A protective device and method for preventing damage to wires in robotic wire stripping tools.

Abstract

This invention belongs to the field of live wire stripping technology in power distribution networks, and provides a device and method for protecting the wire from damage using a robotic wire stripping tool. The device includes: a mechanical actuator configured to fix the cable, rotate, feed, and translate the cutter, comprising a cutter clamping assembly, an auxiliary clamping assembly, a rotating assembly, and a cutter feed assembly; a detection mechanism configured to acquire real-time status data of the cable to be stripped, employing an ultrasonic thickness measuring unit, which includes at least an ultrasonic probe, an ultrasonic transducer, and an ultrasonic controller; and a control mechanism configured to control the mechanical actuator to perform wire stripping with protection against damage based on the real-time detection results of the detection mechanism, and to feed back the stripping results to the detection mechanism, while adjusting the stripping operation of the mechanical actuator in real time based on the control mechanism.

Description

Technical Field

[0001] This invention belongs to the field of live wire stripping technology in power distribution networks, specifically relating to a wire stripping robot protection device and method to prevent wire damage. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] As power quality requirements gradually increase, power grid companies need to adopt new technologies to continuously improve power supply reliability. Currently, the vast majority of power outages are caused by the 10kV distribution system. Faults, maintenance, and construction of the 10kV distribution network can all cause power outages. Live-line work on the 10kV distribution network can significantly reduce power outages, thereby improving power supply reliability.

[0004] Traditional 10kV distribution network live-line work mainly relies on insulated poles and insulated boom trucks for manual operation. This requires workers to directly contact live conductors, posing significant safety risks. With the rapid development of robotics technology, live-line working robots for distribution lines have gradually become a research hotspot and are being widely applied in practical engineering projects. Robotic live-line work offers the following significant advantages: complete isolation between workers and live conductors, fundamentally ensuring personal safety; high operational precision and repeatability; high efficiency, reducing power outage time; and strong adaptability to complex environments.

[0005] Wire stripping is one of the most frequent tasks in live-line work on power distribution networks. Its core task is to accurately remove the insulation layer of wires without interrupting power, creating conditions for subsequent wiring, repair, and testing. Existing robotic wire stripping tools mostly employ single-sensor detection strategies, such as relying solely on photoelectric sensors to determine whether the insulation layer has been stripped, or solely on current detection to determine the tool status; however, this approach still has the following shortcomings: (1) Low detection reliability A single sensor is susceptible to interference from factors such as ambient light, cable oxidation, and uneven insulation thickness, which can lead to misjudgment or missed judgment.

[0006] (2) Poor adaptability The inability to dynamically adjust cutting parameters according to the actual condition of the cable can easily lead to overcutting or insufficient cutting depth. (3) Weak security protection mechanism Most systems only have simple overcurrent protection and lack multi-dimensional, hierarchical anomaly response strategies; (4) Insufficient level of intelligence The operational process data was not effectively used for parameter optimization and fault prediction. Summary of the Invention

[0007] To address the aforementioned issues, this invention proposes a wire protection device and method for robotic wire stripping tools. Through the cooperation of a mechanical actuator, a multi-sensor detection mechanism, and a control mechanism, and based on multi-sensor information fusion and adaptive control, it achieves accurate measurement of insulation layer thickness, reliable judgment of stripping status, and graded protection against abnormalities. This solves the problems of single detection methods, weak adaptive capabilities, and imperfect protection mechanisms in existing technologies, thereby achieving high precision, high reliability, and high safety in wire stripping operations.

[0008] According to some embodiments, the first aspect of the present invention provides a wire protection device for preventing damage to a robot wire stripping tool, which adopts the following technical solution: A protective device for preventing damage to wires in a robotic wire stripping tool includes: A mechanical actuator configured to fix a cable, rotate, feed, and translate a cutter, including at least a cutter clamping assembly, an auxiliary clamping assembly, a rotating assembly, and a cutter feeding assembly; The inspection agency is configured to acquire real-time status data of the cable to be stripped, and employs an ultrasonic thickness measurement unit, which includes at least an ultrasonic probe, an ultrasonic transducer, and an ultrasonic controller. The control mechanism is configured to control the mechanical actuator to perform wire stripping for wire protection based on the real-time detection results of the detection mechanism, and to feed back the stripping results to the detection mechanism. The control mechanism adjusts the wire stripping operation of the mechanical actuator in real time based on the results.

[0009] As a further technical limitation, the detection mechanism also includes a wire core photoelectric detection unit and a motor encoder unit; the wire core photoelectric detection unit includes at least one photoelectric sensor module, which determines whether the wire sheath has been peeled off by detecting changes in reflected light intensity.

