Control method and system of automatic peeling and wire twisting machine

Abstract

The invention relates to the technical field of data processing, in particular to a control method and system for an automatic peeling and wire twisting machine, and the method comprises the steps: obtaining a thickness data set of each historical cutting surface, carrying out the clustering of the thickness data set of a target historical cutting surface, carrying out the clustering of the obtained data in each clustering cluster according to the distance, and obtaining a clustering data set; and determining each orientation of different thicknesses of the target historical cutting surface and the thickness value of each orientation based on the target class cluster, predicting the thickness value of the corresponding orientation of the to-be-cut surface by using the average thickness variation of the adjacent historical cutting surfaces in the same orientation, and adjusting the cutter pressure of the corresponding orientation according to the thickness prediction value. The cutting precision of the wire shell can be improved, and the problems that wires are damaged due to excessive cutting of the wire shell and the shell is not completely stripped due to insufficient cutting are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing. More specifically, the present invention relates to a control method and system for an automatic wire stripping and twisting machine. Background Art

[0002] An automatic wire twisting machine is an automated device for cutting and separating the outer shell of wire and cable and twisting the conductors, and can be applied to the field of wire processing. Its working principle is to realize the clamping, cutting, and twisting operations of the wire through a mechanical structure and a control system.

[0003] As an upgraded version of the traditional wire twisting machine, the inductive automatic wire twisting machine introduces sensor application technology, and can use a laser sensor to detect data such as the thickness and diameter of the wire in a non-contact manner, so as to realize precise processing of the wire. When using the inductive automatic wire twisting machine to cut and strip the outer shell of the wire, the wire can be placed in the detection area of the inductive automatic wire twisting machine, and then the laser sensor built in the detection area can measure the thickness of the wire outer shell in real time, so that the cutting depth can be automatically adjusted based on the detected thickness value to ensure that the wire outer shell is accurately cut and separated, while avoiding damage to the conductor.

[0004] However, in practical applications, due to the possible influence of temperature during the production process of the wire outer shell, the thickness may be uneven in different directions. This non-uniformity makes the laser sensor have limitations when detecting the thickness of the outer shell on a single cross-section, that is, the measurement data of a single or local direction obtained by the laser sensor cannot accurately reflect the thickness of the entire wire outer shell. Therefore, in the cutting and separating operation, if only relying on the measurement data of a single or local direction obtained by the laser sensor, there may be situations of over-cutting and damaging the conductor or under-cutting and incomplete peeling of the outer shell, affecting the cutting accuracy of the wire. Summary of the Invention

[0005] In order to solve the problem of poor accuracy when cutting and stripping wires, the present invention provides a control method and system for an automatic wire stripping and twisting machine.

[0006] According to a first aspect of the present invention, there is provided a control method for an automatic wire stripping and twisting machine, including: Obtaining the thickness values of the wire outer shell at multiple positions on each historical cross-section in the automatic wire stripping and twisting machine to obtain a thickness data set for each historical cross-section; Cluster the thickness data set of the selected target historical cutting surface to obtain multiple clusters, and cluster the data within each cluster again according to the distance to obtain the clustering results of each cluster. Take the cluster with the shortest average distance in the clustering results of each cluster as the target cluster, so as to locate each orientation with different thicknesses on the target historical cutting surface based on each target cluster, and take the mean value of all data in each target cluster as the thickness value of the target historical cutting surface in the corresponding orientation; Use the average thickness change of all adjacent historical cutting surfaces in the same orientation to predict the thickness value of the corresponding orientation of the to-be-cut surface, so as to adjust the tool pressure of the corresponding orientation according to the thickness prediction values of each orientation of the to-be-cut surface.

[0007] The present invention adopts a secondary clustering method, which can accurately locate the thicknesses of the wire outer shell in different orientations, and combines the continuity characteristics of the thickness change of the wire outer shell to predict the thickness values of each orientation of the to-be-cut surface. Based on these accurate thickness prediction values, the tool pressure can be adjusted targeted, so as to effectively avoid the problems of over-cutting or incomplete cutting of the wire outer shell, and significantly improve the accuracy of wire cutting and peeling.

