Submarine cable sheath production system, production control method and device

Abstract

The invention provides a submarine cable sheath production system and a production control method and device, and relates to the field of cable production. The system comprises a lead supply unit, a lead slag cleaning unit and a control unit, the lead supply unit comprises a mechanical arm, a positioning camera, a conveying chain and a lead furnace; the lead slag cleaning unit comprises a mechanical arm, a positioning camera, a lead ash filtering device and a collector; and the control unit is used for acquiring image information of the positioning camera and performing operation control on the mechanical arm according to the image information. Alloy lead ingots are automatically grabbed and added through a mechanical arm of the lead supply unit, the requirement for manual operation of personnel is reduced, and therefore the situations of crushing injury and scalding are reduced; due to effective cleaning and collection of the lead slag cleaning unit, the opportunity that an operator is in contact with lead ash is reduced, and the danger of scalding and lead poisoning is reduced; and the production safety is effectively improved through control of the mechanical arm.

Description

Technical Field

[0001] This application relates to the field of cable production, and particularly to a submarine cable sheath production system, a production control method and a device therefor. Background Art

[0002] Submarine cables are generally laid on the seabed for power transmission. Submarine cables usually consist of multiple layers, including conductors, insulating layers, sheath layers, and armor layers. Seawater has strong corrosiveness, and various salts, minerals, and other chemical substances contained therein will corrode cable materials. The sheath layer can effectively resist the impact and scratching of these external objects and is an important structural element of submarine cables, protecting the insulated wire core from damage by the external environment and having functions such as radial water blocking.

[0003] The sheath layer of submarine cables generally includes a metal sheath and a plastic sheath. The metal sheath of submarine cables mainly uses an alloy lead sheath. The alloy lead has stable chemical properties and good corrosion resistance. Existing submarine cables generally use alloy lead sleeves as metal sheaths. At present, alloy lead sleeves are formed by continuous lead extrusion machines. The raw material for the lead extrusion machine is alloy lead ingots, which are generally added manually. During the process of manually adding alloy lead ingots, operators need to carry the lead ingots to the lead furnace for melting. The surrounding environment is high-temperature, and alloy lead will evaporate at high temperatures, generating lead vapor. There may be potential safety hazards such as being hit, scalded, and inhaling lead vapor for alloy lead ingot adders during the operation process. Summary of the Invention

[0004] This application provides a submarine cable sheath production system, a production control method and a device therefor, so as to solve the problem of potential safety hazards in the operation of alloy lead ingots in the existing production process.

[0005] In a first aspect, this application provides a submarine cable sheath production system, including: a lead supply unit, a lead slag cleaning unit, and a control unit;

[0006] The lead supply unit includes a robotic arm, a positioning camera, a conveyor chain, and a lead furnace; the positioning camera is fixedly connected to the robotic arm, and one end of the conveyor chain close to the lead furnace faces the lead inlet of the lead furnace; the robotic arm grabs an alloy lead ingot from a preset position and places the alloy lead ingot on the conveyor chain, and transports the alloy lead ingot to the lead inlet of the lead furnace through the conveyor chain;

[0007] The lead slag cleaning unit includes a robotic arm, a positioning camera, a lead ash filtering device, and a collector; the positioning camera is fixedly connected to the robotic arm; a connecting member that can be clamped by the robotic arm is provided at the top of the lead ash filtering device; the robotic arm moves the lead ash filtering and collecting device by clamping the connecting member to fish out lead ash from the lead furnace and transport the lead ash into the collector;

[0008] The control unit is configured to obtain the image information of the positioning camera and perform operation control on the robotic arm according to the image information.

[0009] In a possible design, the robotic arm includes: a support column, a fixing plate, a claw, a pneumatic pump, and a telescopic device; a circular hole through which the piston rod of the pneumatic pump can pass is formed in the middle of the fixing plate;

[0010] The support column is perpendicularly arranged with respect to the fixing plate and fixedly connected to the fixing plate. The pneumatic pump is fixed between the two support columns. One end of the claw is movably connected to the fixing plate; the telescopic device is arranged between the two claws and its top is connected to the end of the piston rod of the pneumatic pump.

[0011] In a possible design, the telescopic device includes: a snap ring, a top plate, and a spring. The top plate is fixed to the top of the piston rod. The snap ring is sleeved outside the piston rod. The spring is sleeved outside the piston rod and its two ends are respectively abutted against the snap ring and the top plate.

[0012] In a possible design, the lead ash filtering device includes: a filter screen, a funnel, a dust-proof cover, a lead ash collecting pipe, and an air extraction pump; a plurality of leakage holes are formed in the funnel;

[0013] The filter screen, the funnel, and the dust-proof cover are arc-shaped. The edge of the funnel is respectively fixedly connected to the filter screen and the dust-proof cover to form an ellipsoidal structure with one side open;

[0014] The dust-proof cover is provided with a collection port. One end of the lead ash collecting pipe is fixedly connected to the collection port, and the other end is communicated to the collector through the air extraction pump.

[0015] In a possible design, the connecting member includes: a connecting plate, a support member, an electric telescopic member, and a base;

[0016] A clamping plate is fixed on the upper surface of the connecting plate. The base is fixed to the top of the dust-proof cover; both ends of the support member are rotatably connected to the connecting plate and the base respectively; both ends of the electric telescopic member are rotatably connected to the connecting plate and the base respectively.

[0017] In a possible design, it further includes a lead discharging unit. The lead discharging unit includes a lead extruder, a lead conveying pipe, and a flow sensor; the input end of the lead conveying pipe is connected to the lead furnace, the output end is connected to the lead extruder, and the flow sensor is arranged in the lead conveying pipe.

[0018] In a second aspect, the present application provides a method for controlling the production of a submarine cable sheath. The method for controlling the production of a submarine cable sheath is used for the control unit of any one of the submarine cable sheath production systems in the first aspect above. The method includes:

[0019] Obtain the image data transmitted by the positioning camera;

[0020] Perform positioning analysis and image recognition on the image data to obtain manipulator data and item data under the manipulator. The manipulator data includes manipulator position data and manipulator angle, and the item data includes item category and item angle;

[0021] Generate action process information according to the manipulator data and the item data;

[0022] Generate a manipulator control instruction based on the action process information. The manipulator control instruction is used to control the manipulator to perform a control operation.

