An automatic cable lead-in method, system, product, and medium

Abstract

An automatic cable lead-in method, system, product, and medium are disclosed, relating to the field of handling thin or filamentous materials. The method includes: a robotic arm grasping the cable end and coordinating with a cable reel for reverse fine-tuning winding; a tension roller extending to adhere to the cable and recording its initial displacement as a tension reference; the robotic arm pulling the cable forward in a first mode; dynamically adjusting the cable release speed based on the roller displacement deviation to maintain traction synchronization; driving a drive wheel to press down on the cable when the cable reaches the cable storage mechanism; after confirming the drive wheel is under force, the pressure roller retracts synchronously and switches to a second mode; speed regulation is then dominated by cable storage displacement feedback to maintain constant lead-in tension; the robotic arm continues to pull until the cable end is accurately delivered to the terminal equipment. Implementing the technical solution provided in this application reduces the failure rate of automatic cable lead-in in complex mechanical structures.

Description

Technical Field

[0001] This application relates to the field of handling thin or filamentous materials, and more particularly to an automatic cable lead-in method, system, product, and medium. Background Technology

[0002] Currently, in the fields of railway transportation, aerospace, and large-scale industrial manufacturing, high-quality wire harness and cable processing is the foundation for ensuring the safe and stable operation of equipment. With the continuous improvement of electrification levels and the rapid development of intelligent manufacturing, the demand for automated processing of multi-strand, long-distance, and large-diameter cables is increasing, and complete production lines for wire conveying and processing are widely used in modern industrial production.

[0003] In related technologies, the initial threading preparation for wire processing equipment typically employs a lead-feed scheme combining robotic arm traction and open-loop constant parameter unwinding. Specifically, a robotic arm typically grips the end of the wire and pulls it along a pre-set straight trajectory around the equipment, causing it to sequentially cross or pass through fixed guide rollers, tension storage rollers, and straightening devices on the equipment. During this lead-feeding process, the unwinding motor at the spool end is usually set to rotate continuously at a constant speed or a fixed output torque, thereby releasing the required wire allowance for the pulling action of the front-end robotic arm until the robotic arm feeds the wire end into the inlet of the end-processing equipment.

[0004] However, since the radius of the wire reel varies with actual usage (e.g., the circumference differs greatly between a full reel and a half-empty reel), in the initial stage of wire lead generation, relying solely on a fixed unwinding motor speed makes it difficult to maintain real-time matching between the actual released wire speed and the linear motion speed of the robotic arm. When the unwinding speed lags behind the traction speed, the tension of the high-rigidity cable surges, potentially causing the robotic arm to detach or damage to the internal structure of the wire. When the unwinding speed is too fast, the wire sags and slips out of the grooves and becomes entangled when passing through complex guide wheels and storage wheels. This leads to an increase in the derailment and breakage rate and the failure rate of the automatic wire lead generation process. Summary of the Invention

[0005] This application provides an automatic cable lead-in method, system, product, and medium for reducing the automatic lead-in failure rate of cables in complex mechanical structures.

[0006] The first aspect of this application provides an automatic cable lead-out method, the method comprising: The robot arm is controlled to move to the cable reel station and grasp the cable end. The reel station is then controlled to perform a reverse winding at a preset fine-tuning speed, opposite to the cable unwinding direction. The tensioning module's pressure roller extends towards the cable until it is tightly pressed against the roller and under tension. The reverse winding of the reel station is then stopped, and the initial displacement value of the pressure roller is acquired as a preset reference value. The first unwinding control mode is activated, controlling the robot arm to pull the cable along a preset lead-in path and acquiring the pressure roller displacement feedback signal in real time. Based on the pressure roller displacement feedback signal and the preset reference value... The deviation of the value is monitored, and the unwinding speed of the wire reel station is adjusted in real time to keep the traction speed of the robot arm synchronized with the unwinding speed of the wire reel station. When the robot arm is detected to have pulled the cable to the position of the active wire storage mechanism, the active wire storage mechanism's storage wheel is driven to press down to contact the cable. After confirming that the storage wheel has contacted the cable and obtaining the displacement feedback signal of the wire storage mechanism, the second unwinding control mode is switched, and the pressure wheel of the tensioning module is driven to retract to release the first unwinding control mode. The robot arm is then driven to pull the cable until the end of the wire is sent into the terminal equipment.

[0007] In the above embodiments, a dual-mode seamless tension closed-loop control is constructed using a temporary tensioning roller and a main storage line moving roller. This compensates for the control blind spot where speed adjustment is impossible before the cable enters the main storage line buffer mechanism due to the lack of real tension feedback. Through relay-style dynamic monitoring of the two-stage mechanism, the instantaneous speed deviation between the robotic arm traction and the large-inertia reel unloading is eliminated. This reduces the risk of excessive tension or slack cable stacking caused by speed mismatch during the initial suspension stage of the cable, making the tension changes during the lead-in process more stable, and ultimately reducing the automatic lead-in failure rate of the cable in complex mechanical structures.

[0008] In conjunction with some embodiments of the first aspect, in some embodiments, after confirming that the cable storage wheel has contacted the cable and obtaining the displacement feedback signal of the cable storage mechanism, the system switches to the second unwinding control mode and simultaneously drives the pressure wheel of the tensioning module to retract to release the first unwinding control mode, specifically including: The active wire storage mechanism's storage wheel rises and retracts to a preset avoidance position. When the robot arm detects that the cable has passed the inlet and outlet sides of the active wire storage mechanism in sequence, the front wire stop bar on the inlet side and the rear wire stop bar on the outlet side are driven to extend towards the plane of the cable. With the cable laterally constrained within the anti-derailment limit boundary, the storage wheel in the preset avoidance position is driven to extend outward and press down vertically, forcibly guiding the cable into the force groove of the storage wheel. Based on the displacement feedback signal of the wire storage mechanism after the storage wheel is stressed, the second unwinding control mode is activated, and the pressure wheel of the tensioning module is simultaneously driven to retract to release the first unwinding control mode.

[0009] In the above embodiment, anti-derailment limiting boundaries are pre-constructed on both sides of the suspended cable by the timed extension of the guide rods, and then the driving wheel is driven to forcefully press down on the connector. This physical boundary restricts the lateral displacement caused by the release of internal stress when the rigid cable is connected in mid-air, so that the pressing wheel can still press the cable into the force groove even when the cable is oscillating. This provides a physical prerequisite for the smooth switching of tension control mode and improves the reliability of automated lead connector.

[0010] In conjunction with some embodiments of the first aspect, in some embodiments, the automatic cable lead-in system further includes a multi-stage intermediate guide assembly disposed between the active cable storage mechanism and the terminal equipment, driving a robotic arm to pull the cable until the cable end is fed into the terminal equipment, specifically including: The robot arm obtains its coordinate position during the traction process along the preset lead path; when the robot arm's coordinate position reaches the pre-safe distance of any target component in the multi-stage intermediate guide assembly, the robot arm drives the upper and lower movable parts of the target component to open to the maximum avoidance stroke; when the robot arm's gripper carrying the cable end passes through the physical boundary of the target component, the robot arm drives the upper and lower movable parts of the target component to retract inward and maintain it in a preset dynamic conduit gap state, wherein the dynamic conduit gap is greater than the outer diameter of the cable and less than the maximum avoidance stroke; after the cable end is sent into the terminal equipment, the robot arm controls the multi-stage intermediate guide assembly to fully close.

[0011] In the above embodiments, by maintaining the guide assembly in a dynamic gap state slightly larger than the wire diameter after the robot arm passes through, a frictionless sliding channel is reserved for the rigid cable traveling at high speed. Furthermore, the physical sidewalls are used to construct anti-derailment limiting boundaries, which suppresses the lateral swing of the cable during long-distance suspended traction, avoids jamming caused by premature component closure and cable detachment caused by excessive avoidance, and improves the success rate of the cable automatically passing through the multi-stage guide assembly.

[0012] In conjunction with some embodiments of the first aspect, in some embodiments, the pressure roller of the driving tensioning module extends toward the cable until the cable is tightly against the pressure roller, specifically including: The pressure roller of the drive tensioning module extends towards the cable and hovers at the preset initial detection position; during the reverse winding process at the wire reel station at a preset fine-tuning speed, the amount of reverse extrusion displacement generated on the pressure roller after the cable is tensioned is monitored, which is opposite to the direction of the pressure roller's extension; when it is determined that the amount of reverse extrusion displacement reaches the preset tension critical threshold, the reverse winding of the wire reel station is stopped, and the pressure roller displacement value at this time is determined as the initial displacement value.

[0013] In the above embodiment, by suspending the tensioning roller near the cable to sense the tension, and coordinating with the reverse fine-tuning winding of the large-inertia coil, the brake is applied only after the cable reverses and presses against the roller to reach the set tension threshold. This tightens the slack in the cable before the lead wire, putting the cable in a taut state and reducing the tension impact when the robot starts to pull.

[0014] In conjunction with some embodiments of the first aspect, in some embodiments, after activating the second unwinding control mode based on the displacement feedback signal of the wire storage mechanism after the wire storage wheel is subjected to force, the method further includes: The system obtains the initial force displacement value of the wire storage wheel at the moment the cable is introduced, and sets a target working zero position lower than the initial force displacement value within the stroke range of the active wire storage mechanism. While the robot maintains the preset lead wire path traction, the wire release speed of the wire reel station is controlled to be greater than the traction speed of the robot. The excess wire is pressed downward into the wire storage groove of the active wire storage mechanism using the vertical downward bias force of the wire storage wheel to construct a U-shaped physical buffer wire loop. When the wire storage wheel descends to the target working zero position according to the displacement feedback signal of the wire storage mechanism, the wire release speed of the wire reel station is made to follow the traction speed of the robot again and enter a dynamic equilibrium state.