[0010] As a further technical limitation, the ultrasonic thickness measuring unit obtains the cutting depth through the stroke of the cutting motor component. The cutting motor component includes at least a cutting motor, a cutting gearbox, and a cutting encoder. The cutting is driven forward by the ball screw of the cutting motor to obtain the cutting depth and the number of motor encoder pulses.

[0011] As a further technical limitation, the wire protection device for the robot wire stripping tool also includes an abnormal protection mechanism, which includes at least a rotational current overload protection unit for detecting whether changes in the current of the rotating component damage the wire and a cutter feed overload protection unit for detecting whether changes in the current and speed of the cutter damage the wire.

[0012] As a further technical limitation, the cutter feed assembly has a built-in cutter feed motor, which controls the rotation speed of the cutter feed motor and, in conjunction with the ball screw, controls the feed speed of the cutter, thereby determining the cutter feed depth in the radial direction of the wire, i.e., the depth of the stripped wire.

[0013] As a further technical limitation, during the preparation stage of the wire stripping operation, the robotic wire stripping tool holds the cable tightly, so that the ultrasonic probe is in close contact with the cable. When the ultrasonic wave passes through the connected insulation sheath and reaches the surface of the wire core, it is reflected. The thickness of the cable sheath is obtained by receiving the reflected ultrasonic wave and based on the time difference between the emission and reception of the ultrasonic wave.

[0014] According to some embodiments, the second aspect of the present invention provides a method for protecting the wire from damage using a robotic wire stripping tool, employing the following technical solution: A method for protecting the wire from damage in a robotic wire stripping tool, employing the wire protection device for robotic wire stripping tools provided in the first solution, includes: Control the cutter clamping assembly and auxiliary clamping assembly to clamp the cable, and calculate the cable diameter and the initial position of the cutter; The cutter is controlled to keep close to the cable surface, and the cable sheath thickness is measured based on the ultrasonic thickness measuring unit. The cutter feed is controlled by a detection mechanism that monitors in real time whether the wire insulation has been stripped. If it has not been stripped, the cutter feed is continued; otherwise, the cutter is controlled to rotate around the cable to perform continuous stripping. The current and speed of the cutter are monitored in real time during the rotation process. The cable stripping is completed when the insulation of the cable is stripped around one circumference.

[0015] As a further technical limitation, in the process of calculating the cable diameter, the cable is clamped by clamping blocks in the auxiliary clamping assembly. These clamping blocks have a V-shaped structure with an included angle of α. The total width of the auxiliary clamping assembly is set as L, and the thickness of the clamping blocks is set as B. The clamping blocks are located at both ends of the auxiliary clamping assembly. After clamping the cable, the clamping block stroke is calculated as l1 using a clamping motor encoder located inside the auxiliary clamping assembly. Therefore, the cable diameter D is... .

[0016] Furthermore, in the initial state, the cutter is located at the apex of the clamping block, meaning the distance l2 between the cutter and the cable surface is... .

[0017] As a further technical limitation, the wire protection method for robot wire stripping tools also includes current overload protection for the rotating component and current overload protection for the cutting feed component.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention measures the wire insulation thickness using an ultrasonic thickness gauge before stripping, and improves the reliability of the stripping operation by precisely controlling the cutting depth and combining it with wire core detection logic, effectively reducing the risk of wire damage. To address the risk of wire damage under abnormal conditions, this invention employs dual protection measures: rotating current overload protection and cutting feed overload protection. Even if wire damage occurs, it can be quickly detected and stopped protectively in time to avoid serious wire damage accidents, thus improving the safety of robotic wire stripping operations. Attached Figure Description

[0019] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0020] Figure 1 This is a schematic diagram of the anti-damage protection device for the robot wire stripping tool in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the anti-damage protection device for the robot wire stripping tool in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the cutting blade feeding process in Embodiment 1 of the present invention; Figure 4 This is a flowchart of the method for protecting the wire from damage using a robot wire stripping tool in Embodiment 2 of the present invention; The components include: 1. Cutter clamping assembly; 2. Auxiliary clamping assembly; 3. Rotation assembly; 4. Cutter feed assembly; 5. Ultrasonic probe; and 6. Slide table moving assembly. Detailed Implementation

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

[0022] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0023] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0024] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0025] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0026] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0027] Example 1 Embodiment 1 of the present invention introduces a wire protection device for preventing damage to a robot wire stripping tool.

