cushion plate 399, a lead screw fixing side support 3910, a lead screw supporting side cushion plate 3911, a lead screw supporting side support 3912, a lead 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.

[0070] In this embodiment, the special-shaped electric roller 35 refers to a roller that is adaptively designed in terms of additional functions such as drive structure, speed regulation, positioning, and reverse rotation to meet the requirements of vibration actions and lateral dispersion actions during the separation of cable materials. The specific structure is not described in detail in this embodiment.

[0071] As Figures 4 - 6 shown, the base fixing block 31 is fixed to the table cover plate 12 by bolts; the top end of the roller line welding leg 32 is connected to the roller line bending sheet metal part 34, and the bottom end is softly connected to the base fixing block 31 through a high-compression spring 33, having a vibration space margin in the vertical direction; the left exciter fixing sheet metal part 36 and the right exciter fixing sheet metal part 37 are fixed to the roller line welding leg 32 by bolts; the exciter 38 is fixed to the two exciter fixing sheet metal parts by bolts, and the centrifugal force generated by the high-speed rotation of the exciter 38 can generate high-frequency vibration; the servo variable pitch lead screw module 39 is fixed to the roller line welding leg 32 by bolts.

[0072] As Figure 8 shown, the servo variable pitch lead screw module 39 includes that the variable pitch module L-shaped fixing plate 391 is respectively connected to the roller line welding leg 32 and the variable pitch module fixed bottom plate 392 by bolts; the servo motor 393 is fixed to the motor fixing plate 394 by bolts, and the motor fixing A side plate 395 and the motor fixing B side plate 396 are respectively connected and fixed to both sides of the motor fixing plate 394 by bolts, and the bottom parts are respectively connected to the variable pitch module fixed bottom plate 392; the ball screw 398 is connected to the servo motor 393 through the coupling 397, and the mode of servo plus ball screw can provide high-precision and high-speed adjustment of the roller spacing.

[0073] The lead screw fixed-side backing plate 399 and the lead screw support-side backing plate 3911 are respectively fixed to the variable pitch module fixed base plate 392 by bolt connections, and the lead screw fixed-side support 3910 and the lead screw support-side support 3912 are respectively fixed to their tops; the lead screw standard nut 3913 is arranged on the ball screw 398; the ball screw nut bracket 3914 is connected to the lead screw standard 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 variable pitch module fixed base plate 392 by bolts. Through the combination mode of the linear slide rail and the ball screw, it can have good guiding function and bearing capacity.

[0074] 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 upper clamp block 310 on the module connecting shaft; the upper clamp block 310 on the module connecting shaft and the lower clamp block 311 on the module connecting shaft are locked to the variable pitch moving shaft 315 by means of screw clamping.

[0075] The working principle of the servo variable pitch lead 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. The linear guide slider 3916 drives the lead screw standard nut 3913, the ball screw nut bracket 3914, the module connecting plate 3917, the upper clamp block 310 on the module connecting shaft, the lower clamp block 311 on the module connecting shaft and the variable pitch moving shaft 315 to move linearly, changing the distance of the variable pitch moving shaft 315 moving back and forth in the horizontal direction. And part of the special-shaped electric roller 35 is driven by the variable pitch moving shaft 315, so that the special-shaped electric roller 35 can realize the pitch adjustment by moving back and forth in the horizontal direction. The ball screw 398, the linear guide slider 3916 and the linear guide 3915 have higher moving speeds, and the motion control accuracy of the servo motor 393 is even higher. Therefore, a servo + ball screw mode is formed to realize the high-precision and high-speed roller pitch adjustment.

[0076] Such as Figures 4 - 8As shown in the figure, the first fixed crossbeam 312 and the second fixed crossbeam 313 of the variable pitch shaft assembly are fixed to the welding leg 32 of the roller line by bolts; the pedestal T-shaped bearing 314 is connected and fixed to the welding leg 32 of the roller line, the first fixed crossbeam 312 of the variable pitch shaft assembly and the second fixed crossbeam 313 of the variable pitch shaft assembly by bolts; the special-shaped electric roller 35 is connected to the electric roller fixed shafts 320 on both sides by threaded connection. There are two triangular welded sheet metal parts on the special-shaped electric roller 35. The rotational movement of the roller can further increase the up-and-down vibration of the conveyed disassembled cable to achieve the separation of 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 a setscrew lock; the T-shaped guide shaft support 319 is fixed to the upper clamp block 317 on the roller connecting shaft by bolt connection; the upper clamp block 317 on the roller connecting shaft and the lower clamp block 318 on the roller connecting shaft are locked to the variable pitch moving shaft 315 by screwing; the shaft end retaining rings 316 are fixed to both sides of the variable pitch moving shaft 315 by bolt connection to prevent the moving shaft from slipping out of the bearing seat during the distance adjustment process.