[0008] Preferably, clustering the data within each cluster again according to the distance to obtain the clustering results of each cluster includes: Use the elbow method to obtain the optimal number of clusters when clustering the data within each cluster, and cluster the corresponding clusters according to the optimal number of clusters of each cluster to obtain the clustering results of each cluster.

[0009] The present invention re-clusters the clusters obtained by the first clustering based on the distance, and can cluster the data with similar thickness values and close distances into one category, so as to facilitate the subsequent positioning of the positions with larger thickness and smaller thickness.

[0010] Preferably, clustering the thickness data set of the selected target historical cutting surface to obtain multiple clusters includes: Cluster the thickness data set of the target historical cutting surface according to the preset number of clusters to obtain the same number of clusters as the preset number of clusters.

[0011] Preferably, the clustering algorithm used for clustering the clusters is the same as the clustering algorithm used for clustering the thickness data set of the target historical cutting surface, and both are the k-means clustering algorithm.

[0012] Preferably, locating each orientation with different thicknesses on the target historical cutting surface based on each target cluster includes: Take the area between the positions of the two data points with the largest distance in any target class cluster on the target historical cutting plane as the area where the any target class cluster is located on the target historical cutting plane, and denote it as an orientation of the target historical cutting plane, so as to obtain all orientations of the target historical cutting plane.

[0013] The present invention can accurately locate the positions with larger and smaller thicknesses of the wire outer shell, so that all the located orientations can characterize the thickness characteristics of the entire wire outer shell.

[0014] Preferably, use the average thickness change amount of all adjacent historical cutting planes in the same orientation to predict the thickness value of the corresponding orientation of the to-be-cutting plane, and satisfy the following relational expression: ; In the formula, is the predicted thickness value of the to-be-cutting plane in the th orientation; is the thickness value of the historical cutting plane closest to the to-be-cutting plane in the th orientation; , are respectively the thickness values of the th historical cutting plane and the th historical cutting plane in the th orientation; is the absolute value symbol; is the ordinal number of the to-be-cutting plane.

[0015] The present invention utilizes the characteristic that the thickness of the wire outer shell has local continuity, and can accurately predict the thickness value of the to-be-cutting plane.

[0016] Preferably, according to the thickness prediction values of each orientation of the to-be-cutting plane, adjust the tool pressure of the corresponding orientation, including: Calculate the cutting depth of any orientation of the to-be-cutting plane. The cutting depth is the product of the thickness prediction value of the to-be-cutting plane in this any orientation and a preset coefficient, so as to determine the tool pressure of this any orientation based on the cutting depth.

[0017] The present invention can adaptively adjust the tool pressure of the corresponding orientation by combining the thickness values of each orientation of the positioning, thereby avoiding the problems of over-cutting and incomplete cutting of the wire outer shell.

[0018] Preferably, the method for obtaining the thickness value of the wire outer shell at any position on any historical cutting plane includes: Use a laser to emit laser light to any position on any historical cutting plane, and calculate the thickness value of the wire outer shell at this any position by measuring the time difference of the received reflected light.

[0019] Preferably, all historical cutting surfaces are located between the surface to be cut and the end of the wire, and within the detection area of the automatic wire stripping and twisting machine.

[0020] According to a second aspect of the present invention, there is provided a control system for an automatic wire stripping and twisting machine, the system comprising a memory and a processor, wherein a computer program is stored on the memory, and the processor executes the computer program to implement the steps of the first aspect of the present invention.

[0021] The present invention has the following effects: The present invention can accurately locate the positions where the thickness of the wire outer shell is relatively large and small, so as to comprehensively reflect the overall characteristics of the thickness of the wire outer shell. In this way, it can effectively avoid the limitations of the measurement results of individual or local orientations caused by the uneven thickness of the wire outer shell. Moreover, the present invention can adaptively adjust the tool pressure based on the thickness values of each orientation located, avoiding the problems of damaging the wire due to excessive cutting and incomplete cutting resulting in the inability to completely strip the wire outer shell, and thus can improve the cutting accuracy of the wire outer shell. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] By referring to the following detailed description with reference to the accompanying drawings, the above and other objects, features, and advantages of the exemplary embodiments of the present invention will become readily understood. In the drawings, several embodiments of the present invention are shown by way of illustration and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein: Figure 1 is a schematic flow chart of the steps of a control method for an automatic wire stripping and twisting machine according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0024] The following will describe in detail the specific embodiments of the present invention with reference to the accompanying drawings.