[0028] like Figure 1 and Figure 2 The illustrated robotic wire stripping tool includes a wire protection device to prevent damage to the wires. Auxiliary clamping component 2 is used to clamp the cable and prevent it from rotating; Rotating component 3 is used to drive the cutter to rotate around the cable axis to achieve rotary stripping; The cutter clamping component 1 is used to clamp the cable and prevent the cable from moving during the stripping process; The cutter feed assembly 4 is used to control the slow feed of the cutter to gradually peel off the wire insulation; The slide table moving assembly 6 is used to drive the cutter to move horizontally, so as to remove a fixed length of wire insulation.

[0029] When using a robot wire stripping tool with a wire protection device to perform wire stripping operations, the cable is held in place by the auxiliary clamping component 2 and the cutting clamping component 1. The cable is held in place only when the outer surface of the cable is in close contact with the inner surface of the V-shaped structure of the clamping block in the auxiliary clamping component 2. At this time, the ultrasonic probe 5 is just in close contact with the surface of the cable, and the thickness of the cable sheath can be measured.

[0030] It should be noted that during the preparation stage of the wire stripping operation, the robot wire stripping tool grips the cable tightly, ensuring the ultrasonic probe is in close contact with the cable. When the ultrasonic wave passes through the connected insulation sheath and reaches the surface of the wire core, it is reflected. The thickness of the cable sheath is obtained by receiving the reflected ultrasonic wave and calculating the time difference between the emission and reception of the ultrasonic wave. Since ultrasonic waves undergo refraction and reflection when entering a medium with a different acoustic impedance from another medium, when the ultrasonic wave passes through the insulation sheath and reaches the surface of the aluminum wire core, it will be reflected at this interface. The controller receives the reflected ultrasonic wave and calculates the time difference between the emission and reception of the ultrasonic wave, thereby calculating the cable sheath thickness d1. The specific calculation process is prior art that should be known to those skilled in the art, and will not be elaborated here.

[0031] After the robot's wire stripping tool's anti-damage protection device grips the cable, the rotating component 3 drives the cutting clamping component 1 and the cutting feed component 4 to rotate around the cable axis. At the same time, the cutting blade slowly feeds to remove the first layer of insulation. When the insulation is detected to be stripped, the cutting blade feed stops, and the slide moving component 6 begins to move, completing the stripping of a fixed length of insulation.

[0032] It should be noted that the movement of the sliding table moving component 6 is prior art that should be known to those skilled in the art, and will not be described in detail here.

[0033] As one or more implementation methods, the anti-damage wire protection device of the robot wire stripping tool in this embodiment is also equipped with a detection mechanism, including an ultrasonic thickness measuring unit, a wire core photoelectric detection unit, and a motor encoder unit; the ultrasonic thickness measuring unit includes at least an ultrasonic probe, an ultrasonic transducer, and an ultrasonic controller, and obtains the cutting depth by the stroke of the cutting motor component. The cutting motor component includes at least a cutting motor, a cutting gearbox, and a cutting encoder. The cutting is driven forward by the ball screw of the cutting motor to obtain the cutting depth and the number of pulses of the motor encoder; the wire core photoelectric detection unit includes at least one photoelectric sensor module, which determines whether the wire sheath has been stripped by detecting changes in reflected light intensity.

[0034] As one or more implementation methods, the wire protection device for the robot wire stripping tool in this embodiment is also provided with an abnormal protection mechanism, including at least a rotational current overload protection unit for detecting whether changes in the current of the rotating component damage the wire and a cutter feed overload protection unit for detecting whether changes in the current and speed of the cutter damage the wire.

[0035] As one or more implementation methods, the cutter feed assembly has a built-in cutter feed motor, which controls the rotation speed of the cutter feed motor and, in conjunction with the ball screw, controls the feed speed of the cutter, thereby determining the cutter feed depth in the radial direction of the wire, i.e., the depth of the stripped wire.

[0036] Example 2 Embodiment 2 of the present invention introduces a method for protecting the wires of a robot wire stripper from damage, which adopts a wire protection device for protecting the wires of a robot wire stripper as described in Embodiment 1.

[0037] The method for protecting the wire from damage using the robot wire stripping tool in this embodiment includes: Control the cutter clamping assembly and auxiliary clamping assembly to clamp the cable, and calculate the cable diameter and the initial position of the cutter; The cutter is controlled to keep close to the cable surface, and the cable sheath thickness is measured based on the ultrasonic thickness measuring unit. The cutter feed is controlled by a detection mechanism that monitors in real time whether the wire insulation has been stripped. If it has not been stripped, the cutter feed is continued; otherwise, the cutter is controlled to rotate around the cable to perform continuous stripping. The current and speed of the cutter are monitored in real time during the rotation process. The cable stripping is completed when the insulation of the cable is stripped around one circumference.