[0023] Optionally, in the method as described above, the generating action process information according to the manipulator data and the item data includes:

[0024] Generate a movement path according to the manipulator position data and a preset target position;

[0025] Compare the item angle and the manipulator angle to obtain angle adjustment data;

[0026] Select corresponding execution information from a preset database according to the item category;

[0027] Generate item grasping information through the movement path, the angle adjustment data, and the item category;

[0028] Generate action process information based on the item grasping information and the execution information.

[0029] Optionally, the method as described above further includes:

[0030] Obtain the lead liquid attribute data in the lead delivery pipe and the flow data of the flow sensor;

[0031] Analyze the flow data and the lead liquid attribute data to obtain the lead sleeve thickness data;

[0032] Compare the lead sleeve thickness data with a preset thickness range to obtain a comparison result;

[0033] Adjust the lead liquid flow rate according to the comparison result, and return to the step of obtaining the flow data of the flow sensor in the lead delivery pipe until the lead sleeve thickness data is within the preset thickness range.

[0034] In a third aspect, the present application provides a submarine cable sheath production control device, including:

[0035] An acquisition module for acquiring the image data transmitted by the positioning camera;

[0036] An image processing module for performing positioning analysis and image recognition on the image data to obtain robotic arm data and item data under the robotic arm, where the robotic arm data includes robotic arm position data and robotic arm angle, and the item data includes item category and item angle;

[0037] A generation module for generating action process information based on the robotic arm data and the item data;

[0038] A control module for generating robotic arm control instructions based on the action process information.

[0039] In a possible design, the generation module is specifically configured to:

[0040] Generate a movement path according to the robotic arm position data and a preset target position;

[0041] Compare the item angle and the robotic arm angle to obtain angle adjustment data;

[0042] Select corresponding execution information from a preset database according to the item category;

[0043] Generate item grasping information through the movement path, the angle adjustment data, and the item category;

[0044] Generate action process information based on the item grasping information and the execution information.

[0045] In a possible design, the device further includes a thickness control module, and the thickness control module is specifically configured to:

[0046] Obtain lead liquid property data in a lead pipe and flow data of a flow sensor;

[0047] Analyze the flow data and the lead liquid property data to obtain lead sleeve thickness data;

[0048] Compare the lead sleeve thickness data with a preset thickness range to obtain a comparison result;

[0049] Adjust the lead liquid flow rate according to the comparison result, and return to the step of obtaining the flow data of the flow sensor in the lead pipe until the lead sleeve thickness data is within the preset thickness range.

[0050] In a fourth aspect, the present application provides a submarine cable sheath production control device, including: a processor, and a memory communicatively connected to the processor;

[0051] The memory stores computer execution instructions;

[0052] The processor executes computer-executable instructions stored in the memory, causing the device to execute the submarine cable sheath production control method according to any one of the second aspects.

[0053] In a fifth aspect, the present application provides a computer-readable storage medium storing computer-executable instructions, which are used to implement the submarine cable sheath production control method according to any one of the second aspects when executed by a processor.

[0054] The submarine cable sheath production system provided by the present application includes: a lead supply unit, a lead slag cleaning unit, and a control unit; the lead supply unit includes a robotic arm, a positioning camera, a conveyor chain, and a lead furnace; the positioning camera is fixedly connected to the robotic arm, and one end of the conveyor chain close to the lead furnace faces the lead inlet of the lead furnace; the robotic arm grabs an alloy lead ingot from a preset position and places the alloy lead ingot on the conveyor chain, and the conveyor chain transports the alloy lead ingot to the lead inlet of the lead furnace; the lead slag cleaning unit includes a robotic arm, a positioning camera, a lead ash filtering device, and a collector; the positioning camera is fixedly connected to the robotic arm; a connecting member for clamping by the robotic arm is provided at the top of the lead ash filtering device; the robotic arm moves the lead ash filtering and collecting device by clamping the connecting member to fish out the lead ash from the lead furnace and transport the lead ash into the collector; the control unit is configured to obtain the image information of the positioning camera and perform operation control on the robotic arm according to the image information. By automatically grabbing and adding alloy lead ingots by the robotic arm of the lead supply unit, the need for manual operation by personnel is reduced, thereby reducing the occurrence of smashing and scalding; the effective cleaning and collection of the lead slag cleaning unit reduce the chance of operators coming into contact with lead ash and reduce the risk of scalding and lead poisoning; the production safety is effectively improved through robotic arm control.

[0055] The submarine cable sheath production control method provided by the present application includes: obtaining image data transmitted by a positioning camera; performing positioning analysis and image recognition on the image data to obtain robotic arm data and data of the object below the robotic arm, where the robotic arm data includes robotic arm position data and robotic arm angle, and the object data includes object category and object angle; generating action process information according to the robotic arm data and the object data; generating a robotic arm control instruction based on the action process information, and the robotic arm control instruction is used to control the robotic arm to perform a control operation. By identifying and analyzing the image to generate action process information, and then generating a control instruction based on the action process information, it meets the instruction format requirements, can accurately guide the operation of the robotic arm, realize the high-precision movement of the robotic arm, accurately complete operations such as grabbing, placing, and ash cleaning, reduce manual intervention, reduce risks, and improve production safety and quality. Description of the Drawings

[0056] The drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0057] Figure 1 It is a schematic diagram of the position distribution of each component in the submarine cable sheath production system provided by the embodiment of the present application;

[0058] Figure 2 It is a schematic structural diagram of the robotic arm in the submarine cable sheath production system provided by the embodiment of the present application;

[0059] Figure 3 It is a schematic structural diagram of the lead ash filtering device in the submarine cable sheath production system provided by the embodiment of the present application;

[0060] Figure 4 It is a schematic diagram of the robotic arm clamping the alloy lead ingot in the submarine cable sheath production system provided by the embodiment of the present application;

[0061] Figure 5 It is a schematic diagram of the placement of the alloy lead ingot in the submarine cable sheath production system provided by the embodiment of the present application;

[0062] Figure 6 It is a schematic diagram of the connection structure of the control unit in the submarine cable sheath production system provided by the embodiment of the present application;

[0063] Figure 7 It is a schematic flowchart of the submarine cable sheath production control method provided by the embodiment of the present application;

[0064] Figure 8 It is a schematic structural diagram of the submarine cable sheath production control device provided by the embodiment of the present application;