[0025] Referring to Figure 1 , a control method for an automatic wire stripping and twisting machine includes steps S1 - S4, specifically as follows: S1: Obtain the thickness values of the wire outer shell at multiple positions on each historical cutting surface in the automatic wire stripping and twisting machine to obtain the thickness data set of each historical cutting surface.

[0026] In an exemplary embodiment of the present invention, all historical cutting surfaces are located between the surface to be cut and the end of the wire, and are within the detection area of the automatic wire stripping and twisting machine.

[0027] Wherein, the end of the wire refers to the end of the wire inserted into one end of the automatic wire stripping and twisting machine; the surface to be cut refers to the area of the wire where the wire outer shell needs to be cut off at the current moment; the historical cutting surface refers to the area of the wire where the wire outer shell needs to be cut off before the current moment. Among them, both the surface to be cut and the historical cutting surface are wire areas with a fixed unit length, and this embodiment does not make a special limitation on the fixed unit length.

[0028] It should be noted that since the length of the detection area of the automatic wire stripping and twisting machine is short, therefore, in the present invention, the thickness data of all historical cutting surfaces within the detection area of the automatic wire stripping and twisting machine and simultaneously within the detection area with the surface to be cut are used as the basic data for subsequent analysis.

[0029] In an exemplary embodiment of the present invention, the determination of the thickness of the wire outer shell at any position on any historical cutting surface can be achieved through the following steps: Use a laser to emit laser light at any position on any historical cutting surface, and calculate the thickness value of the wire outer shell at this any position by measuring the time difference of the received reflected light.

[0030] It should be noted that during the process of measuring the thickness of the wire outer shell, the laser will receive two signals, namely the signal reflected from the surface of the wire outer shell and the signal reflected at the junction of the outer shell - inner layer after the light signal passes through the outer shell. Since one of the two surfaces is the plastic outer shell of the wire and the other is the copper wire conductor inside the wire, then the time difference for the two returns is twice the time for the laser to pass through the plastic outer shell of the conductor. Therefore, the present invention utilizes this feature to calculate the thickness value of the wire outer shell at any position.

[0031] Specifically, the thickness value of the wire outer shell at any position on any historical cutting surface satisfies the following relational expression: ; In the formula, is the thickness value of the wire outer shell at any position on any historical cutting surface; is the propagation speed of light in a vacuum, = 3 × m / s; is the medium coefficient, and this value is related to the material of the object to be cut. For example, when the material to be cut is a plastic material, = 1.5. It should be noted that is the propagation speed of the light signal in a vacuum, and due to the existence of the medium, the propagation speed of light will slow down. Therefore, it is necessary to set the medium coefficient; is the time difference between the reflection of the optical signal from the outer shell surface and the reflection from the outer shell-inner layer junction.

[0032] Among them, since the optical signal needs to travel back and forth twice (from the surface to the junction and then from the junction back to the surface), therefore, a this coefficient is set.

[0033] Furthermore, through the thickness value calculation formula, the thickness values of the wire outer shell at multiple positions on each historical cutting surface can be calculated, thereby obtaining the thickness data set of each historical cutting surface.

[0034] S2: Cluster the thickness data set of the selected target historical cutting surface to obtain multiple clusters, and cluster the data within each cluster again according to the distance to obtain the clustering results of each cluster.

[0035] It should be noted that when coating the wire conductor (outer shell production), the wire outer shell material (such as PVC, PE, etc.) is prone to uneven mixing, resulting in inconsistent thickness during extrusion. Then, the thicknesses at different positions on the same cross-section are different. Using a single wire outer shell thickness data as a reference cannot fully reflect the wire outer shell thickness of the entire area, and it is easy to cause damage during cutting. Therefore, in the present invention, the regions with larger and smaller thicknesses are located through clustering.

[0036] It should be further noted that clustering the thickness data set of the selected target historical cutting surface according to the data size is to group the thickness values with similar values into one category; clustering the data within each cluster again according to the distance is to further divide the cluster composed of thickness values with similar values but possibly far position distances into multiple data clusters with similar values and close position distances to accurately locate the regions with larger and smaller thicknesses.