[0077] In summary, the conveying belt line 2 of the coating material provides transmission power through the electric roller, and adjusts the roller spacing by means of the servo lead screw module, the bearing seat and the sliding shaft to adapt to the dropping of the coating material after different cutting lengths.

[0078] Specifically, one end of the special-shaped electric roller 35 is provided with a roller connecting shaft. Part of the roller connecting shaft is locked to the variable pitch moving shaft 315 by the upper clamp block 317 on the roller connecting shaft and the lower clamp block 318 on the roller connecting shaft by screwing. The variable pitch moving shaft 315 is arranged along the cable traveling direction. When the variable pitch moving shaft 315 is driven by the linear guide slider 3916 in the servo variable pitch lead screw module 39 and moves along the cable traveling direction, the distance of the variable pitch moving shaft 315 in the front-back direction of the horizontal plane can be changed, indirectly adjusting the spacing between the special-shaped electric rollers 35.

[0079] In this embodiment, for the convenience of understanding, Figure 4 and Figure 5 are used to show a total of 6 groups of special-shaped electric rollers 35. 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 part 34 (realized by the strip holes opened on the roller line bending sheet metal part 34), and all these special-shaped electric rollers 35 are 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 spacing between the second group of special-shaped electric rollers 35 and the first group of special-shaped electric rollers 35.

[0080] 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.

[0081] like Figure 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.

[0082] 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.

[0083] 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.

[0084] like Figures 11 - 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.

[0085] The wire core connecting belt line fixing bracket 51 is a welded square tube structure, supporting the upper half of the conveying line body. A connecting plate is welded at the bottom and is fixed to the frame structure 1 by bolt connection; the wire core connecting belt line 5 mainly obtains the transmission power from the electric roller 55, and is combined with the driven roller 56 and the conveyor belt 57 to form the main conveying components; the fixed seat 53 of the driving end electric roller and the fixed seat 54 of the driven end roller are fixed to the roller and the side profile 52 of the wire core receiving belt line by bolt connection; the A-side sheet metal part 58, the B-side sheet metal part 59, the A-side long sheet metal part 510, and the B-side long sheet metal part 511 are respectively fixed to the side profile 52 of the wire core receiving belt line by bolt connection, mainly playing a guiding and blocking role for the wire core; the A bottom cushion block 512, the A mirror bottom cushion block 513, the B bottom cushion block 514, and the B mirror bottom cushion block 515 are respectively fixed to the bottom of the side profile 52 of the wire core receiving belt line and the wire core connecting belt line fixing bracket 51 by bolt connection on one side; there are 2 rear baffle connectors 516, which are fixed to the B bottom cushion block 514 and the B mirror bottom cushion block 515 by bolts; the rear baffle 517 is fixed to the rear baffle connector 516 by bolt connection; the photoelectric bracket 518 is fixed to the B mirror bottom cushion block 515 by bolt connection; the detection photoelectric 519 is arranged on the photoelectric bracket 518 and is used to provide signal interaction to the AI vision automatic blanking robot 6 after detecting the wire core 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 blanking robot when manually processing the wire core, protecting the safety of personnel operation.

[0086] As Figures 13 - 14 shown, the AI vision automatic blanking robot 6 includes a robot base 61, a blanking robot 62, a solenoid valve mounting plate 63, a solenoid valve protective cover 64, a wire following sheet metal part 65, a jaw mounting flange plate 66, a jaw fixing plate 67, a jaw cylinder 68, a pneumatic finger A clamp block 69, a pneumatic finger B clamp block 610, a vision component Z-shaped 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, an annular light source fixing sheet metal part 616, and an annular light source 617.

[0087] The blanking robot 62 is fixedly connected to the robot base 61 by bolts; the solenoid valve mounting plate 63 is fixedly connected to the blanking robot 62 by bolts, and the solenoid valve protection cover 64 is fixedly connected to the solenoid valve mounting plate 63 by bolts; the wire following sheet metal part 65 is arranged at the front end of the blanking robot and is used for bundling and fixing the sensor cable and the vacuum pipe; the jaw mounting flange plate 66 is respectively connected to the blanking robot 62 and the jaw fixing plate 67 by bolts; the jaw cylinder 68 is provided with a pneumatic finger A block 69 and a pneumatic finger B block 610 for realizing the clamping action of the wire core. This part of the components is fixedly connected to the jaw fixing plate 67 by bolts; the vision camera 615 is fixedly connected to the camera fixing sheet metal part 614 by bolts, and the ring light source 617 is fixedly connected to the ring light source fixing sheet metal part 616 by bolts; the vision component integration plate 613 is connected to the vision camera part and the light source part by bolts; the vision component integration plate 613 is fixedly connected to the vision component long strip plate 612 by bolts; the vision component Z-shaped connecting plate 611 is respectively connected to the jaw fixing plate 67 and the vision component long strip plate 612 by bolts.