[0065] Figure 9 It is a schematic diagram of the hardware structure of the submarine cable sheath production control equipment provided by the embodiment of the present application. Description of the drawings:

[0067] 100: Lead supply unit;

[0068] 110: Robotic arm; 120: Positioning camera; 130: Conveyor chain; 140: Lead furnace; 150: Alloy lead ingot;

[0069] 111: Support column; 112: Fixed plate; 113: Claw; 114: Pneumatic pump; 115: Piston rod; 116: Snap ring; 117: Top plate; 118: Spring;

[0070] 200: Lead slag cleaning unit;

[0071] 210: Lead ash filtering device; 220: Collector; 230: Connector;

[0072] 211: Filter screen; 212: Funnel; 213: Dust cover; 214: Lead ash collection pipe; 215: Exhaust pump; 216: Leak hole;

[0073] 231: Connecting plate; 232: Support member; 233: Electric telescopic member; 234: Base; 235: Clamping plate;

[0074] 300: Control unit;

[0075] 400: Lead output unit;

[0076] 410: Lead extruder; 420: Lead pipe; 430 Flow sensor.

[0077] Through the above-mentioned drawings, specific embodiments of the present application have been shown, and there will be more detailed descriptions hereinafter. These drawings and text descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed Description of the Embodiments

[0078] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0079] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant laws, regulations, and standards, and corresponding operation entrances are provided for the user to choose to authorize or refuse.

[0080] Submarine cables are generally laid on the seabed for power transmission. Submarine cables usually consist of multiple layers, including conductors, insulating layers, sheath layers, and armor layers. Seawater has strong corrosiveness, and various salts, minerals, and other chemical substances contained in it will corrode the cable materials. The sheath layer can effectively resist the impact and scratching of these external objects and is an important structural element of submarine cables, protecting the insulated wire core from damage by the external environment and having functions such as radial water blocking.

[0081] The submarine cable sheath layer generally includes a metal sheath and a plastic sheath. The metal sheath of the submarine cable mainly uses an alloy lead sheath. The alloy lead has stable chemical properties and good corrosion resistance. Existing submarine cables generally use an alloy lead sheath as the metal sheath. At present, the alloy lead sheath is formed by a continuous lead extrusion machine. The raw material for the lead extrusion machine is an alloy lead ingot, which is generally added manually. During the process of manually adding the alloy lead ingot, the operator needs to carry the lead ingot to the lead furnace for melting. The surrounding environment is high-temperature, and the alloy lead will evaporate at high temperature, generating lead vapor. Safety situations such as being bruised, scalded, or inhaling lead vapor may occur to the alloy lead ingot adders during the operation process.

[0082] The production system provided by this application aims to solve the above technical problems in the prior art.

[0083] The following will specifically describe the technical solutions of this application and how the technical solutions of this application solve the above technical problems with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will be described below with reference to the drawings.

[0084] Figure 1 It is a schematic diagram of the position distribution of each component in the submarine cable sheath production system provided by the embodiment of this application; Figure 2 It is a schematic diagram of the structure of the robotic arm in the submarine cable sheath production system provided by the embodiment of this application; Figure 3 It is a schematic diagram of the structure of the lead ash filtering device in the submarine cable sheath production system provided by the embodiment of this application; Figure 4 It is a schematic diagram of the robotic arm clamping an alloy lead ingot in the submarine cable sheath production system provided by the embodiment of this application; Figure 5 It is a schematic diagram of the placement of alloy lead ingots in the submarine cable sheath production system provided by the embodiment of this application; Figure 6 It is a schematic diagram of the connection structure of the control unit in the submarine cable sheath production system provided by the embodiment of this application.

[0085] Refer to Figures 1 to 6 As shown in the figure, this embodiment provides a submarine cable sheath production system, including: a lead supply unit 100, a lead slag cleaning unit 200, and a control unit 300.

[0086] The lead supply unit 100 includes a robotic arm 110, a positioning camera 120, a conveyor chain 130, and a lead furnace 140; the positioning camera 120 is fixedly connected to the robotic arm 110, and one end of the conveyor chain 130 close to the lead furnace 140 faces the lead inlet of the lead furnace 140; the robotic arm 110 grabs the alloy lead ingot 150 from a preset position and places the alloy lead ingot 150 on the conveyor chain 130, and transports the alloy lead ingot 150 to the lead inlet of the lead furnace 140 through the conveyor chain 130.

[0087] Specifically, the lead supply unit 100 is the basic raw material supply link. The robotic arm 110 grabs the alloy lead ingot 150 from the placement position of the alloy lead ingot 150 and places the alloy lead ingot 150 on the conveyor chain 130 to prepare for subsequent transportation and processing. The high-precision placement operation of the robotic arm 110 can ensure the stability of the alloy lead ingot 150 on the conveyor chain 130, avoid production interruptions or product quality problems caused by improper placement, reduce the time and error of manual operation, and improve the overall production efficiency. As Figure 5 shown, there are differences in the placement angles of the alloy lead ingots 150 between each layer.

[0088] The positioning camera 120 can obtain real-time image information of the working area, including the position, angle of the alloy lead ingot 150, and the surrounding environment, providing position guidance for the robotic arm 110, enabling the robotic arm 110 to more accurately locate the alloy lead ingot 150, reducing the grasping error, and improving the success rate and accuracy of grasping.

[0089] The stable operation of the conveyor chain 130 ensures that the alloy lead ingot 150 can enter the lead furnace 140 in a timely and continuous manner, reducing the waiting time of the material during transportation, improving the production efficiency, eliminating the need for manual frequent material handling, reducing the manual labor intensity, and at the same time reducing the occurrence of material transportation errors and production interruptions caused by human factors. The lead furnace 140 is used to heat and melt the alloy lead ingot 150 transported by the conveyor chain 130 and convert it into liquid lead.

[0090] The lead slag cleaning unit 200 includes a robotic arm 110, a positioning camera 120, a lead ash filtering device 210, and a collector 220; the positioning camera 120 is fixedly connected to the robotic arm 110; a connecting member 230 for the robotic arm 110 to clamp is provided at the top of the lead ash filtering device 210; the robotic arm 110 moves the lead ash filtering and collecting device by clamping the connecting member 230 to fish out the lead ash from the lead furnace 140 and transport the lead ash into the collector 220.