[0037] In an exemplary embodiment of the present invention, the clustering algorithm used for clustering the clusters is the same as the clustering algorithm used for clustering the thickness data set of the target historical cutting surface, which is the k-means clustering algorithm.

[0038] Optionally, other clustering algorithms, such as the DBSCAN clustering algorithm, can also be used for clustering.

[0039] In an exemplary embodiment of the present invention, the clustering of the thickness data set of the target historical cutting surface can be achieved through the following steps: Cluster the thickness data set of the target historical cutting surface according to the preset number of clusters to obtain the same number of clusters as the preset number of clusters.

[0040] Optionally, the preset number of clusters can be set to 4, and then the k-means clustering algorithm is used to cluster the thickness data set of the target historical cutting surface, so that the thickness values with similar values can be clustered into one category, and finally 4 clusters are obtained. In this embodiment, the value of the preset number of clusters is not particularly limited.

[0041] It should be noted that the process of clustering using the k-means clustering algorithm is a prior art, and this embodiment will not elaborate on it here.

[0042] In an exemplary embodiment of the present invention, the data within the clusters obtained from the first clustering can be reclustered according to the distance size through the following steps: Using the elbow method, obtain the optimal number of clusters when clustering the data within each cluster, and according to the optimal number of clusters of each cluster, cluster the corresponding cluster to obtain the clustering results of each cluster.

[0043] Specifically, in order to determine the optimal number of clusters, for any cluster, the clustering algorithm can be run respectively with different numbers of clusters k (from 1 to a certain maximum value), and the sum of squared errors (SSE) corresponding to each k value can be calculated; subsequently, draw a curve of SSE changing with the k value, observe the "elbow" position where the decline rate of SSE significantly slows down, and take the k value corresponding to this position as the optimal number of clusters when clustering this any cluster, that is, the process of obtaining the optimal number of clusters using the elbow method. Among them, the calculation of the sum of squared errors is a prior art, and this embodiment will not elaborate on it here.

[0044] Furthermore, after determining the optimal number of clusters of each cluster obtained from the first clustering, k-means clustering can be performed on the corresponding clusters respectively based on the optimal number of clusters, so as to obtain the clustering results of each cluster.

[0045] S3: Take the cluster with the shortest average distance in the clustering results of each cluster as the target cluster, so as to locate each azimuth with different thicknesses on the target historical cutting surface based on each target cluster, and take the mean value of all data in each target cluster as the thickness value of the target historical cutting surface in the corresponding azimuth.

[0046] It should be noted that since there are multiple clusters in the clustering results of each cluster, if the regions (i.e., azimuths) with larger or smaller thicknesses on the target historical cutting surface are directly located according to the clustering results of each cluster, the number of located regions is too large, resulting in greater difficulty in subsequent operations. Therefore, the present invention screens out a target cluster from the clustering results of each cluster, so as to locate the regions with larger or smaller thicknesses on the target historical cutting surface based on the screened target clusters.

[0047] Optionally, the cluster with the shortest average distance in the clustering results of each cluster can be used as the target cluster. This ensures that the target cluster selected from the clustering results of any cluster can best represent the thickness characteristics of that cluster.

[0048] In an exemplary embodiment of the present invention, the determination of the orientations with different thicknesses on the target historical cutting plane can be achieved through the following steps: The region between the positions of the two data points with the largest distance in any target cluster on the target historical cutting plane is used as the region where the any target cluster is located on the target historical cutting plane, and is denoted as an orientation of the target historical cutting plane, so as to obtain all the orientations of the target historical cutting plane.

[0049] Optionally, after determining all the orientations of the target historical cutting plane, the mean value of all the data in each target cluster can be used as the thickness value corresponding to the orientation, so that the thickness values of each orientation of the target historical cutting plane can be obtained, and further the thickness values of all the historical cutting planes in each orientation can be determined.

[0050] It should be noted that since the thickness data of each orientation has not been fully detected, therefore, in the present invention, the mean value of all the data in each target cluster is used as the thickness value corresponding to the orientation.