[0015] In the above embodiments, by using a brief over-layout in conjunction with the downward pressure of the driving wheel while the machine is in a non-stop traction state, a deep U-shaped physical buffer loop is actively and forcibly constructed in the taut suspended cable. This solves the problem that heavy rigid cables are prone to breakage in the initial stage of connection due to their lack of elasticity. It transforms the straight taut state into a U-shaped loop structure with a certain buffer stroke, reducing tension fluctuations during speed adjustment and improving the buffering adaptability of the lead wire system to speed changes.

[0016] In conjunction with some embodiments of the first aspect, in some embodiments, after the reverse winding of the brake coil station is completed when it is determined that the reverse extrusion displacement has reached a preset tension critical threshold, the following further steps are included: The axial locking status information of the reel station is obtained; when the reel station is detected to have a rotational displacement within a preset range opposite to the reverse winding direction after braking, the pressure roller of the tensioning module is driven to continue to extend outward according to the amount of rotational displacement compensation; when it is determined that the increased pressure depth stroke of the pressure roller and the amount of rotational displacement reach tension balance, the current position of the pressure roller is locked, and the static braking torque of the reel station is maintained. In the above embodiment, when the heavy-duty, high-inertia reel brakes to a stop and reverses and slips, the tensioning pressure roller is actively driven to extend outward to compensate for the rotational displacement. Due to the large inertia of the large reel, the slight unwinding rotation during braking can easily cause the originally taut rigid cable to sag instantly; the active extension compensation of the pressure roller absorbs the unexpected excess cable ejected by the reel slipping, re-establishes and maintains the force balance of the system, compensates for the slack caused by the reel braking rebound, keeps the cable taut before traction, and reduces tension fluctuations when the robot starts.

[0017] In conjunction with some embodiments of the first aspect, in some embodiments, the wire feeding speed at the wire reel station is adjusted in real time based on the deviation between the pressure roller displacement feedback signal and a preset reference value, specifically including: The system acquires the current traction displacement of the robotic arm as it moves away from the tensioning module along the preset lead wire path; establishes a positive compensation mapping relationship between the preset reference value and the traction displacement of the robotic arm; based on the acquired current traction displacement, the preset reference value is dynamically superimposed and corrected in real time using the positive compensation mapping relationship to generate a dynamic tension reference value; the real-time acquired pressure roller displacement feedback signal is compared with the dynamic tension reference value to calculate the deviation; and the wire feeding speed of the wire reel station is adjusted in real time according to the deviation to keep the traction speed of the robotic arm synchronized with the wire feeding speed of the wire reel station while maintaining a constant actual sag trajectory of the cable.

[0018] In the above embodiment, the tension reference value is dynamically adjusted in real time according to the continuous increase of the traction displacement during the long-span traction process of the robotic arm. Since the accumulated suspended weight of heavy, large-section cables continuously increases as the suspended span lengthens, the cable will gradually sag if a fixed tension reference value is maintained. This dynamic compensation mechanism counteracts the increasing gravitational load by adjusting the tension reference value as the traction distance increases, reducing the amount of cable sag and maintaining a relatively stable suspension trajectory for the cable during long-distance traction.

[0019] In a second aspect, embodiments of this application provide an automatic cable lead-out system, which includes: one or more processors and a memory; the memory is coupled to the one or more processors, and the memory is used to store computer program code, which includes computer instructions, and the one or more processors call the computer instructions to cause the automatic cable lead-out system to perform the method described in the first aspect and any possible implementation thereof.

[0020] Thirdly, embodiments of this application provide a computer program product containing instructions that, when the computer program product is run on an automatic cable lead-in system, cause the automatic cable lead-in system to perform the method described in the first aspect and any possible implementation thereof.

[0021] Fourthly, embodiments of this application provide a computer-readable storage medium including instructions that, when executed on an automatic cable lead-out system, cause the automatic cable lead-out system to perform the method described in the first aspect and any possible implementation thereof.

[0022] Understandably, the automatic cable lead-in system provided in the second aspect, the computer program product provided in the third aspect, and the computer storage medium provided in the fourth aspect are all used to execute the automatic cable lead-in method provided in the embodiments of this application. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods, and will not be repeated here.

[0023] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. This application constructs a dual-mode seamless tension closed-loop control system using a temporary tensioning roller and a main storage line moving roller. This compensates for the control blind spot where speed adjustment is impossible before the cable enters the main storage line buffer mechanism due to the lack of real tension feedback. Through relay-style dynamic monitoring of the two-stage mechanism, the instantaneous speed deviation between the robotic arm traction and the large-inertia reel unloading is eliminated. This reduces the risk of excessive tension or slack cable stacking caused by speed mismatch during the initial suspension stage of the cable, making the tension change during the lead-in process more stable, and ultimately reducing the automatic lead-in failure rate of the cable in complex mechanical structures.

[0024] 2. This application pre-constructs anti-derailment limiting boundaries on both sides of the suspended cable by using time-extending guide rods, and then drives the driving wheel to forcefully press down the connector. This physical boundary restricts the lateral displacement of the rigid cable due to the release of internal stress when it is connected in mid-air, allowing the pressing wheel to press the cable into the force groove even when the cable is oscillating. This provides a physical prerequisite for the smooth switching of tension control mode and improves the reliability of the automated lead connector.

[0025] 3. This application maintains the guide assembly in a dynamic gap state slightly larger than the wire diameter after the robot arm passes through, reserving a frictionless sliding channel for the high-speed rigid cable. It also uses physical sidewalls to construct anti-derailment limiting boundaries, suppressing the lateral swing of the cable during long-distance suspended traction, avoiding jamming caused by premature component closure and cable detachment caused by excessive avoidance, and improving the success rate of automatic cable passage between multi-stage guide assemblies. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structural layout of the automatic cable lead-in system provided in the embodiments of this application; Figure 2 This is a flowchart illustrating an automatic cable lead-out method in an embodiment of this application. Figure 3 This is another flowchart illustrating the automatic cable lead-out method in the embodiments of this application; Figure 4 This is a schematic diagram of an exemplary hardware structure of the automatic cable lead-in system in an embodiment of this application. Detailed Implementation

[0027] The terminology used in the following embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to and includes any or all possible combinations of one or more of the listed items.

[0028] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0029] In related technologies, the initial threading preparation for wire processing equipment typically employs a lead-feed scheme combining robotic arm traction and open-loop constant-parameter unwinding. Specifically, a robotic arm grips the end of the wire and pulls it along a pre-set straight track around the equipment, sequentially crossing or passing through various guide and storage devices on the equipment. Simultaneously, the unwinding motor at the spool continuously rotates at a constant speed to unwind the wire. However, since the spool diameter changes continuously with actual usage, relying solely on a fixed unwinding speed makes it difficult to match the actual released wire speed with the robotic arm's traction speed in real time. During the initial long-distance suspension phase before the cable enters the main storage buffer mechanism, the system lacks real tension feedback, resulting in a speed control blind spot: when the unwinding speed lags, the tension of a high-rigidity cable surges instantaneously, easily causing the grippers to detach or the wire to be damaged; when unwinding too quickly, the heavy cable sags and easily slips out of the groove and becomes entangled when crossing complex structures. This initial speed mismatch and blind spot ultimately leads to an increase in the derailment, jamming, and wire breakage rates of the equipment during the automatic wire lead-out process.

[0030] In this embodiment, the first unwinding mode is activated at the initial stage of robotic arm traction, utilizing a temporarily extended tension roller to obtain feedback signals in real time to synchronize the unwinding and winding speeds. Once the cable is pulled to the active cable storage mechanism and the driving roller presses down onto the main cable pipe, the system seamlessly switches to the second unwinding mode and retracts the temporary tension roller. This technical solution utilizes the temporary tension roller and the main cable storage driving roller to construct a dual-mode seamless tension closed-loop control, compensating for the control blind spot where speed adjustment is impossible before the cable enters the main cable storage mechanism due to a lack of real tension feedback. Through relay-style dynamic monitoring of the two-stage mechanism, the instantaneous speed deviation between robotic arm traction and high-inertia reel unwinding is eliminated, avoiding the risk of instantaneous breakage or slack cable stacking caused by speed mismatch during the initial long-span suspension phase of heavy cables. This achieves a smooth transition of force throughout the entire cable path, ultimately reducing the automatic cable lead-in failure rate in complex mechanical structures.

[0031] To more clearly illustrate the hardware implementation basis of the automatic wire-leading method in this application, please refer to [link / reference needed]. Figure 1 , Figure 1 This is a schematic diagram illustrating the overall structural layout of the automatic cable lead-in system provided in an embodiment of this application. Figure 1 As shown, the automatic cable lead-in system mainly includes a robotic arm, a cable reel station, a tensioning module, an active cable storage mechanism, and terminal equipment. The components are arranged sequentially along the cable routing direction shown in the figure.