[0091] Specifically, the robotic arm 110 can use the same robotic arm 110 as the lead supply unit 100 according to the actual situation of the production workshop, or multiple robotic arms 110 can be set at different positions to be responsible for different tasks respectively. The number and position of the robotic arms 110 can be flexibly set according to requirements and will not be specifically restricted here. The robotic arm 110 moves the lead ash filtering and collecting device by clamping the connecting member 230 to lift the lead ash from the lead furnace 140, preventing the accumulation of lead ash in the lead liquid and improving the product quality; reducing the accumulation of lead ash in the lead furnace 140 can also reduce the erosion of the lead furnace lining by the lead ash, extend the service life of the lead furnace 140, reduce the frequency of equipment maintenance and replacement, and reduce the production cost. At the same time, cleaning without manual operation improves safety.

[0092] The positioning camera 120 can acquire the position image of the lead ash in the lead furnace 140 and transmit the image information to the control unit 300. Through image analysis, the accurate position and distribution of the lead ash are determined, providing precise guidance for the operation of the robotic arm 110.

[0093] At the top of the lead ash filtering device 210, there is a connecting piece 230 that can be clamped by the robotic arm 110, facilitating the movement of the robotic arm 110. After fishing out the lead ash from the lead furnace 140, by filtering the lead ash, useful components or incompletely reacted substances are separated from the genuine lead ash. The collector 220 receives the lead ash filtered by the lead ash filtering device 210 and collects it centrally, avoiding the scattering of lead ash in the workshop and maintaining the cleanliness and safety of the production environment.

[0094] The control unit 300 is used to acquire the image information of the positioning camera 120 and perform operation control on the robotic arm 110 according to the image information.

[0095] Specifically, the control unit 300 receives the image information from the positioning camera 120, and through analysis, obtains information such as the position, angle of the alloy lead ingot 150 in the lead supply unit 100 and the position of the lead ash in the lead slag cleaning unit 200. According to the analysis result of the image information, the action process of the robotic arm 110 is planned, and a control instruction is sent to the robotic arm 110 to perform operation control on the robotic arm 110, reducing manual intervention, improving production efficiency, effectively avoiding situations such as being hit, scalded, or inhaling lead vapor that may occur to the personnel adding the alloy lead ingot 150 during the operation process, and improving safety.

[0096] The submarine cable sheath production system provided by the embodiment of the present invention automatically grabs and adds the alloy lead ingot 150 through the robotic arm 110 of the lead supply unit 100, reducing the need for manual operation by personnel, thereby reducing the occurrence of being hit and scalded; the effective cleaning and collection of the lead slag cleaning unit 200 reduce the chance of operators coming into contact with lead ash and lower the risk of scalding and lead poisoning; the safety of production is effectively improved through the control of the robotic arm 110.

[0097] In some embodiments, the above-mentioned robotic arm 110 includes: a support column 111, a fixing plate 112, a claw 113, a pneumatic pump 114, and a telescopic device; a round hole through which the piston rod 115 of the pneumatic pump 114 can pass is opened in the middle of the fixing plate 112.

[0098] The support column 111 is perpendicular to the fixing plate 112 and fixedly connected to the fixing plate 112. The pneumatic pump 114 is fixed between the two support columns 111. One end of the claw 113 is movably connected to the fixing plate 112; the telescopic device is arranged between the two claws 113 and the top is connected to the end of the piston rod 115 of the pneumatic pump 114.

[0099] Specifically, the support column 111 supports and fixes the entire structure of the robotic arm 110, providing a stable support framework for components such as the air pressure pump 114 and the fixed plate 112, ensuring the relative positions of the components in the robotic arm 110 remain stable during operation, and thus ensuring that the robotic arm 110 can accurately perform grasping and releasing actions.

[0100] The fixed plate 112 is used to install and fix other components. A circular hole is opened in the middle for the piston rod 115 of the air pressure pump 114 to pass through, positioning and guiding the piston rod 115 of the air pressure pump 114; enabling the air pressure pump 114 to accurately transmit power to the telescopic device, thereby driving the claw 113 to perform opening and closing actions.

[0101] The claw 113 is directly in contact with the alloy lead ingot 150 or the lead ash filtering device 210, realizing the grasping and releasing actions of the alloy lead ingot 150 and driving the lead ash filtering device 210 to perform ash cleaning operations. One end of the claw 113 is movably connected to the fixed plate 112, enabling the claw 113 to perform opening and closing movements around the connection point with the fixed plate 112, thereby adapting to alloy lead ingots 150 of different sizes.

[0102] Through the reciprocating movement of the piston rod 115, the air pressure pump 114 compresses air to generate air pressure and transmits the air pressure to the telescopic device, thereby pushing the telescopic device to move and driving the claw 113 to perform opening and closing actions.

[0103] In some embodiments, the above-mentioned telescopic device includes: a retaining ring 116, a top plate 117, and a spring 118. The top plate 117 is fixed to the top of the piston rod 115. The retaining ring 116 is sleeved outside the piston rod 115. The spring 118 is sleeved outside the piston rod 115 and its two ends are respectively in contact with the retaining ring 116 and the top plate 117.

[0104] Specifically, through the cooperation of the retaining ring 116 with the spring 118 and the top plate 117, the movement range of the telescopic device is restricted and the stability of the telescopic device during movement is ensured. When the piston rod 115 moves upward, through the contact and interaction between the retaining ring 116 and the claw 113, the loosening operation of the alloy lead ingot 150 is realized. By restricting the movement range of the top plate 117, the out-of-control or damage of the actions of the robotic arm 110 caused by excessive movement of the top plate 117 is avoided. At the same time, the cooperation between the retaining ring 116 and the spring 118 enables the telescopic device to have appropriate resistance and elasticity at different working stages, improving the working efficiency and safety of the robotic arm 110.

[0105] When the piston rod 115 moves upward, the top plate 117 rises together with the piston rod 115, pushing the spring 118 to compress and making the telescopic device in a contracted state. When the piston rod 115 moves downward, the top plate 117 moves downward under the action of the spring 118, driving the telescopic device to extend. Ensure that the telescopic device can accurately follow the movement of the piston rod 115 to perform telescopic movement, so as to ensure that the robotic arm 110 can grab and release according to the action setting.