[0051] S4: Use the average thickness change amount of all adjacent historical cutting planes in the same orientation to predict the thickness value of the corresponding orientation of the to-be-cut plane, and adjust the tool pressure of the corresponding orientation according to the thickness prediction values of each orientation of the to-be-cut plane.

[0052] It should be noted that during the production process of the wire outer shell, if the heating temperature of the extruder is too high, it will cause plastic degradation and poor fluidity, resulting in the phenomenon that the thickness of the produced wire outer shell may be uneven in a certain distance in a certain orientation, that is, there is a certain similarity feature in the thickness sizes of the wire outer shell in the regions with a relatively close distance in the same orientation. Therefore, based on this feature, the present invention uses the average thickness change amount of all adjacent historical cutting planes in the same orientation to predict the thickness value of the corresponding orientation of the to-be-cut plane.

[0053] Specifically, the thickness prediction value of any orientation of the to-be-cut plane satisfies the following relational expression: ; In the formula, is the predicted thickness value of the to-be-cut plane in the th orientation; is the thickness value of the historical cutting plane closest to the to-be-cut plane in the th orientation; , are respectively the th historical cutting plane and the The thickness value of the historical cutting surface at the th azimuth; is the absolute value symbol; is the ordinal number of the surface to be cut.

[0054] Among them, reflects the average thickness change of all adjacent historical cutting surfaces at the th azimuth. When this value is positive, it indicates that the thickness of the wire outer shell in the th azimuth gradually increases along the direction close to the surface to be cut; when this value is negative, it indicates that the thickness of the wire outer shell in the th azimuth gradually decreases along the direction close to the surface to be cut; therefore, by combining the average thickness change and the thickness data of the previous cutting surface of the surface to be cut, the thickness value of the surface to be cut in each azimuth can be accurately predicted.

[0055] In an exemplary embodiment of the present invention, the adjustment of the tool pressure can be achieved through the following steps: Calculate the cutting depth of any azimuth of the surface to be cut. The cutting depth is the product of the thickness prediction value of the surface to be cut in this any azimuth and a preset coefficient, so as to determine the tool pressure of this any azimuth based on the cutting depth.

[0056] Specifically, the cutting depth of any azimuth of the surface to be cut satisfies the following relational expression: ; In the formula, is the cutting depth of the th azimuth of the surface to be cut; is the predicted thickness value of the surface to be cut in the th azimuth; is the preset coefficient. In this embodiment, = 0.85. It should be noted that when determining the cutting depth, takes a value commonly used in the art.

[0057] Furthermore, the cutting depth determination method can be used to calculate the cutting depth of each azimuth of the surface to be cut, so that the tool pressure corresponding to each azimuth can be determined based on the determined cutting depth of each azimuth.

[0058] Specifically, the tool pressure of any azimuth of the surface to be cut satisfies the following relational expression: ; In the formula, is the tool pressure of the th azimuth of the surface to be cut; is the cutting depth of the th azimuth of the surface to be cut; is the machine fixed coefficient; is the contact radius of the circular tool, where reflects the contact area of the circular tool.

[0059] It should be noted that when the thickness value of any cutting surface is determined, the process of adjusting the tool pressure based on the thickness value is a prior art.

[0060] Furthermore, after determining the tool pressures in all directions of the surface to be cut, based on the determined tool pressures, the wire outer shell in the corresponding direction can be cut and peeled, thereby avoiding over-cutting of the surface to be cut and preventing damage to the wire; at the same time, it can also avoid under-cutting and ensure that the wire outer shell at the surface to be cut can be completely peeled.

[0061] The present invention also provides a control system for an automatic wire stripping and twisting machine. The system includes a memory and a processor, and a computer program is stored on the memory. The computer program integrates the functions of a control method for an automatic wire stripping and twisting machine. When the computer program is executed, the cutting accuracy of the wire outer shell can be improved through a control method for an automatic wire stripping and twisting machine, preventing over-cutting damage to the wire due to over-cutting the wire outer shell and the problem of incomplete peeling of the outer shell due to under-cutting.

[0062] In the description of this specification, the meanings of "a plurality of" and "several" are at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0063] Although this specification has shown and described multiple embodiments of the present invention, it is obvious to those skilled in the art that such embodiments are provided only by way of example. Those skilled in the art will think of many ways of modification, change and substitution without departing from the idea and spirit of the present invention. It should be understood that various alternative solutions to the embodiments of the present invention described herein can be adopted in the process of practicing the present invention.