[0032] The specific positional relationships are as follows: the tensioning module is positioned between the wire reel station and the active wire storage mechanism, used to extend its pressure roller downwards to contact the cable and sense tension in the early stages of wire introduction; the active wire storage mechanism is positioned between the tensioning module and the terminal equipment, and its interior contains a wire storage wheel capable of vertically lifting and lowering with a large stroke, used to press down and connect the cable in the middle and later stages of wire introduction; the terminal equipment is located at the very end of the wire routing direction and has an inlet for receiving the cable. A robotic arm is positioned above the entire system path, serving as a mobile power source for performing wire traction, configured to move to the wire reel station to grasp the cable end and pull the cable along a preset path into the terminal equipment at the end. All timing actions in the following method embodiments of this application are collaboratively completed based on the above physical structure and positional relationships.

[0033] Figure 2 This is a flowchart illustrating the automatic cable lead-out method used in the embodiments of this application, including the following steps: S101. Control the robotic arm to move to the cable reel station and grab the end of the cable. Control the cable reel station to perform reverse winding at a preset fine-tuning speed, which is opposite to the cable unwinding direction.

[0034] The automatic cable lead-in method provided in this embodiment is applied to an automatic cable lead-in system. The system includes a robot, a cable reel station, a tensioning module, an active cable storage mechanism, and a terminal device. The tensioning module is located between the cable reel station and the active cable storage mechanism, and the active cable storage mechanism is located between the tensioning module and the terminal device. The components are arranged sequentially along a preset cable delivery path and work together to achieve a fully automatic through-process operation from taking the cable from a multi-level complex mechanical structure to delivering the cable.

[0035] In this context, the robotic arm refers to an automated gripping and executing mechanism with X, Y, and Z-axis linear movement and C-axis rotation capabilities; the cable reel station represents a power platform that carries heavy-duty cable reels and has active unwinding and rewinding drive capabilities; the cable end refers to the initial segment wound around the outermost part of the reel and awaiting introduction into subsequent mechanical structures; and the preset fine-tuning speed refers to a constant low-speed reverse rotation parameter formulated and pre-written into the control system based on the minimum stable speed of the reel motor in low-frequency conditions and the safe stress limit of the heavy-duty cable. It should be noted that, in this embodiment, the direction in which the cable is pulled off the reel is defined as the unwinding direction.

[0036] Specifically, the automatic cable lead-in system drives the robotic arm's three-axis linkage and gripper rotation to move to the standby position based on pre-stored coordinates; the robotic arm's grippers close to secure the cable end; due to the uncontrollable natural sag and spatial slack of heavy cables in manual hanging or initial static states, direct stretching can easily cause the robotic arm to detach or the cable reel to vibrate violently; at this time, the cable reel motor is triggered to apply a reverse torque; the cable reel station slowly performs reverse winding and take-up at a set fine-tuning speed, opposite to the unloading direction; the system determines the cable status by monitoring the real-time current feedback of the servo motor; when the real-time feedback current is calculated: I current =I no_load +ΔI tension And ΔI tension Once the set tension threshold is reached, confirm that cable slack has been avoided.

[0037] In some embodiments, the process of controlling the robotic arm to grasp and reverse wind can be implemented in several ways: Optionally, the real-time three-dimensional coordinates of the wire end are obtained through a vision recognition system; these three-dimensional coordinates are converted into drive pulse signals for each axis of the robotic arm and the grasping action is executed; after grasping, a reverse winding at a preset fine-tuning speed is implemented by sending a fixed-frequency reversal command to the frequency converter of the wire reel station. Optionally, the robotic arm is driven to blindly grasp by calling the fixed wire grasping coordinate points pre-taught and stored in the control system; after grasping is confirmed, the torque mode of the servo motor of the wire reel station is activated; a small reverse target torque is set and continuously applied to the wire reel axis to achieve adaptive flexible winding reversal. It is understood that other methods can also be used to achieve initial grasping and slack avoidance, which are not limited here.

[0038] S102, the pressure roller of the drive tensioning module extends towards the cable until the cable is tightly attached to the pressure roller and is under tension. Then, the reverse winding of the brake coil station is performed, and the initial displacement value of the pressure roller is obtained as a preset reference value.

[0039] Among them, the pressure roller of the tensioning module represents a sensing contact component with the ability to extend and retract perpendicular to the cable routing direction and with a limiting groove on its outer periphery; the initial displacement value refers to the absolute mechanical position data of the pressure roller at the moment when it just physically contacts the taut cable during its extension stroke; the preset reference value refers to the initial displacement value being converted from analog to digital and stored in a register as a standard zero-position reference parameter for subsequent dynamic tension adjustment.

[0040] Specifically, the system sends an electrical signal to drive the tensioning cylinder or electric push rod to move; the pressure roller approaches vertically along the lower trajectory of the cable; when the pressure roller touches the high-rigidity cable, its extension is resisted by the physical obstruction of the cable; the displacement sensor or encoder inside the system collects the travel data of the pressure roller in real time; when the displacement change rate calculation result of multiple consecutive sampling cycles approaches zero, i.e., dv / dt≈0, it is determined that the pressure roller has completely adhered to the cable and reached a state of mechanical equilibrium; at this time, the current displacement sensor AD value is latched and set as the preset reference value for this lead-out task.

[0041] In some embodiments, the extension of the pressure roller and the acquisition of the reference value can be achieved in several ways: Optionally, a proportional valve is controlled to output a constant low-pressure gas to the tensioning cylinder; the cylinder pushes the flexible contact cable of the pressure roller until the gas pressure reaches equilibrium and stops; the value of the magnetostrictive displacement sensor fixed outside the cylinder barrel is read as a preset reference value. Optionally, a stepper motor is driven to drive a lead screw slide to advance the pressure roller; during the slide advancement, the load rate register of the stepper driver is polled at high frequency; when the load rate jumps above a set threshold, the motor is immediately stopped and the current cumulative absolute value of the pulse is read as a preset reference value. It is understood that other methods can also be used to achieve pressure roller contact and initial data acquisition, which are not limited here.

[0042] In some embodiments, when starting with a heavy, high-inertia spool and when there is an unpredictable initial slack between the spool and the robot, the initial tension can be established by the flexible edge-probing and tightening of the pressure roller, and the secondary dynamic extension of the pressure roller can be used to compensate for the braking rebound of the spool, thereby avoiding the starting impact of the lead wire and maintaining a constant initial tension.

[0043] Specifically, given the physical characteristic that direct traction of high-rigidity heavy cables can easily induce impact loads, the system first drives the tensioning module's pressure roller to extend towards the cable and hover at a preset initial detection position, serving as a physical probe for tension sensing. This preset initial detection position refers to fixed coordinate parameters calibrated and written into the system by those skilled in the art based on the three-dimensional spatial interference boundary of the system's mechanical structure and the theoretical sag curvature of the cable through multiple trial runs and measurements. While the robotic arm remains stationary, the cable reel station reverses its winding at a preset fine-tuning speed, gradually tightening the cable and bringing it closer to and tightly against the hovering pressure roller. The system monitors the amount of reverse compression displacement generated on the pressure roller after the cable is tightened using high-frequency sampling. When this reverse compression displacement reaches a preset tension critical threshold (a pressure setting value pre-calibrated based on the cable material stiffness and cylinder piston area), the system immediately issues an electrical braking command to the cable reel station to stop the reverse winding and determines the absolute coordinates of the pressure roller at this moment as the initial displacement value. This closed-loop flexible tightening eliminates the blind spot caused by sudden tension changes at the start-up moment. However, for reels carrying hundreds of kilograms of heavy cables, the enormous mechanical inertia during braking often causes a slight axial rebound and slippage after the motor brakes engage. Without intervention, the newly established initial tension will instantly drop to zero. Therefore, after braking, the system simultaneously acquires the axial locking status information of the reel's servo encoder. Once it detects a rotational displacement of the reel within a preset range opposite to the reverse winding direction after braking (the rotational displacement refers to the allowable mechanical rebound safety range calculated based on the maximum rotational inertia of the fully loaded reel and the braking torque of the motor brake), the system immediately drives the pressure roller of the tensioning module to extend outward according to the release length corresponding to the rotational displacement, through algorithm feedforward compensation. The increased pressure depth of the pressure roller actively absorbs and counteracts the slack caused by the reel's rebound. When it is determined that the increased pressure depth of the pressure roller and the rotational displacement of the reel reach tension balance in geometric space, the system locks the current position of the pressure roller and maintains the static braking torque of the reel position. This cross-component secondary compensation mechanism ensures that the system has a stable and quantifiable initial stretching state before the first unwinding control mode is activated.

[0044] By first probing the edge and then reverse-winding to avoid uncontrollable natural slack, and then using the displacement compensation of the tensioning roller to counteract the mechanical inertial rebound during coil braking, this dual flexible counterbalancing mechanism of physical space and mechanics eliminates the hidden dangers of sudden tension drop and change before the robot arm starts, avoids impact load at the moment of starting, and reduces the lead wire failure rate.

[0045] S103. Activate the first unwinding control mode, control the robot arm to pull the cable along the preset lead wire path, and obtain the pressure roller displacement feedback signal in real time.

[0046] Among them, the first unwinding control mode refers to the initial transition control algorithm that relies solely on the displacement data of the temporary tensioning module to perform feedforward and feedback fusion speed regulation before the cable enters the main storage mechanism; the preset lead path refers to the collision-free flight trajectory of the robotic arm planned in advance by spatial geometry to avoid multi-stage conductor components and straighteners along the way; the pressure roller displacement feedback signal represents the analog or digital data of the up and down floating caused by the real-time change of cable tension during the lead-in process.