[0106] The spring 118 can generate corresponding elastic forces according to different states of the telescopic device to help the telescopic device move smoothly. When the top plate 117 moves upward, the spring 118 is compressed and stores elastic potential energy; when the top plate 117 moves downward, the spring 118 releases the stored energy and pushes the top plate 117 and the telescopic device downward. The elastic force of the spring 118 can make the telescopic device move more smoothly during the movement, reducing the impact force and vibration. It improves the movement smoothness and accuracy of the telescopic device. The elastic force of the spring 118 can effectively buffer the impact force during the movement of the piston rod 115, reducing the vibration and noise of the robotic arm 110 during operation.

[0107] In some embodiments, the above-mentioned lead ash filtering device 210 includes: a filter screen 211, a funnel 212, a dust-proof cover 213, a lead ash collection pipe 214 and an air extraction pump 215; a plurality of leakage holes 216 are provided on the funnel 212.

[0108] Specifically, the filter screen 211 is used to filter out larger particle impurities in the lead ash and perform a preliminary screening of the lead ash. When the lead ash passes through the filtering device, it can block those impurities with larger sizes and prevent them from entering the subsequent collection pipelines and equipment. The funnel 212 is used to guide and concentrate the lead ash, and the lead liquid flows into the lead furnace 140 through the leakage holes 216, and the lead ash is concentrated at the funnel 212; the lead ash collection pipe 214 transports the filtered lead ash to the collector 220.

[0109] The filter screen 211, the funnel 212 and the dust-proof cover 213 are arc-shaped, and the edges of the funnel 212 are fixedly connected to the filter screen 211 and the dust-proof cover 213 respectively to form an ellipsoidal structure with one side open. The dust-proof cover 213 is provided with a collection port, one end of the lead ash collection pipe 214 is fixedly connected to the collection port, and the other end is connected to the collector 220 through the air extraction pump 215.

[0110] Specifically, as a fluid with a certain viscosity, the lead liquid encounters less resistance when flowing through circular or elliptical channels. The ellipsoidal structure can provide a smooth flow path for the lead liquid, ensuring that no dead corners are formed inside the filter screen 211 or the funnel 212 during the flow of the lead liquid. The ellipsoidal shape can effectively disperse stress. When the lead liquid exerts pressure on the filter screen 211, the funnel 212, and the dust-proof cover 213, the ellipsoidal structure can evenly distribute the stress across the entire structure, reducing the phenomenon of local stress concentration and preventing structural deformation, cracking, or damage caused by excessive stress, thereby extending the service life. Under the action of the air extraction pump 215, a negative pressure is formed in the lead ash collection pipe 214, sucking the filtered lead ash into the pipe and transporting it to the collector 220 along with the air flow, avoiding the leakage and flying of lead ash during the transfer process and keeping the production environment clean.

[0111] In some embodiments, the above-mentioned connecting member 230 includes: a connecting plate 231, a support member 232, an electric telescopic member 233, and a base 234;

[0112] A clamping plate 235 is fixed on the upper surface of the connecting plate 231, and the base 234 is fixed to the top end of the dust-proof cover 213; both ends of the support member 232 are rotatably connected to the connecting plate 231 and the base 234 respectively; both ends of the electric telescopic member 233 are rotatably connected to the connecting plate 231 and the base 234 respectively.

[0113] Specifically, the clamping plate 235 fixed on the upper surface of the connecting plate 231 can be used to form a stable connection with the robotic arm 110. By extending or shortening, the electric telescopic member 233 can accurately adjust the angle of the lead ash filtering device 210. When lifting the lead liquid and lead ash, the electric telescopic member 233 extends, causing a change in the device angle, so that the lead liquid and lead ash are more likely to transfer to the funnel 212 under the action of gravity, ensuring the smooth progress of the filtering process.

[0114] In some embodiments, the above-mentioned system further includes a lead output unit 400. The lead output unit 400 includes a lead extruder 410, a lead conveying pipe 420, and a flow sensor 430; the input end of the lead conveying pipe 420 is connected to the lead furnace 140, the output end is connected to the lead extruder 410, and the flow sensor 430 is arranged inside the lead conveying pipe 420.

[0115] Specifically, the lead extruder 410 extrudes the lead material into the lead sheath of the submarine cable. The flow sensor is arranged inside the lead conveying pipe 420, which can accurately measure the flow rate of the lead liquid in real time. The volume or mass flow rate of the liquid is converted into an electrical signal, so that the operator or the control system can timely understand the conveying situation of the lead liquid.

[0116] Figure 7 Schematic flowchart of the production control method for the submarine cable sheath provided by the embodiments of this application. As Figure 7As shown, this embodiment details the production control method for submarine cable sheaths. The production control method for submarine cable sheaths is used in the control unit of the above-mentioned submarine cable sheath production system, and the specific implementation method includes the following steps:

[0117] Step S701: Obtain the image data transmitted by the positioning camera.

[0118] Specifically, the positioning camera captures the production area in real time and collects the image information in the environment.

[0119] Step S702: Perform positioning analysis and image recognition on the image data to obtain the robotic arm data and the data of the item below the robotic arm. The robotic arm data includes the robotic arm position data and the robotic arm angle, and the item data includes the item category and the item angle.

[0120] Specifically, the target objects can be identified and located by extracting the significant features of the robotic arm and the item from the image, such as edges, corner points, textures, etc. For example, the contour edge of the robotic arm can be used as an important feature of its position information, and the features such as the shape, color, and texture of the item can be used to determine its category.

[0121] By converting the pixel coordinates in the image into actual space coordinates, the positions of the robotic arm and the item in the three-dimensional space can be determined. The process can be achieved through perspective transformation and coordinate conversion using the internal and external parameter matrices of the camera. The internal parameter matrix includes parameters such as the focal length and optical center of the camera, and the external parameter matrix represents the position and orientation of the camera relative to the world coordinate system.

[0122] By tracking the movement trajectories of the robotic arm and the item in the image sequence, their position changes and movement trends can be estimated. This can be achieved using methods such as the optical flow method and the difference method to obtain the dynamic position information of the robotic arm and the item.

[0123] Feature extraction and classification of the image can be achieved by using algorithms such as convolutional neural networks (CNNs) in deep learning. Through pre-labeled sample training, the convolutional neural network can automatically learn the feature representations of different objects in the image and can accurately identify and classify new images. For example, a CNN model can be trained to identify different types of submarine cable sheath materials, tools, or other related items. It is also possible to pre-store some template images of known items, and then match the real-time captured images with the templates to determine the category of the item according to the similarity.