Claims

1. A control method for an automatic wire stripping and twisting machine, characterized in that: include: Obtaining the thickness values ​​of the wire casing at multiple positions on each historical cutting surface in the automatic stripping and twisting machine, and obtaining a thickness data set of each historical cutting surface; Cluster the thickness data set of the selected target historical cutting surface to obtain multiple clusters, and cluster the data in each cluster again according to the distance to obtain the clustering results of each cluster, and take the cluster with the shortest average distance in the clustering results of each cluster as the target cluster, so as to locate the different directions of thickness on the target historical cutting surface based on each target cluster, and take the mean value of all data in each target cluster as the thickness value of the target historical cutting surface at the corresponding direction; The average thickness variation of all adjacent historical cutting surfaces at the same orientation is used to predict the thickness value of the corresponding orientation of the surface to be cut, so as to adjust the tool pressure at the corresponding orientation according to the thickness prediction value of each orientation of the surface to be cut.

2. The control method of an automatic wire stripping and twisting machine according to claim 1, characterized in that: The data in each cluster is clustered again according to the distance to obtain the clustering results of each cluster, including: The elbow method is used to obtain the optimal number of clusters when clustering the data in each cluster, and the corresponding clusters are clustered according to the optimal number of clusters of each cluster to obtain the clustering results of each cluster.

3. The control method of an automatic wire stripping and twisting machine according to claim 1, characterized in that: The thickness data set of the selected target historical cutting surface is clustered to obtain multiple clusters, including: According to a preset number of clusters, the thickness data set of the target historical cutting surface is clustered to obtain a number of clusters that is the same as the preset number of clusters.

4. The control method of an automatic wire stripping and twisting machine according to claim 2 or 3, characterized in that: The clustering algorithm used when clustering the cluster clusters and the clustering algorithm used when clustering the thickness data set of the target historical cutting surface are both the k-means clustering algorithm.

5. The control method of an automatic wire stripping and twisting machine according to claim 1, characterized in that: The positioning of each position with different thickness on the historical cutting surface of the target based on each target cluster includes: The area between the two data points with the largest distance in any target cluster at the positions of the target historical cutting plane is taken as the area where any target cluster is located on the target historical cutting plane, and is recorded as an orientation of the target historical cutting plane to obtain all orientations of the target historical cutting plane.

6. The control method of the automatic wire stripping and twisting machine according to claim 5, characterized in that: The thickness value of the corresponding orientation of the surface to be cut is predicted by using the average thickness change of all adjacent historical cutting surfaces in the same orientation, which satisfies the following relationship: ； In the formula, The surface to be cut is Predicted thickness values ​​in each direction; The historical cutting surface closest to the cutting surface is in The thickness value in each direction; , Respectively The historical section and The historical cutting surface is The thickness value in each direction; is the absolute value symbol; is the ordinal number of the surface to be cut.

7. The control method of an automatic wire stripping and twisting machine according to claim 1, characterized in that: The step of adjusting the tool pressure at the corresponding position according to the thickness prediction value at each position of the surface to be cut includes: The cutting depth at any position of the surface to be cut is calculated, and the cutting depth is the product of the predicted thickness value of the surface to be cut at any position and a preset coefficient, so as to determine the tool pressure at any position based on the cutting depth.

8. The control method of an automatic wire stripping and twisting machine according to claim 1, characterized in that: A method for obtaining the thickness value of the wire casing at any position on any historical cutting surface includes: A laser is used to emit laser to any position of any historical cutting surface, and the thickness value of the wire casing at any position is calculated by measuring the time difference of receiving the reflected light.

9. The control method of an automatic wire stripping and twisting machine according to claim 1, characterized in that: All historical cutting surfaces are located between the surface to be cut and the end of the wire and are within the detection area of ​​the automatic stripping and twisting machine.

10. A control system for an automatic wire stripping and twisting machine, characterized in that: The control system of the automatic stripping and twisting machine includes a memory and a processor, the memory stores a computer program, and the processor executes the computer program to implement the steps of the control method of the automatic stripping and twisting machine as described in any one of claims 1-9.

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