[0047] Specifically, the robotic arm accelerates and translates towards the target direction along a straight line or planned curve according to its internal interpolation algorithm; the heavy cable is pulled off the reel; during this dynamic process, if the amount of cable released from the reel is less than the amount pulled by the robotic arm, the cable tension increases instantaneously, forcing the pressure roller to deform downwards; if the amount of cable released from the reel is greater than the amount pulled, the cable tension decreases, and the pressure roller floats upwards under the action of internal reset force; the high-speed A / D conversion module in the system continuously reads the voltage fluctuation of the displacement sensor with a millisecond-level sampling period; this voltage fluctuation is substituted into the linear calibration formula: D real =k·V sensor The physical displacement fluctuation calculated in +b forms a continuous pressure wheel displacement feedback signal data stream.

[0048] In some embodiments, the acquisition of lead wire traction and feedback signals can be achieved in several ways: Optionally, multiple consecutive G-code instructions are sent to the robot controller to execute traction along complex paths; the deflection angle of the pressure roller swing arm is measured using a photoelectric encoder; and the angle pulse signal is transmitted in real time to the main control PLC via bus communication as a pressure roller displacement feedback signal. Optionally, a smooth displacement trajectory of the robot is planned using an adaptive non-uniform B-spline curve algorithm to reduce acceleration and deceleration impacts; a high-precision laser rangefinder is installed directly above the pressure roller guide rail; the laser rangefinder continuously illuminates the pressure roller backplate and outputs a 4-20mA distance-changing current as a pressure roller displacement feedback signal. It is understood that other methods can also be used to achieve displacement trajectory execution and physical quantity monitoring, which are not limited here.

[0049] S104. Based on the deviation between the pressure roller displacement feedback signal and the preset reference value, adjust the wire feeding speed of the wire reel station in real time to keep the traction speed of the robot arm synchronized with the wire feeding speed of the wire reel station.

[0050] Among them, deviation refers to the algebraic difference between the real-time dynamic displacement value of the pressure roller and the calibrated preset reference value; wire feeding speed refers to the real-time linear speed at the outermost physical radius of the current coil, converted from the rotational angular velocity of the spindle motor at the wire reel station; traction speed refers to the absolute motion vector speed of the robot end effector in the spatial coordinate system; synchronization means that the wire feeding speed and traction speed achieve dynamic matching on the time axis, so that the cable maintains a constant tension state in the suspended section between the two.

[0051] Specifically, the system performs this operation in a closed loop throughout the entire operating cycle of the first unwinding control mode; the microprocessor compares the real-time pressure roller displacement feedback signal with the preset reference value; and calculates the deviation value E(t)=D. real (t)−D base The deviation value is then used as an input to the PID control algorithm engine; according to the formula V out (t)=K p E(t)+K i ∫E(t)dt+K d The target speed compensation amount is calculated using (dE(t) / dt); this compensation amount is superimposed on the current feedforward traction speed of the robot arm; the final wire feeding speed command is generated and sent to the wire reel servo driver; through high-frequency real-time speed adjustment, the speed difference caused by the continuous reduction of the wire reel diameter or the speed change of the robot arm is instantly smoothed out, avoiding the breakage or wire stacking of heavy cables due to speed misalignment.

[0052] In some embodiments, in special scenarios involving the synchronous traction of multi-strand heavy-duty cables with large self-weight and large inertia, if the robot arm executes a rapid acceleration command, relying solely on post-adjustment based on deviation will cause the cable reel to struggle to keep up due to its large rotational inertia, resulting in a momentary tension peak that pulls on the equipment. To address this, a feedforward inertia compensation step can be added. The acceleration derivative (jerk) planned in the robot arm motion controller is extracted as a lead compensation factor. Given the known rotational inertia of the cable reel, the additional driving torque required to overcome inertia is pre-calculated using Newton's second law rotation formula. Based on the PID output result of the deviation adjustment, this additional driving torque is directly injected into the torque loop of the cable reel servo driver in the form of current feedforward. Thus, just before the physical displacement deviation occurs, the cable reel motor is forced to output a large current for acceleration, achieving lag-free synchronization in high-inertia scenarios.

[0053] In some embodiments, deviation calculation and synchronous speed regulation can be achieved in several ways: Optionally, a standard PID instruction block can be called within the PLC; the displacement deviation can be used as a process variable, and a preset reference value can be used as the setpoint (SP) input to the instruction block; the PID instruction block can directly output an analog voltage signal to control the frequency setpoint port of the coil inverter to achieve wire feeding speed regulation. Optionally, fuzzy control logic can be used to replace the traditional PID; the deviation value and its rate of change can be fuzzified into a membership set such as "large, medium, small"; the speed increment adjustment coefficient can be output by looking up a table; this coefficient can be multiplied by the real-time traction speed base fed back by the robot arm bus to obtain the final wire feeding speed for execution. It is understood that other methods can also be used to achieve dynamic synchronous speed regulation, which are not limited here.

[0054] S105. When the robot arm detects that the cable has reached the location of the active cable storage mechanism, the active cable storage mechanism's storage wheel is driven to press down to contact the cable.

[0055] Among them, the active wire storage mechanism refers to a large volumetric device used to store U-shaped buffer wire rings in conventional wire feeding operations. In this embodiment, it has active avoidance and takeover functions; the wire storage wheel refers to the counterweight or pneumatic force-bearing roller inside the mechanism that can be raised and lowered along a vertical slide rail with a large stroke.

[0056] Specifically, the system backend tracks the absolute position of the robot arm on the X-axis in the world coordinate system in real time; when the calculation determines that the cable carried by the robot arm just passes through the vertical projection plane of the inlet and outlet of the active cable storage mechanism, the mechanism handover sequence is triggered; the system releases the electromagnetic lock on the cable storage wheel hovering at the highest avoidance position; the servo motor or proportional cylinder drives the cable storage wheel to descend vertically according to the preset downward speed curve; the V-shaped or U-shaped groove at the bottom of the wheel is precisely aligned with the heavy cable spanning below the mechanism; until the bottom of the groove of the wheel is completely pressed against the outer sheath surface of the cable, the physical interception and contact in space is completed.

[0057] In some embodiments, when traction is applied to heavy cables with high rigidity and severe internal stress, the cables are prone to uncontrollable lateral swinging when suspended over long spans. If the storage wheel directly presses down at this time, it may cause bias or cause the cable to slip out of the wheel groove, resulting in a serious derailment. To address this, an anti-swing limiting step can be added. Before the storage wheel is pressed down, the front guide rod on the cable entry side and the rear guide rod on the cable exit side of the active cable storage mechanism are driven separately to extend towards the plane of the cable. These two sets of rigid guide rods are used to pre-construct anti-derailment physical boundaries with a width slightly larger than the cable's outer diameter on both sides of the cable's lateral direction. After the cable's lateral swing amplitude is forcibly constrained by these physical boundaries, the step of driving the storage wheel to press down vertically is then executed. The cable is then securely and forcibly guided into the force-bearing groove of the driving wheel along the inner wall of the guide rod.

[0058] In some embodiments, position monitoring and downward contact can be achieved in several ways: Optionally, the arrival status can be determined by comparing the feedback value of the robot arm's X-axis encoder with the pre-stored coordinate difference of the cable storage mechanism; after triggering the command, the lifting motor of the cable storage wheel is controlled to reverse in a fixed torque mode; the wheel falls smoothly under its own weight until it contacts the cable and causes a sudden torque change, stopping the fall. Optionally, a high-sensitivity through-beam photoelectric sensor is installed on the side wall of the cable outlet end of the cable storage mechanism; when the robot arm gripper blocks the light beam and then restores light transmission, it is determined that the traction has passed the position; the upper chamber air inlet valve of the double-acting cylinder is opened, forcibly pushing the cable storage wheel downward to press the cable. It is understood that other methods can also be used to achieve arrival determination and wheel takeover, which are not limited here.

[0059] S106. After confirming that the wire storage wheel has contacted the cable and obtaining the displacement feedback signal of the wire storage mechanism, switch to the second unwinding control mode and synchronously drive the pressure wheel of the tensioning module to retract to release the first unwinding control mode.

[0060] Among them, the displacement feedback signal of the wire storage mechanism represents the analog or digital data of the stroke generated on the vertical guide rail after the wire storage wheel presses the cable and the cable tension fluctuates; the second unwinding control mode is a control mode in which the active wire storage mechanism acts as the tension sensing source. In the second unwinding control mode, the unwinding speed of the wire reel station is adjusted in real time according to the displacement feedback signal of the active wire storage mechanism to maintain constant cable tension; constant tension means that during the unwinding and traction process, the downward force of the cable in the buffer loop is maintained within the safe dead zone range that allows the material to undergo slight elastic deformation.

[0061] Specifically, once the data is deemed valid, a hard switch occurs in the system logic control. The control source pointer inside the PLC seamlessly shifts from the tension module register to the wire storage mechanism register. Within milliseconds of the switch, a solenoid valve reversal command is issued, forcibly evacuating the air pressure in the tension module cylinder, causing its pressure roller to quickly retract upwards and exit the physical contact area, thus eliminating interference from the first unwinding control mode. In the new second unwinding control mode, based on the inverse relationship between displacement and tension, the displacement feedback signal of the wire storage mechanism is extracted. The Speed ​​algorithm is then applied. spool =f(D storage, (dD storage / dt)) When the wire storage wheel is lifted by high tension, the wire is released faster; when the wire storage wheel is lowered due to slack, the wire is released slower, thus ensuring that the tension of the heavy cable in the second half of the lead wire is always constant near the reference working zero position set by the system.