[0124] The robotic arm position data includes the two-dimensional or three-dimensional coordinate positions of the joints of the robotic arm, which can be represented by a Cartesian coordinate system or a joint angle coordinate system. The robotic arm angle data is the rotation angle of each joint of the robotic arm. By obtaining the angle data of the robotic arm, the position and orientation of its end effector can be calculated, thereby achieving precise control of the robotic arm.

[0125] The article angle is the orientation and posture of the article in the image, expressed as the angle with the horizontal direction or the vertical direction. The article angle data can determine the placement state and direction of the article, providing a reference for the operation of the robotic arm. Conducting positioning analysis and image recognition on the image data can provide data support for the production control of the submarine cable sheath, thereby contributing to the precise manipulation and management of the robotic arm and the article, and improving production efficiency and quality.

[0126] Step S703: Generate action process information based on the robotic arm data and the article data.

[0127] Specifically, the action process information generated by comprehensively considering the actual data of the robotic arm and the article can effectively improve the overall production efficiency.

[0128] Step S704: Generate a robotic arm control instruction based on the action process information, and the robotic arm control instruction is used to control the robotic arm to execute a control operation.

[0129] Specifically, convert the action process information into a control instruction that conforms to the instruction format, and fill in each field of the instruction according to the position point information in the trajectory data and the motion requirements of the robotic arm. Based on the image analysis and the generated action process information, the robotic arm can achieve high-precision motion; according to the article data recognized by the image, the robotic arm can accurately perform operations such as grasping, placing, and driving the lead ash filtering device to clean the ash, reducing the need for manual operation by personnel, reducing the occurrence of scalding and lead poisoning situations, and effectively improving the safety of production.

[0130] In some alternative embodiments, in the above step S703, it includes:

[0131] Step a1, generate a movement path according to the robotic arm position data and the preset target position.

[0132] Specifically, the process of generating the movement path includes: extracting the angle information of each current joint from the robotic arm data, and determining the current position of the end effector of the robotic arm in the workspace through forward kinematics calculation; meanwhile, obtaining the position information in the item data to clarify the position coordinates where the target item is located. Starting from the current position of the robotic arm, randomly sample points in the workspace through existing path planning algorithms such as the RRT algorithm, and try to find a path that can reach the item position and avoid obstacles. Through the path planning algorithm, calculate the movement path from the current position of the robotic arm to the target item position. The path can be composed of continuous poses, and each pose corresponds to a specific position and posture of the robotic arm in the workspace.

[0133] Step a2: Compare the item angle and the robotic arm angle to obtain the angle adjustment data.

[0134] Specifically, obtain the angle information of the item from the item data. The angle information describes the orientation and posture of the item in the image. Meanwhile, extract the joint angle information from the robotic arm data; compare the item angle with the current angle of the end effector of the robotic arm and calculate the angle difference between the two to obtain the angle adjustment data. The comparison can be carried out by transforming the coordinates of the item angle to the same coordinate system as the end effector of the robotic arm for comparison. The angle adjustment data is the angle that the end effector of the robotic arm needs to adjust to align with the angle of the item, facilitating the robotic arm to grasp the item.

[0135] Step a3: Select the corresponding execution information from the preset database according to the item category.

[0136] Specifically, the database stores the execution information corresponding to various types of items, including grasping methods, operation parameters, processing procedures, etc.

[0137] Step a4: Generate item grasping information based on the movement path, angle adjustment data, and item category.

[0138] Specifically, determine the pose and time point of the robotic arm when approaching the item according to the movement path; combine the angle adjustment data to calculate the specific angle that the end effector of the robotic arm needs to reach at the moment of grasping; determine the grasping method and force according to the execution information; generate item grasping information including grasping pose, angle, grasping method, and force, etc.

[0139] Step a5: Generate action process information based on the item grasping information and the execution information.

[0140] Specifically, generate accurate and reliable action process information by integrating the information.

[0141] In some alternative embodiments, the above method further includes:

[0142] Step b1: Obtain the lead liquid property data inside the lead delivery pipe and the flow rate data of the flow sensor.

[0143] Specifically, the property data of the lead liquid includes density, viscosity, temperature, etc. The flow rate data of the flow sensor is the flow velocity of the lead liquid in the lead delivery pipe.

[0144] Step b2: Obtain the lead sleeve thickness data by analyzing the flow rate data and the lead liquid property data.

[0145] Specifically, through comprehensive analysis and calculation of the flow rate and the lead liquid property data, the lead sleeve thickness data can be calculated in real time. For example: Calculate the mass flow rate (M) through the lead liquid medium density (ρ1) and the volume flow rate (Q). The formula is as follows:

[0146] Mass flow rate (M) = Medium density (ρ1) × Volume flow rate (Q)

[0147] Obtain the actual consumption of alloy lead ingots for each cable core by accumulation.

[0148] In the material consumption and thickness fitting system, thickness fitting is to add a laser velocimeter after lead extrusion. According to the solid lead alloy density (ρ2), the outer diameter (D) of the cable core after lead extrusion, and the actual production speed (V), calculate and fit the average thickness t of the lead sleeve.

[0149] Taking 127 / 220kV 3×1000 as an example, the process requirement for the nominal thickness is 3.7mm. During normal production, the flow velocity measured by the lead liquid flow velocity measuring device at the Ω pipe position is 2.92L / min. According to the lead liquid medium density (ρ1) of 11.3g / cm 3 Calculate:

[0150] Unit conversion: 2.92L / min = 2920ml / min = 2920cm 3 / min

[0151] Mass flow rate (M) = Medium density (ρ1) × Volume flow rate (Q)

[0152] = 2920cm 3 / min × 11.3g / cm 3

[0153] = 32996g / min

[0154] The calculated mass flow rate (M) is 32996g / min.

[0155] According to the solid lead alloy density (ρ2) of 11.34g / cm 3 、the actual outer diameter (D) of the cable core after lead extrusion is 101.3mm, and the actual production speed (V) is 2.6m / min, calculate:

[0156] According to the formula:

[0157] Mass flow rate (M) = Actual material consumption of alloy lead ingots (M2) × Actual production speed (V)

[0158] Calculate that the actual material consumption of alloy lead ingots (M2) ≈ 12690.77 g / m

[0159] Unit conversion: Actual material consumption of alloy lead ingots M2 (g / m) = Actual material consumption of alloy lead ingots M1 (kg / km)

[0160] Then according to the formula:

[0161] Actual material consumption of alloy lead ingots (M1) = Π × (Actual outer diameter of the cable core after lead extrusion (D) - Average thickness of the lead sheath t) × Average thickness of the lead sheath t × Solid lead alloy density (ρ2)

[0162] By calculation, the average thickness of the lead sheath t is approximately 3.648 mm.