[0038] This embodiment mainly includes three parts: preliminary detection of skin thickness, peeling control, and abnormality protection.

[0039] Preliminary insulation thickness measurement is achieved using an ultrasonic thickness measurement unit comprising an ultrasonic probe, transducer, and controller. During the wire stripping preparation stage, the robotic wire stripping tool grips the cable, ensuring the ultrasonic probe is in close contact with the cable surface. Since ultrasonic waves refract and reflect when traveling from one medium to another with a different acoustic impedance, when the ultrasonic wave passes through the insulation sheath and reaches the aluminum core surface, it is reflected at this interface. The controller receives the reflected ultrasonic waves and calculates the time difference between emission and reception, thus allowing the approximate insulation thickness d1 to be calculated. During the peeling control process, after the thickness h1 of the outer sheath is obtained by the ultrasonic thickness detection device, the peeling control system adds an increment h1+Δh as the maximum feed amount to control the cutter to feed slowly. The value of Δh is generally 0.5mm-1mm and is related to the value of h1. The larger h1 is, the larger the value.

[0040] It should be noted that by controlling the speed of the cutter feed motor and the ball screw to control the feed speed of the cutter, the cutting depth in the radial direction of the wire, i.e. the depth of the stripped wire, is determined.

[0041] In this embodiment, the change in reflected light intensity is detected to determine whether the wire sheath has been stripped to expose the wire core. Since there is a significant difference in color between the wire sheath and the wire core, the detected reflected light intensity will increase significantly after the wire sheath is stripped, thereby generating a switching control signal to stop the cutter from feeding.

[0042] In this embodiment, the cutter is driven forward by a ball screw. The cutter's forward depth H is directly proportional to the number of encoder pulses N, i.e., N = k * H. The coefficient k is determined by the motor's reduction ratio, the encoder resolution, and the screw lead. In this embodiment, the motor reduction ratio is 36:1, the encoder resolution is 8192, and the screw lead is 2, resulting in k = 147456. This means that a 1mm cutter movement will generate 147456 encoder pulses, achieving a resolution of one millionth of a millimeter, thus meeting the requirements for precise control.

[0043] The cutter begins its movement precisely on the surface of the cable sheath. The distance between the cutter and the sheath surface can be calculated using the structural parameters of the cutter adjustment module and the cable diameter parameters when determining the cutter's feed depth. For example... Figure 3 As shown, the cable is gripped by a clamping block in the auxiliary clamping assembly. The clamping block has a V-shaped structure with an included angle of α. The total width of the auxiliary clamping assembly is set to L, and the thickness of the clamping block is set to B. The clamping blocks are located at both ends of the auxiliary clamping assembly. After the cable is gripped, the clamping block stroke is calculated as l1 by the clamping motor encoder located inside the auxiliary clamping assembly. Then, the cable diameter D is... Initially, the cutter is located at the apex of the clamping block, meaning the distance l2 between the cutter and the cable surface is... .

[0044] Therefore, the detailed steps of the method for protecting the wire from damage using the robot wire stripping tool in this embodiment are as follows: Figure 4 As shown, it includes: Step 1: Control the clamping mechanism to clamp the cable, and calculate the cable diameter D and the distance d between the cutter and the cable surface by the stroke of the clamping motor.

[0045] Step 2: Control the forward distance l2 of the cutter to make the cutter close to the surface of the cable, and use this position as the initial position for the sheath thickness measurement.

[0046] Step 3: Control the cutter to feed slowly. The cutter feed depth H=N / k is calculated in real time by the encoder of the cutter feed motor, which is the wire sheath thickness.

[0047] Step 4: During the cutting process, the wire core detection module detects in real time whether the wire sheath has been peeled off. If the wire sheath has been peeled off, the cutting process is stopped immediately and the main stripping process begins to start continuous stripping.

[0048] Step 5: When the cutting depth reaches h1, stop the cutting feed and control the cutting blade to rotate one revolution around the wire. The wire core detection module checks whether the wire insulation has been stripped to prevent damage to the wire due to false detection. If the insulation is detected to be stripped, the main stripping process begins and continuous stripping starts; otherwise, the cutting feed continues.

[0049] Step 6: Stop the cutter feed when the cutter reaches the depth of h1 + Δh, and control the cutter to rotate around the wire once again to check if the wire insulation has been stripped. If the insulation is detected to be stripped, the main stripping process will begin continuous stripping. If the insulation is still not stripped, the current operation will be stopped, and the error information will be uploaded to the main control system for manual verification before proceeding to the next step.