[0062] In some embodiments, seamless switching of control modes and tension maintenance can be achieved in several ways: Optionally, two independent PID operation instruction blocks are used in the PLC program; through a Boolean logic switch variable, when a force confirmation signal is received from the wire feeding wheel, the speed control source of the frequency converter is directly switched from PID1 to PID2; simultaneously, the reset macro program of the tensioning module is triggered. Optionally, a master-slave cross-attenuation algorithm is used for soft switching; within the 1-second handover transition period, with time as the variable t, the wire feeding speed of the wire reel is controlled by the formula V=(1−t)×f. tension +t×f storage As t smoothly transitions from 0 to 1, the tensioning module slowly retracts, and the wire storage mechanism gradually takes over, achieving a change in flexible control mode. It is understood that other methods can also be used to achieve switching between multiple control sources and constant speed regulation; this is not limited to these methods here.

[0063] S107. Drive the robotic arm to pull the cable until the cable end is delivered into the terminal equipment.

[0064] Among them, the terminal equipment refers to the final destination of the cable path, such as a cable feeder, straightening and cutting machine or other cable-consuming end machinery used for subsequent processing; the cable end feeding means that the robot accurately inserts the end of the cable into the feed port of the terminal equipment and meets the minimum physical depth required for its clamping or engagement.

[0065] Specifically, after all dynamic handovers are completed and the tension system is operating stably in the second unwinding control mode, the final feeding stage of the lead wire is executed; the robot continues to rapidly approach the remaining preset radial endpoint coordinates of the lead wire; during this process, the robot pulls the cable through the pre-opened conductor assembly, straightener assembly, and positioning wheels, among other complex mechanical structures; the system continuously monitors the Euclidean distance between the robot's end-effector coordinates and the calibration coordinates of the terminal equipment's inlet. 2 =(X m -X t ) 2 +(Y m -Y t ) 2 +(Z m -Z t ) 2 When the distance gradually decreases until it is less than the set insertion depth threshold, the system determines that the insertion has been successful; the robot arm stops linear movement, controls the gripper cylinder to exhaust and open to release the cable, and then lifts out along the original path and returns to the initial standby position, marking the end of a single fully automatic through-wire task.

[0066] In some embodiments, the final feeding and resetting actions can be achieved in several ways: Optionally, point-to-point (PTP) motion can be performed based on the absolute position of a pre-mapped three-dimensional spatial coordinate system; after the robot reaches the theoretical coordinates, it directly performs the opening action; subsequently, it rises to a safe height along the Z-axis and then performs a high-speed return. Optionally, a visual miniature camera or a through-beam fiber optic sensor can be installed inside the feed inlet of the terminal device; when the robot pulls the cable close to the end point, it reduces to a creeping speed; when the camera or sensor detects that the cable end has entered the valid judgment area, it sends a high-level interrupt signal to the host computer; after receiving the interrupt, the host computer immediately stops the robot and triggers the opening and releasing procedure. It is understood that other methods can also be used to achieve precise end-point cable delivery, which is not limited here.

[0067] In the above embodiments, a dual-mode seamless tension closed-loop control is constructed using a temporary tensioning roller and a main storage line moving roller. This compensates for the control blind spot where speed adjustment is impossible before the cable enters the main storage line buffer mechanism due to the lack of real tension feedback. Through relay-style dynamic monitoring of the two-stage mechanism, the instantaneous speed deviation between the robotic arm traction and the large-inertia reel unloading is eliminated. This reduces the risk of excessive tension or slack cable stacking caused by speed mismatch during the initial suspension stage of the cable, making the tension changes during the lead-in process more stable, and ultimately reducing the automatic lead-in failure rate of the cable in complex mechanical structures.

[0068] In some other embodiments of this application, when a rigid traction cable is suspended and handed over, lateral swinging may occur due to the release of internal stress, causing the downward-pressing wheel to derail. Using the automatic cable lead-in method provided in this application, an anti-derailment boundary can be pre-constructed with a cable-stopping rod to constrain the swinging cable and guide it into the force-bearing groove.

[0069] like Figure 3 The diagram shown is another flowchart illustrating the automatic cable lead-out method provided in this application, which includes the following steps: S201. Control the robotic arm to move to the cable reel station and grab the end of the cable. Control the cable reel station to perform reverse winding at a preset fine-tuning speed, which is opposite to the cable unwinding direction.

[0070] S202, the pressure roller of the drive tensioning module extends towards the cable until the cable is tightly attached to the pressure roller and is under tension. Then, the reverse winding of the brake coil station is performed, and the initial displacement value of the pressure roller is obtained as a preset reference value.

[0071] S203. Activate the first unwinding control mode, control the robot arm to pull the cable along the preset lead wire path, and obtain the pressure roller displacement feedback signal in real time.

[0072] S204. Based on the deviation between the pressure roller displacement feedback signal and the preset reference value, adjust the wire feeding speed of the wire reel station in real time to keep the traction speed of the robot arm synchronized with the wire feeding speed of the wire reel station.

[0073] In some embodiments, in special scenarios where a heavy cable with a large proportion of traction is being pulled and the lead path includes long unsupported horizontal spans, real-time compensation can be achieved by establishing a dynamic mapping relationship between the reference value and the traction displacement, thereby avoiding misjudgment of tension caused by gravity suspension over long spans and maintaining a constant actual sag trajectory of the cable.

[0074] To address the catenary effect caused by heavy cables suspended over long spans, the system first acquires the current traction displacement of the robotic arm as it moves away from the tensioning module along a preset lead path. This preset lead path refers to a collision-free flight trajectory of the robotic arm, pre-planned using spatial geometry and written into the controller to avoid interference components along the way. Due to the cable's heavy weight, the total weight of the cable suspended in the air increases linearly as the robotic arm pulls it further. If the system maintains a fixed preset reference value (this preset reference value is a reference zero position calibrated and stored based on the mechanical absolute position data when the tensioning roller initially contacts the cable and the force is balanced), the continuously increasing sag will press the roller downwards, causing the control system to mistakenly believe that the horizontal traction tension is too high. This leads to the incorrect command of the cable reel to accelerate cable release, ultimately causing severe cable sagging or even dragging and jamming on the ground. The system pre-establishes a positive compensation mapping relationship between the preset reference value and the robotic arm's traction displacement within the microprocessor. This involves deriving a linear or curvilinear compensation function. A larger traction displacement indicates a larger suspended weight. Based on the acquired current traction displacement, the system uses this mapping function to dynamically adjust the original preset benchmark value in real time. This is equivalent to continuously raising / hardening the target of the tension comparison as the distance increases, thus generating a dynamic tension benchmark value resistant to gravity interference. Subsequently, the system compares the high-speed sampled real-time pressure roller displacement feedback signal with this new dynamic tension benchmark value to calculate the true tension deviation after eliminating gravity interference. Finally, the PID closed-loop control algorithm adjusts the wire release speed at the reel station in real time based on this true horizontal deviation, eliminating the contamination of the tension sensing system by gravity variables.

[0075] During long-span traction, the increasing weight of the suspended cable will press down on the tensioning wheel, causing the system to misjudge excessive tension and incorrectly accelerate the cable release. Dynamically adjusting the tension reference value with displacement offsets the physical displacement interference caused by this increase in gravity, ensuring that the deviation calculated by the system only reflects the true horizontal traction force. This avoids excessive cable release and, while maintaining a constant long-distance drooping trajectory, keeps the robot's traction speed synchronized with the cable release speed at the reel station.

[0076] S205. When the robot arm detects that the cable has reached the location of the active cable storage mechanism, the active cable storage mechanism's storage wheel is driven to press down to contact the cable.

[0077] Steps S201-S205 and Figure 2 Steps S101-S105 in the illustrated embodiment are similar and can be found in the descriptions of steps S101-S105, which will not be repeated here.

[0078] S206. Control the active wire storage mechanism to raise the wire storage wheel and retract it to the preset avoidance position.

[0079] Among them, the active cable storage mechanism refers to an automated cable buffer device with internal volume and independent tension adjustment capability; the cable storage wheel refers to a solid or hollow pulley installed inside the mechanism that can move in two-dimensional or three-dimensional space along a set trajectory to apply a downward biasing force; the preset avoidance position refers to the highest retreat point in space derived by those skilled in the art through three-dimensional modeling interference analysis based on the maximum physical shape envelope size of the robotic gripper and the safety clearance requirements.

[0080] Specifically, the system's main control unit, through the coordinated operation of a servo driver and a pneumatic control valve, first releases the gravity or pneumatic counterweight force used to tighten the cable by the cable storage wheel under normal operating conditions. Then, it drives the Z-axis vertical lifting motor to forcibly lift the cable storage wheel along the vertical guide rail to the maximum height allowed by the mechanism structure at a set climbing speed. After the wheel reaches its highest point, to prevent lateral friction and collision between the leading edge of the wheel and the large cable-grabbing robot that is about to pass at high speed, the system further triggers a horizontal push-pull mechanism, retracting the entire wheel horizontally backward in a direction away from the theoretical cable routing plane within the mechanism. At this time, the microprocessor calculates in real time the safety interference margin equation between the current position coordinates of the wheel and the expected trajectory of the robot: (Margin + R safe_clearance ) 2 =(Y wheel -Y robot_path ) 2 +(Z wheel -Z robot_path ) 2 When the calculated interference margin is greater than 0, the system determines that the avoidance action has been performed and sends a feedback signal to allow the robot arm to enter.