[0163] Step b3, compare the lead sheath thickness data with the preset thickness range to obtain a comparison result.

[0164] Specifically, the preset thickness range is a numerical range preset based on product quality requirements or industry standards. By comparing the actual lead sheath thickness data with the preset range, it is possible to intuitively determine whether the currently produced lead sheath meets the quality requirements. If the thickness is within the range, it indicates that the production process is in a normal state; if it exceeds the range, adjustment is required. When it exceeds the range, it is necessary to determine the specific method of adjusting the lead liquid flow rate according to whether the comparison result shows it is too thick or too thin, so that the lead sheath thickness is within the preset thickness range.

[0165] Step b4, adjust the lead liquid flow rate according to the comparison result, and return to the step of obtaining the flow data of the flow sensor in the lead delivery pipe until the lead sheath thickness data is within the preset thickness range.

[0166] Specifically, adjusting the lead liquid flow rate according to the comparison result forms a dynamic adjustment process. This dynamic adjustment can continuously adapt to various changing factors in the production process, such as minor fluctuations in the properties of the lead liquid and changes in the equipment state. By continuously obtaining new flow data and recalculating the lead sheath thickness, and repeatedly making adjustments, the lead sheath thickness is finally stabilized within the preset range, realizing the closed-loop control of the production process. By obtaining the flow data and calculating the thickness again after each adjustment, the production process can gradually approach stability, producing lead sheaths within the preset thickness range, effectively ensuring production efficiency and product quality.

[0167] In some alternative embodiments, the weight of the cast alloy lead ingot can also be measured by installing a gravity sensor on the support column of the robotic arm. The lead output weight per unit time can be calculated based on the lead liquid property data and the flow rate data of the flow sensor, and the input amount of the alloy lead ingot by the robotic arm can be adjusted according to the lead output weight.

[0168] In the embodiments of the present invention, action process information is generated by identifying and analyzing an image, and then a control instruction generated based on the action process information meets the requirements of the instruction format, can accurately guide the operation of the robotic arm, realize high-precision movement of the robotic arm, accurately complete operations such as grasping, placing, and dust cleaning, reduce manual intervention, reduce risks, and improve production safety and quality.

[0169] Figure 8 It is a schematic structural diagram of a submarine cable sheath production control device provided by an embodiment of the present application. As Figure 8 shown, the submarine cable sheath production control device 80 includes an acquisition module 801, an image processing module 802, a generation module 803, and a control module 804. Among them

[0170] The acquisition module 801 is used to acquire image data transmitted by a positioning camera.

[0171] The image processing module 802 is used to perform positioning analysis and image recognition on the image data to obtain robotic arm data and data of the item below the robotic arm. The robotic arm data includes robotic arm position data and robotic arm angle, and the item data includes item category and item angle.

[0172] The generation module 803 is used to generate action process information according to the robotic arm data and the item data.

[0173] The control module 804 is used to generate a robotic arm control instruction based on the action process information.

[0174] In a possible design, the generation module 803 is specifically used for:

[0175] Generate a movement path according to the robotic arm position data and a preset target position;

[0176] Compare the item angle with the robotic arm angle to obtain angle adjustment data;

[0177] Select corresponding execution information from a preset database according to the item category;

[0178] Generate item grasping information through the movement path, the angle adjustment data, and the item category;

[0179] Generate action process information based on the item grasping information and the execution information.

[0180] In a possible design, the device further includes a thickness control module 805, and specifically, the thickness control module 805 is configured to:

[0181] Obtain the lead liquid property data in the lead delivery pipe and the flow data of the flow sensor;

[0182] Analyze the flow data and the lead liquid property data to obtain the lead sleeve thickness data;

[0183] Compare the lead sleeve thickness data with a preset thickness range to obtain a comparison result;

[0184] Adjust the lead liquid flow rate according to the comparison result, and return to the step of obtaining the flow data of the flow sensor in the lead delivery pipe until the lead sleeve thickness data is within the preset thickness range.

[0185] The submarine cable sheath production control device provided in this embodiment can be used to execute the above-mentioned submarine cable sheath production control method, and its implementation principle and technical effect are similar, which will not be elaborated here in this embodiment.

[0186] Figure 9 FIG. is a schematic hardware structure diagram of the submarine cable sheath production control device provided in an embodiment of the present invention. As Figure 9 shown, the submarine cable sheath production control device 90 includes: at least one processor 901 and a memory 902. Optionally, the submarine cable sheath production control device 90 further includes a communication component 903. Among them, the processor 901, the memory 902, and the communication component 903 are connected through a bus 904.

[0187] In a specific implementation process, at least one processor 901 executes the computer execution instructions stored in the memory 902, so that at least one processor 901 executes the above-mentioned submarine cable sheath production control method.

[0188] The communication component 903 can perform data interaction with the server.

[0189] The specific implementation process of the processor 901 can refer to the above method embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here in this embodiment.

[0190] In the above Figure 9In the illustrated embodiment, it should be understood that the processor may be a central processing unit (CPU for short), or other general-purpose processors, digital signal processors (DSP for short), application specific integrated circuits (ASIC for short), etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly implemented by the execution of the hardware processor, or by the combination of the hardware and software modules in the processor.

[0191] The memory may include high-speed RAM memory and may also include non-volatile storage NVM, such as at least one disk memory.

[0192] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0193] This application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the processor executes the computer-executable instructions, the above-mentioned production control method for submarine cable sheaths is realized.

[0194] For the above-mentioned computer-readable storage medium, the above-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a disk or an optical disc. The readable storage medium can be any available medium accessible by a general-purpose or special-purpose computer.

[0195] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be part of the processor. The processor and the readable storage medium can be located in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in a device.

[0196] The division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Additionally, the couplings or direct couplings or communication connections shown or discussed among each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical, or other forms.