[0088] In summary, the automatic blanking robot realizes the flexible clamping of wire cores of various specifications and various incoming material positions through the combination of vision recognition and the robotic arm. Since the materials distributed in each part of the wire core are equal in quantity and evenly distributed, after dividing and identifying the overall size of the wire core, the midpoint of the wire core is obtained and then grabbed, so that the entire blanking process can be smoothly moved into the wire core storage container. When the mechanical fixture clamps the target wire core, it cooperates with vision to extract the appearance of the grabbed target, fits the contour of the extracted area, forms a minimum circumscribed rectangle after fitting, obtains the center point of the circumscribed rectangle, and controls the robotic arm to move to the specified target point to perform the grabbing and feeding task through the robotic arm control algorithm.

[0089] In the robotic arm control algorithm, for the point set on the contour , first calculate its centroid :

[0090] , ;

[0091] Then calculate the covariance matrix C:

[0092] ;

[0093] Among them, i is the i-th point in the point set , and there are n points in the point set .

[0094] Further solving 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:

[0095] ;

[0096] where the eigenvectors and define the major and minor axis directions of the minimum bounding rectangle.

[0097] The rotation angle of the rectangle is determined by the angle between the eigenvector of the major axis direction and the x-axis, and is calculated through and two components:

[0098] ;

[0099] From the above calculation formula, the center point of the minimum bounding rectangle is the centroid of the contour and the rotation angle of the minimum bounding rectangle is .

[0100] The wire core can be considered as a rectangle in the image. Therefore, during image processing, after the extracted region is contour-fitted to form a minimum bounding rectangle, the region where the rectangle is located is considered as the wire core. The center point of the bounding rectangle is obtained, and the manipulator is controlled to move to the specified target point for grasping and loading tasks through the manipulator control algorithm. The specified target point where the manipulator needs to move can be the center point of the bounding rectangle.

[0101] As Figures 15 - 16 shown, the device of this embodiment is for a cable whose coating layer has been cut by a cutting knife, and the coating layer is segmented into equally spaced segments by a circumferential cutting tool. Specifically, the cutting knife cuts the coating layer of the cable along the axial direction of the cable into two parts with a semicircular cross-section, and the coating layer of the cable segmented into equally spaced segments by the circumferential cutting tool. In this state, the wire core of the cable is still a complete section of metal, while the surface coating layer is circumferentially cut into multiple equally spaced segments, and the cross-section of the coating layer in each spaced segment is cut into a semicircle. Since the coating layer has not completely fallen off the wire core due to friction and adhesion at this time, the separation of the wire core and the coating layer is achieved through the vibration effect and the lateral dispersion effect in the device of this embodiment.

[0102] The separated coating material falls into the waste bin through the roller spacing for recycling. After the wire core is conveyed to the wire core connection belt line, it is clamped and transferred to the storage container by a robot equipped with an AI vision algorithm, realizing the automatic separation and recycling of cable materials. Since the wire core in the pre-processed cable is a complete conductor and its length is much greater than that of the coating layer, the wire core and the coating layer can be completely separated through vibration and lateral dispersion. The spacing between the rollers is variable and has an approximate screening effect, which can select the wire core from the separated materials and achieve separation and recycling in a simpler way.

[0103] Embodiment 2:

[0104] A working method of a cable material separation device includes the following steps:

[0105] Cut the coating layer along the axial direction of the cable and cut the coating layer at equal circumferential intervals to obtain a pre-processed cable;

[0106] The pre-processed cable passes through a high-frequency vibration variable-spacing roller conveyor line. Through the high-frequency vibration effect and the side-turning and rolling effect of the lateral stacking and dispersion device, the wire core is separated from the coating layer. The coating layer material falls into the coating layer material conveying belt line below through the roller spacing and is further conveyed to the waste bin;

[0107] After the wire core is transferred to the wire core connection belt line on the upper surface of the roller, an AI vision automatic blanking robot is used to clamp the wire core and transfer it to the storage container.

[0108] During the conveying of the pre-processed cable, the wire core is separated from the coating layer by using the vibration effect and the lateral dispersion effect. The separated coating layer material falls into the waste bin through the roller spacing for recycling. After the wire core is conveyed to the wire core connection belt line, it is clamped and transferred to the storage container by a robot equipped with an AI vision algorithm, realizing the automatic separation and recycling of cable materials.

[0109] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. 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-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.

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