[0081] In some embodiments, the raising and retraction of the wire storage wheel to avoid collisions can be achieved in several ways: Optionally, a high-frequency pulse is sent to the lifting servo motor to drive the precision ball screw to raise the wheel assembly to the upper limit photoelectric switch trigger position; after receiving the upper limit arrival signal, the two-position five-way solenoid valve is controlled to inflate the rodless chamber of the retraction cylinder; the cylinder piston rod retracts rapidly, driving the wheel support to move horizontally backward along the linear guide until it touches the tail mechanical dead stop to complete the collision avoidance. Optionally, a multi-axis absolute value servo robotic arm built into the wire storage mechanism is used as the supporting and executing component of the wheel; a three-dimensional interpolation coordinate command containing the rising height and horizontal retraction depth is sent to the servo main control board; the servo robotic arm executes a smooth and continuous spatial curve retraction movement according to the command, finally suspending the wire storage wheel in a preset three-dimensional safety blind zone. It is understood that other methods can also be used to achieve large-stroke active spatial avoidance, which is not limited here.

[0082] S207. When it is detected that the robotic arm pulls the cable across the inlet and outlet sides of the active cable storage mechanism in sequence, the front cable stop bar on the inlet side and the rear cable stop bar on the outlet side are driven to extend toward the plane where the cable is located.

[0083] Among them, the inlet side and outlet side refer to the physical inlet plane and outlet boundary plane of the active cable storage mechanism housing along the direction of cable delivery; the front cable block and the rear cable block refer to rigid pneumatic or electric telescopic components that are independently installed at the front and rear ends of the cable storage mechanism, have hardened surfaces, and can provide lateral physical obstruction.

[0084] Specifically, due to the small spacing between adjacent cables in multi-line parallel operation scenarios, the risk of lateral interference is high. The control system utilizes a high-speed bus to calculate the absolute position coordinates (X) of the robot's X-axis servo encoder in real time. m When the system compares and obtains the robot arm's coordinates X... m Greater than the input line side coordinate Xi n Add the system-defined safety response bias D offset When (i.e., when condition X is satisfied) m Xi n +D offset The system outputs a level signal to drive the pneumatic solenoid valve of the front cable guide rod, causing the front cable guide rod to quickly extend laterally behind the cable routing plane, blocking the cable from deforming and swinging inward. The robotic arm then continues forward through the mechanism's interior, and when the coordinates are compared to determine X... m Greater than the X coordinate of the outgoing side out +D offset At the same time, the rear guide bar performs the same lateral extension action. This follow-up extension timing logic, which is triggered sequentially based on the real-time position of the robotic arm, avoids the guide bar extending too early and thus avoiding a serious head-on physical collision with the robotic arm's gripper, which is moving at high speed.

[0085] In some embodiments, the extension of the guide rods can be achieved sequentially and individually in several ways: Optionally, the encoder of the servo driver outputs a pulse signal via frequency division and sends it to a high-speed counter module for accumulation; when the accumulated pulse value reaches the calibration set value representing the position on the input side, the PLC immediately sets the solid-state relay to activate the forward rotation circuit of the front guide rod motor, causing it to extend; when the accumulated pulse value continues to increase to the calibration set value representing the position on the output side, the PLC sets another output relay again to cause the rear guide rod motor to rotate forward and extend into place. Optionally, high-response-frequency laser beam switches are installed on the corresponding structural frames on the input and output sides as absolute position trigger sensors; when the robot blocks and passes through the laser beam on the input side, causing a steep falling edge in the photoelectric analog signal, the microcontroller is triggered to drive the telescopic cylinder of the front guide rod through the IO board; when the robot completely passes through the laser beam on the output side, the rear guide rod cylinder is similarly triggered to extend. It is understood that other methods can also be used to achieve high-precision timing-following extension drive, which is not limited here.

[0086] S208. With the cable laterally constrained within the anti-derailment limit boundary, drive the cable storage wheel, which is in a preset avoidance position, to extend outward and press down vertically, forcibly guiding the cable into the force groove of the cable storage wheel.

[0087] Among them, the anti-derailment limit boundary refers to the narrow, topless three-dimensional space with a physical width slightly larger than the outer diameter of the heavy cable, which is formed by the outer walls of the front and rear guide rods completed by the aforementioned extension action and the fixed side plate of the wire storage mechanism; the force-bearing wheel groove refers to the mechanical groove opened on the outer circumferential surface of the wire storage wheel, with a cross-section of U-shaped, V-shaped or trapezoidal, and specifically used to accommodate, center and correct the high-rigidity wire.

[0088] Specifically, at this point, the cable is suspended inside the mechanism. Although its large weight and internal stress from coiling make it prone to uncontrollable left-right whipping and lateral deformation, it is contained within the anti-derailment limit boundary forcibly constructed by the front and rear cable guide rods. The system control program first drives the horizontal push-pull cylinder to move, pushing the cable storage wheel, which has been waiting in the preset avoidance position, outward horizontally above the plane where the cable is located. Through mechanical limiting, it ensures that the vertical center symmetry plane of the wheel groove precisely coincides with the geometric center plane of the anti-derailment limit boundary (this alignment deviation is controlled by the closed-loop correction formula: Y=|Y wheel_center -(Y front_bar +Y back_bar) / 2 | <Tolerance). After the confirmation in the space pair is completed, the system releases the electromagnetic brake of the vertical lifting mechanism, and the wire storage driving wheel quickly presses down vertically along the guide rail. Since the high-rigidity cable is clamped by the wire blocking rods on both sides, restricting the lateral escape path, even if the cable vibrates and jumps violently, it cannot escape the physical coverage projection area of the pressing wheel groove directly above. Finally, it is forced and smoothly guided to the center of the bottom end of the force-bearing wheel groove by the powerful wedge-shaped guiding force generated when the wire storage driving wheel presses down.

[0089] In some embodiments, in the special case where multiple heavy cables with 6 wires are densely and并排transported simultaneously and are prone to adjacent wire jumping and intrusion due to mechanical vibration, the method of wheel groove visual contour recognition and lateral air flow obstacle clearance can also be used to achieve the technical effects of preventing the driving wheel from mispressing adjacent wires and reducing the failure rate of lead wire jamming in the dense wire arrangement area. Specifically, during the short downward hovering period before the driving wheel vertically presses down and contacts the cable, the system activates the high-speed micro industrial camera installed under the wire storage driving wheel bracket and grabs high-frequency images towards the anti-derailment limit boundary directly below. The edge extraction and connected component calculation algorithms are used to process the image pixel matrix to identify the number of outer edge contours of the cable cylinders existing within the boundary. If the image algorithm calculates that the number of connected components N cable > 1, it is determined that there is a violent wire jumping and intrusion of an adjacent already laid cable into the current pressing and交接operation area. The system immediately issues an emergency stop command to suspend the downward pressing action of the driving wheel, and instantly triggers the high-pressure air nozzle groups installed并列on both sides of the driving wheel to喷射pulsed oblique high-pressure air flow into the non-current lead target coordinate area within the anti-derailment limit boundary, and uses the巨大physical dynamic pressure of the high-pressure air flow to forcibly blow the intruding adjacent wire out of the anti-derailment boundary periphery. After continuously re-acquiring images and the algorithm confirms that N cable = 1, the system解除the emergency stop and then continues to execute the operation of the wire storage driving wheel pressing down vertically and forcibly guiding the target cable into the force-bearing wheel groove.

[0090] It should be noted that there are some unclear or incorrect expressions in the original Chinese text (such as "并排" which may be a wrong word, and "交接" which is not clear in this context), and the translation is done as accurately as possible based on the existing text.In some embodiments, the safe extension and forced insertion of the moving wheel can be achieved in several ways: Optionally, a double-stroke cylinder system consisting of two single-rod cylinders connected in series executes two stages of pneumatic logic sequentially; firstly, the high-flow intake valve of the first air path is opened to push the front cylinder horizontally to the external mechanical limit to complete the precise lateral extension of the moving wheel; then, the large-diameter fast exhaust valve of the second air path is opened, and the gravity of the counterweight block causes the vertical lifting slider to carry the moving wheel in free fall along the linear roller guide to press and support the cable. Optionally, a high-rigidity two-dimensional rectangular coordinate robot arm is used to carry the cable storage moving wheel assembly; the main control PLC board, based on the interpolation coordinate instructions internally analyzed, first sends position control pulses to the horizontal Y-axis servo motor to realize the translation of the moving wheel and its precise suspension above the cable; then, the control mode is hot-switched to torque loop mode, and a constant downward torque command is sent to the vertical Z-axis servo motor, causing the moving wheel to be forcibly squeezed into the anti-derailment limit boundary with continuous and constant physical pressure and tightly press the cable. It is understandable that other methods can also be used to achieve multi-dimensional spatial takeover actions, which are not limited here.

[0091] S209. Based on the displacement feedback signal of the wire storage mechanism after the wire storage wheel is subjected to force, activate the second unwinding control mode and synchronously drive the pressure wheel of the tensioning module to retract to release the first unwinding control mode.

[0092] Among them, the displacement feedback signal of the wire storage mechanism refers to the analog / digital data that reflects the absolute coordinate value or relative stroke change generated in the vertical guide rail axis after the wire storage wheel presses the lower layer cable and the cable tension fluctuates violently; the second unwinding control mode refers to the control logic during normal full-load operation when the main wire storage mechanism sensor is the only tension sensing source; the first unwinding control mode refers to the transition period control logic that relies on the temporary pressure wheel to maintain system synchronization in the initial stage.