[0197] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0198] Furthermore, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0199] If a function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0200] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0201] It should be further noted that although the steps in the flowchart are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0202] It should be understood that the above device embodiments are only illustrative, and the devices of this application can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0203] In addition, without special instructions, in each embodiment of this application, the functional units / modules can be integrated in one unit / module, or each unit / module can exist physically alone, or two or more units / modules can be integrated together. The above integrated unit / module can be implemented in the form of hardware or in the form of a software program module.

[0204] When the integrated unit / module is implemented in the form of hardware, the hardware can be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes but is not limited to transistors, memristors, etc. Unless otherwise specified, the processor can be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC, etc. Unless otherwise specified, the storage unit can be any suitable magnetic storage medium or magneto-optical storage medium, such as resistive random access memory (RRAM), dynamic random access memory (DRAM), static random access memory (SRAM), enhanced dynamic random access memory (EDRAM), high-bandwidth memory (HBM), hybrid memory cube (HMC), etc.

[0205] When the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in various embodiments of this application. The aforementioned memory includes: USB flash drives, read-only memory (ROM), random access memory (RAM), mobile hard disks, magnetic disks, or optical discs, etc., all of which can store program codes.

[0206] In the above embodiments, the descriptions of each embodiment have their own focuses. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combinations of these technical features do not conflict, they should all be considered as the scope described in this specification.

[0207] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include well-known common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and examples are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the following claims.

[0208] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A submarine cable sheath production system, characterized in that, Including: A lead supply unit, a lead slag cleaning unit, and a control unit; The lead supply unit includes a robotic arm, a positioning camera, a conveyor chain, and a lead furnace; the positioning camera is fixedly connected to the robotic arm, and one end of the conveyor chain close to the lead furnace faces the lead inlet of the lead furnace; the robotic arm grabs an alloy lead ingot from a preset position and places the alloy lead ingot on the conveyor chain, and transports the alloy lead ingot to the lead inlet of the lead furnace through the conveyor chain; The lead slag cleaning unit includes a robotic arm, a positioning camera, a lead ash filtering device, and a collector; the positioning camera is fixedly connected to the robotic arm; a connecting piece that can be clamped by the robotic arm is provided at the top of the lead ash filtering device; the robotic arm moves the lead ash filtering and collecting device by clamping the connecting piece to fish out lead ash from the lead furnace and transport the lead ash into the collector; The control unit is used to obtain the image information of the positioning camera and perform operation control on the robotic arm according to the image information.

2. The system according to claim 1, wherein The robotic arm includes: a support column, a fixing plate, a claw, a pneumatic pump, and a telescopic device; a circular hole through which the piston rod of the pneumatic pump can pass is provided in the middle of the fixing plate; The support column is perpendicular to the fixing plate and fixedly connected to the fixing plate, the pneumatic pump is fixed between the two support columns, and one end of the claw is movably connected to the fixing plate; the telescopic device is arranged between the two claws and the top is connected to the end of the piston rod of the pneumatic pump.

3. The system according to claim 2, wherein The telescopic device includes: a retaining ring, a top plate, and a spring. The top plate is fixed to the top of the piston rod, the retaining ring is sleeved outside the piston rod, and the spring is sleeved outside the piston rod and the two ends are respectively abutted against the retaining ring and the top plate.

4. The system according to claim 1, characterized in that, The lead ash filtering device includes: a filter screen, a funnel, a dust-proof cover, a lead ash collecting pipe, and an air extraction pump; a plurality of leakage holes are provided on the funnel; The filter screen, the funnel, and the dust-proof cover are arc-shaped, and the edges of the funnel are respectively fixedly connected to the filter screen and the dust-proof cover to form an ellipsoidal structure with one side open; The dust-proof cover is provided with a collection port, one end of the lead ash collecting pipe is fixedly connected to the collection port, and the other end is communicated to the collector through the air extraction pump.

5. The system according to claim 4, characterized in that, The connecting piece includes: a connecting plate, a support member, an electric telescopic member, and a base; A clamping plate is fixed on the upper surface of the connecting plate, and the base is fixed to the top of the dust-proof cover; the two ends of the support member are respectively rotatably connected to the connecting plate and the base; the two ends of the electric telescopic member are respectively rotatably connected to the connecting plate and the base.

6. The system according to claim 1, wherein Also including: A lead discharging unit, the lead discharging unit includes a lead extruder, a lead conveying pipe, and a flow sensor; the input end of the lead conveying pipe is connected to the lead furnace, the output end is connected to the lead extruder, and the flow sensor is arranged in the lead conveying pipe.

7. A production control method for submarine cable sheaths, characterized in that, The production control method for the submarine cable sheath is used for the control unit of the submarine cable sheath production system according to any one of claims 1 to 6 above, and the method includes: Obtaining the image data transmitted by the positioning camera; Perform positioning analysis and image recognition on the image data to obtain robotic arm data and item data under the robotic arm. The robotic arm data includes robotic arm position data and robotic arm angle, and the item data includes item category and item angle; Generate action process information based on the robotic arm data and the item data; Generate a robotic arm control instruction based on the action process information. The robotic arm control instruction is used to control the robotic arm to perform a control operation.

8. The method according to claim 7, characterized in that, The generating action process information according to the robotic arm data and the item data includes: Generate a movement path according to the robotic arm position data and a preset target position; Compare the item angle and the robotic arm angle to obtain angle adjustment data; Select corresponding execution information from a preset database according to the item category; Generate item grasping information through the movement path, the angle adjustment data, and the item category; Generate action process information based on the item grasping information and the execution information.

9. The method according to claim 7, characterized in that The method further includes: Obtain lead liquid property data in a lead pipe and flow data of a flow sensor; Analyze the flow data and the lead liquid property data to obtain lead sleeve thickness data; Compare the lead sleeve thickness data with a preset thickness range to obtain a comparison result; Adjust the lead liquid flow rate according to the comparison result, and return to the step of obtaining the flow data of the flow sensor in the lead pipe until the lead sleeve thickness data is within the preset thickness range.

10. A production control device for submarine cable sheaths, characterized in that, It includes: An acquisition module, configured to acquire image data transmitted by a positioning camera; An image processing module, configured to perform positioning analysis and image recognition on the image data to obtain robotic arm data and item data under the robotic arm. The robotic arm data includes robotic arm position data and robotic arm angle, and the item data includes item category and item angle; A generation module, configured to generate action process information based on the robotic arm data and the item data; A control module, configured to generate a robotic arm control instruction based on the action process information.

Images