[0093] Specifically, when the driven roller presses into the heavy cable, the extreme bending and compression of the cable generates a strong upward elastic reaction force that directly lifts the driven roller. A high-resolution linear displacement sensor mounted on the side of the driven roller lifting guide rail captures the minute fluctuations of the driven roller in real time and sends the voltage or current signal to the controller's ADC acquisition module for analog-to-digital conversion. The system's filtering algorithm continuously verifies this displacement value. When a displacement value jump is detected and exceeds the system's set threshold for displacement away from the gravity dead zone for multiple consecutive sampling periods, it is definitively determined that the cable storage driven roller has obtained stable and reliable physical tension support feedback. At this time, the main controller triggers the highest-priority internal interrupt, immediately activating the second unwinding control mode algorithm PID loop, with the cable storage mechanism displacement feedback signal as the main feedback variable, to calculate a new compensation amount for the cable reel unwinding speed: V new =K p2 e2+K i2 ∫e2dt+K d2(de2 / dt). To avoid extreme oscillations in the feedback signal and mechanical torque pulling caused by the dual displacement control sources at the moment of handover, within the same processor clock cycle when the new control mode is activated, the system drives the reversing solenoid valve of the tensioning cylinder to immediately exhaust air by setting the digital output terminal, forcing the pressure roller of the tensioning module to quickly retract upward under the action of the reset spring, exiting the physical interference zone of the cable, thereby canceling the failed first unwinding control mode.

[0094] In some embodiments, the seamless switching between precise force determination and control mode can be achieved in a variety of ways: Optionally, two sets of PID operation instruction block ladder diagrams with interlocking logic are written in the PLC control program; the millimeter-level real-time value fed back by the guide rope displacement gauge of the wire storage mechanism is continuously read using a high-speed analog input module; when the comparison instruction determines that the value is greater than the set force constant, the internal virtual intermediate relay contact is closed to connect the second mode subroutine operation circuit, and the normally closed end of the contact is used to simultaneously disconnect the enable terminal of the proportional pressure reducing valve of the tensioning module, causing the pressure roller to instantly lose pressure, exhaust air, and retract. Optionally, a distributed control architecture based on industrial real-time Ethernet (such as the EtherCAT protocol) can be used; the force in grams received by the miniature weighing sensor embedded in the suspension bearing of the cable reel is acquired in real time via microsecond-level high-speed PDO data frames; once the algorithm determines that the force in grams has undergone a step change and exceeds the system's inherent electromagnetic noise threshold, the bus master station immediately sends a control word switching command to the cable reel servo slave station, directly changing the synchronous control source dictionary object inside the servo, and simultaneously sending a forced retraction action command to the IO slave station responsible for the tensioning module. It is understood that other methods can also be used to achieve safe handover and sensor source switching between dual modes; this is not limited here.

[0095] In some embodiments, when high-rigidity heavy cables lack their own elasticity and there is no physical buffer margin in the mechanism at the initial handover stage, a U-shaped physical buffer loop can be constructed by actively over-laying the cable to avoid the risk of sudden stop and wire breakage during traction fine-tuning and to improve the dynamic shock absorption and buffering capability of the system.

[0096] Specifically, considering the physical characteristics of heavy, large-section cables that are difficult to stretch, at the instant the cable storage wheel takes over the cable, the cable remains in a straight, taut state in space, and the system's physical buffer is empty. At this moment, the system first acquires the initial force-displacement value of the cable storage wheel at the instant the cable is forcibly introduced (i.e., the coordinates of the wheel at the point of highest force). Within the effective vertical mechanical stroke range of the active cable storage mechanism, the microprocessor calculates and sets a target working zero position lower than this initial force-displacement value. Subsequently, while the robot arm maintains a constant speed traction along a preset lead path (this preset lead path refers to a collision-free safe flight path derived in advance by a geometric trajectory planning algorithm and written into the controller based on the three-dimensional spatial interference boundaries of various equipment levels on site), the control system sends an overclocking command to the servo driver at the cable reel station, forcing the cable release speed at the cable reel station to be greater than the current traction speed of the robot arm. This speed difference (V...) spool >V robot This process continuously generates excess wire between the pay-off and traction ends. Simultaneously, utilizing the significant weight of the wire storage wheel or the continuous vertical downward pressure applied by the cylinder, this excess wire, caused by the speed difference, is pressed downwards and gradually into the wire storage groove of the active wire storage mechanism. This artificially creates a deep U-shaped physical buffer loop within the originally straight cable section, causing the wheel to descend continuously. When the system detects, based on feedback from the linear displacement sensor of the wire storage mechanism, that the wire storage wheel has just descended to the set target working zero position, it indicates that the U-shaped buffer pool has reached its optimal safety capacity. The main control PLC instantly cuts off the speed deviation command, causing the pay-off speed at the wire reel station to drop back and strictly follow the traction speed of the robotic arm. The advantage of this approach is that, by utilizing the overshoot-loop establishment-synchronization timing sequence, the buffer margin is seamlessly initialized during non-stop traction, allowing the entire system to enter a dynamic equilibrium state capable of absorbing speed fluctuations.

[0097] Rigid cables initially appear taut and straight without any buffering, making them prone to breakage even with slight speed differences. By temporarily over-laying the cable and actively constructing a U-shaped loop by pressing down on the drive wheel, the taut, straight state is transformed into a U-shaped loop structure with a certain buffer stroke. This reduces tension fluctuations during speed regulation and improves the lead wire system's ability to buffer and adapt to speed changes.

[0098] S210: Drive the robotic arm to pull the cable until the cable end is delivered into the terminal equipment.

[0099] Step S210 and Figure 2 Step S107 in the illustrated embodiment is similar and can be found in the description of step S107, which will not be repeated here.

[0100] In some embodiments, when a heavy cable with extremely high internal stress is pulled through a long distance and filled with multiple levels of complex mechanical structures, the interference of the robotic gripper can be avoided by implementing a three-state adaptive cooperative control of maximum avoidance, dynamic gap, and complete closure on the multi-level intermediate guide components along the way, while restraining the lateral swing and derailment of the thick and stiff cable during the pulling process.

[0101] Specifically, when traction of heavy, large-section cables over long distances, the release of internal stress can easily cause violent lateral swinging. The system first relies on the internal bus to acquire the absolute coordinate position of the robot arm in real time during the traction process along the preset lead path (this preset lead path refers to a collision-free flight trajectory planned in advance by those skilled in the art based on the three-dimensional interference boundary of the field equipment through spatial geometry). When the robot arm approaches the multi-stage intermediate guide components (such as various straighteners, cable feed wheels, etc.) at high speed, the microprocessor continuously calculates the spatial distance between the leading edge of the robot arm gripper and the center surface of the target component at millisecond intervals. When the calculated coordinate position reaches the advance safety distance of the target component (this advance safety distance refers to the anti-collision advance trigger margin derived by those skilled in the art through kinematic formulas based on the maximum operating linear speed of the robot arm and the mechanical action delay of the cylinder), the system outputs a level signal in advance to drive the upper and lower moving parts of the target component (such as the upper and lower split roller brackets) to instantly open to the maximum avoidance stroke. However, when the robotic gripper detects that the cable end has just passed through the physical boundary of the target component, if the moving parts remain fully open, the high-rigidity cable, which is continuously being pulled through, will inevitably detach from the guide groove due to the swinging motion. If it closes directly, it will clamp the cable traveling at high speed, instantly generating huge frictional resistance and even breaking the cable. Therefore, the system drives the upper and lower moving parts of the target component to retract inward and hover at a preset dynamic conduit gap state by controlling the absolute position of the servo motor or outputting a specific mid-section voltage to the proportional valve of the cylinder. (This preset dynamic conduit gap refers to a semi-enclosed constraint size that provides physical sidewall obstruction without causing pressure, based on the nominal outer diameter of the heavy-duty cable plus radial runout tolerance, and determined through extensive field measurements). This dynamic conduit gap is strictly larger than the cable's outer diameter and smaller than the maximum avoidance stroke. The cable slides forward unimpeded in the tunnel, and any swinging motion will immediately impact the inner wall of the hovering roller and be forcibly corrected. Until the final step of the lead-in process, after the cable end is precisely fed into the engagement zone of the terminal equipment (such as a cable feeder), the system issues the final instruction to control all the multi-stage intermediate guide components along the way to overcome the rigidity of the cable and completely close and tighten it, locking the cable in the standard working position.

[0102] Rigid cables are prone to violent swinging and derailment during long-distance traction due to the release of internal stress. If the guide assembly is fully open, it cannot restrain the cable; if it is closed directly, it will jam the sliding cable. By introducing a dynamic conduit gap slightly larger than the cable diameter, a physical limit boundary to prevent swinging is constructed without increasing mechanical friction resistance, thus eliminating jamming and derailment faults during mid-journey traction.

[0103] In the above embodiment, before the cable is pressed down by the storage wheel, a narrow anti-derailment limiting boundary is constructed on both sides of the suspended cable using a cable-stopping rod. Since heavy rigid cables are prone to lateral swaying due to the release of internal stress at the moment of pressure, this physical boundary blocks the lateral escape path of the cable, thereby forcing the vertically pressing wheel to ignore the cable oscillation and press into the force-bearing wheel groove. This avoids serious faults such as pressure deviation, derailment, and heavy mechanical jamming caused by the dynamic handover of rigid cables in mid-air, and realizes the reliable handover of heavy, large-section cables by the automated system.

[0104] The following describes an exemplary automatic cable lead-in system 300 provided in an embodiment of this application. Figure 4 This is an exemplary hardware structure diagram of the automatic cable lead-in system 300 provided in the embodiments of this application.

[0105] In some embodiments, the automatic cable lead-in system 300 is a computer device or includes a computer device. The computer device includes a processor, memory, network interface, and input / output (I / O) interface connected via a system bus. The processor provides computing and control capabilities; the memory includes a non-volatile storage medium and internal memory; the non-volatile storage medium stores an operating system, computer programs, and a database; the internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium; the database stores data; and the network interface communicates with other external terminals or servers via a network connection.

[0106] To execute the method described in the embodiments of this application, the automatic cable lead-in system 300 further includes physical actuators such as a robotic arm, a cable reel station, a tensioning module, an active cable storage mechanism, and a terminal device. Specifically, the processor is electrically connected to the robotic arm, the cable reel station, the tensioning module, the active cable storage mechanism, and the terminal device via a system bus and the input / output (I / O) interface or network interface. When the computer program is executed by the processor, the processor outputs drive control commands to each of the aforementioned mechanical actuators and receives displacement feedback signals from the tensioning module and the active cable storage mechanism in real time to implement the method described in the embodiments of this application.

[0107] In some embodiments, the network interface may be a wired network interface; in other embodiments, it may be a wireless network interface. When the computer program is executed by a processor, it implements the methods described in the embodiments of this application.

[0108] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0109] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0110] As used in the above embodiments, depending on the context, the term "when..." can be interpreted as "if...", "after...", "in response to determining...", or "in response to detecting...". Similarly, depending on the context, the phrase "when determining..." or "if (the stated condition or event) is interpreted as "if determining...", "in response to determining...", "when (the stated condition or event) is detected", or "in response to detecting (the stated condition or event)".

[0111] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive), etc.

[0112] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

Claims

1. An automatic cable lead-in method, applied to an automatic cable lead-in system, characterized in that, The system includes a robotic arm, a wire reel station, a tensioning module, an active wire storage mechanism, and a terminal device. The tensioning module is disposed between the wire reel station and the active wire storage mechanism, and the active wire storage mechanism is disposed between the tensioning module and the terminal device. The method includes: The robot arm is controlled to move to the reel station and grab the end of the cable. The reel station is also controlled to perform reverse winding at a preset fine-tuning speed, which is opposite to the cable unwinding direction. The pressure roller of the tensioning module extends toward the cable until the cable is in close contact with the pressure roller and the cable is under tension. Then, the reverse winding of the reel station is braked, and the initial displacement value of the pressure roller is obtained as a preset reference value. The first unwinding control mode is activated, which controls the robotic arm to pull the cable along a preset lead wire path and acquires the pressure roller displacement feedback signal in real time. The first unwinding control mode is a control mode that adjusts the speed by relying on the pressure roller displacement feedback signal of the tensioning module before the cable enters the active wire storage mechanism. Based on the deviation between the pressure roller displacement feedback signal and the preset reference value, the wire feeding speed of the wire reel station is adjusted in real time to keep the traction speed of the robot arm synchronized with the wire feeding speed of the wire reel station. When the robot arm detects that it has pulled the cable to the location of the active cable storage mechanism, it drives the cable storage wheel of the active cable storage mechanism to press down and contact the cable. After confirming that the wire storage wheel has contacted the cable and obtaining the displacement feedback signal of the wire storage mechanism, the system switches to the second unwinding control mode and simultaneously drives the pressure wheel of the tensioning module to retract to release the first unwinding control mode. The second unwinding control mode is a control mode in which the active wire storage mechanism acts as the tension sensing source. In the second unwinding control mode, the wire unwinding speed of the wire reel station is adjusted in real time according to the displacement feedback signal of the active wire storage mechanism to maintain constant tension of the cable. The robotic arm is driven to pull the cable until the cable end is fed into the terminal device.

2. The method according to claim 1, characterized in that, After confirming that the cable storage wheel has contacted the cable and obtaining the displacement feedback signal of the cable storage mechanism, the system switches to the second unwinding control mode and simultaneously drives the pressure wheel of the tensioning module to retract to release the first unwinding control mode. Specifically, this includes: The active wire storage mechanism is controlled to raise and retract to a preset avoidance position; When the robot arm is detected to be pulling the cable past the inlet and outlet sides of the active cable storage mechanism in sequence, the front cable block on the inlet side and the rear cable block on the outlet side are driven to extend toward the plane of the cable in sequence. With the cable laterally constrained within the anti-derailment limit boundary, the cable storage wheel, which is in the preset avoidance position, is driven to extend outward and press down vertically, forcibly guiding the cable into the force-bearing groove of the cable storage wheel; the anti-derailment limit boundary is pre-constructed on both sides of the cable laterally using the extended front and rear cable storage rods. Based on the displacement feedback signal of the wire storage mechanism after the wire storage wheel is subjected to force, the second unwinding control mode is activated, and the pressure wheel of the tensioning module is simultaneously driven to retract to release the first unwinding control mode.

3. The method according to claim 1, characterized in that, The automatic cable lead-in system further includes a multi-stage intermediate guide assembly located between the active cable storage mechanism and the terminal device. Driving the robotic arm to pull the cable until the cable end is fed into the terminal device specifically includes: Obtain the coordinate position of the robotic arm during the traction process along the preset lead path; When the calculated safe distance between the robot arm's coordinate position and any target component in the multi-stage intermediate guide assembly is reached, the upper and lower movable parts of the target component are driven to open to the maximum avoidance stroke. When the robotic gripper detects that the wire end has passed through the physical boundary of the target component, it drives the up and down movable parts of the target component to retract inward and maintain them in a preset dynamic conduit gap state, wherein the dynamic conduit gap is greater than the outer diameter of the cable and less than the maximum avoidance stroke. After the wire end is fed into the terminal device, the multi-stage intermediate guide assembly is controlled to close completely.

4. The method according to claim 1, characterized in that, The process of extending the pressure roller of the tensioning module toward the cable until the cable is in close contact with the pressure roller specifically includes: The pressure roller of the tensioning module extends toward the cable and hovers at a preset initial detection position; During the reverse winding process at the coil station at the preset fine-tuning speed, the amount of reverse squeezing displacement generated on the pressure roller after the cable is tensioned is monitored, which is opposite to the extension direction of the pressure roller. When it is determined that the reverse extrusion displacement reaches the preset tension critical threshold, the reverse winding of the coil station is braked, and the displacement value of the pressure roller at this time is determined as the initial displacement value.

5. The method according to claim 2, characterized in that, After activating the second unwinding control mode based on the displacement feedback signal of the wire storage mechanism after the wire storage wheel is subjected to force, the method further includes: The initial force displacement value of the cable storage wheel at the moment the cable is introduced is obtained, and within the stroke range of the active cable storage mechanism, a target working zero position lower than the initial force displacement value is set; While the robotic arm maintains the preset lead wire path traction, the wire feeding speed of the wire reel station is controlled to be greater than the traction speed of the robotic arm. Using the vertical downward biasing force of the wire storage wheel, excess wire is pressed downward into the wire storage groove of the active wire storage mechanism to construct a U-shaped physical buffer wire loop; When the displacement feedback signal of the wire storage mechanism detects that the wire storage wheel has descended to the target working zero position, the wire feeding speed of the wire reel station is made to follow the traction speed of the robot arm and enter a dynamic equilibrium state again.

6. The method according to claim 4, characterized in that, When the reverse extrusion displacement is determined to reach a preset tension critical threshold, the reverse winding of the coil station is braked, and the following steps are also included: Obtain the axial locking status information of the coil station; When the coil station is detected to have a rotational displacement within a preset range that is opposite to the direction of the reverse winding after braking, the pressure roller of the tensioning module is driven to continue to extend outward according to the amount of rotational displacement compensation. Once it is determined that the increased pressing depth stroke of the pressure roller and the rotational displacement have reached tension balance, the current position of the pressure roller is locked, and the static braking torque of the coil station is maintained.

7. The method according to claim 1, characterized in that, The step of adjusting the wire feeding speed of the wire reel station in real time based on the deviation between the pressure roller displacement feedback signal and the preset reference value specifically includes: Obtain the current traction displacement of the robotic arm as it moves away from the tensioning module along the preset guide path; Establish a positive compensation mapping relationship between the preset benchmark value and the traction displacement of the robotic arm; Based on the current traction displacement, the preset reference value is dynamically superimposed and corrected in real time using the positive compensation mapping relationship to generate a dynamic tension reference value. The deviation is calculated by comparing the real-time acquired pressure roller displacement feedback signal with the dynamic tension reference value. The wire feeding speed of the reel station is adjusted in real time according to the deviation, so as to keep the traction speed of the robot arm synchronized with the wire feeding speed of the reel station while maintaining a constant actual drooping trajectory of the cable.

8. An automatic cable lead-in system, characterized in that, The automatic cable lead-out system includes: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code including computer instructions, and the one or more processors call the computer instructions to cause the automatic cable lead-out system to perform the method as described in any one of claims 1-7.

9. A computer program product containing instructions, characterized in that, When the computer program product is run on the automatic cable lead-in system, it causes the automatic cable lead-in system to perform the method as described in any one of claims 1-7.

10. A computer-readable storage medium comprising instructions, characterized in that, When the instruction is executed on the automatic cable lead-in system, the automatic cable lead-in system performs the method as described in any one of claims 1-7.

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