[0050] In actual operation, since the cross-section of the cable is usually not strictly circular, and there are differences in the material, aging and other conditions of the wire sheath and core, as well as abnormalities in the system calculation error, there may be a risk of process failure leading to wire damage. Therefore, this embodiment is designed with an abnormal protection process, which mainly includes two parts: current overload protection of the rotating component and current overload protection of the cutting blade feed component.

[0051] (1) Overload protection of rotating components If the wire is damaged by the cutter during the stripping process, the cutter will get stuck in the wire, causing the rotational resistance to increase. This will lead to an increase in the motor current of the rotating component. If the current of the rotating component exceeds the set threshold, the stripping operation will be stopped and an error will be reported to protect the damaged wire.

[0052] After peeling begins, the rotating assembly first rotates once under no-load, and the average current i0 of the rotating assembly under no-load conditions is collected; after the cutter begins to feed slowly, the current expected current is estimated based on the cutter motor feed depth l2: i d =i0+K i *l2; Real-time acquisition of the rotating module current i, and calculation of the difference Δi=ii between i and the desired current. d If Δi is greater than the set threshold, the peeling operation is stopped, the error information is uploaded to the main control system, and manual verification is required before proceeding to the next step.

[0053] (2) Overload protection of the current of the cutter feed assembly Because of the significant difference in materials between the cable sheath and the core, the cutting blade's feed resistance increases and the current increases when it comes into contact with the core. At the same time, the cutting blade speed decreases. Therefore, by judging the changes in the current and speed of the cutting blade's feed motor, it is possible to detect whether the cable has been damaged.

[0054] The system collects the current of the cutter motor in real time, smooths and filters the current of the cutter feed motor, and calculates the rate of change of motor current and the average current. If the motor current suddenly increases rapidly and the current value exceeds 30% of the average current, the peeling operation is stopped and an error is reported. The system also collects the speed of the cutter motor in real time, smooths and filters the speed of the cutter feed motor, and calculates the current actual speed. If the actual speed of the motor is lower than the given speed by 30%, the peeling operation is stopped and an error is reported.

[0055] When stripping the insulation of a 10kV distribution network using a live-line working robot, the lack of prior information such as cable specifications and insulation thickness means the stripping process relies on a single sensor, resulting in poor reliability and a risk of wire damage. This embodiment improves the reliability of the stripping operation by measuring the insulation thickness using an ultrasonic thickness gauge before the stripping process. Precise cutter feed depth control, combined with core detection logic, enhances the reliability of the stripping operation and effectively reduces the risk of wire damage.

[0056] To address the risk of wire damage under abnormal conditions, this embodiment employs dual protection measures: rotational current overload protection and cutter feed overload protection. Even if wire damage occurs, it can be detected quickly and stopped protectively in time to avoid serious wire damage accidents and improve the safety of robot wire stripping operations.

[0057] The detailed steps are the same as the working principle of the anti-damage wire protection device for the robot wire stripping tool provided in Embodiment 1, and will not be repeated here.

[0058] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0059] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0060] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A protective device for preventing damage to wires in a robotic wire stripping tool, characterized in that, include: A mechanical actuator configured to fix a cable, rotate, feed, and translate a cutter, including at least a cutter clamping assembly, an auxiliary clamping assembly, a rotating assembly, and a cutter feeding assembly; The inspection agency is configured to acquire real-time status data of the cable to be stripped, and employs an ultrasonic thickness measurement unit, which includes at least an ultrasonic probe, an ultrasonic transducer, and an ultrasonic controller. The control mechanism is configured to control the mechanical actuator to perform wire stripping for wire protection based on the real-time detection results of the detection mechanism, and to feed back the stripping results to the detection mechanism. The control mechanism adjusts the wire stripping operation of the mechanical actuator in real time based on the results.

2. The wire protection device for a robot wire stripping tool as described in claim 1, characterized in that, The detection mechanism also includes a wire core photoelectric detection unit and a motor encoder unit; the wire core photoelectric detection unit includes at least one photoelectric sensor module, which determines whether the wire sheath has been peeled off by detecting changes in reflected light intensity.

3. The anti-damage device for a robot wire stripping tool as described in claim 1, characterized in that, The ultrasonic thickness measuring unit obtains the cutting depth through the stroke of the cutting motor component. The cutting motor component includes at least a cutting motor, a cutting gearbox, and a cutting encoder. The cutting is driven forward by the ball screw of the cutting motor to obtain the cutting depth and the number of motor encoder pulses.

4. The wire protection device for a robot wire stripping tool as described in claim 1, characterized in that, It also includes an abnormal protection mechanism, which includes at least a rotational current overload protection unit for detecting whether changes in the current of the rotating component damage the conductor, and a cutter feed overload protection unit for detecting whether changes in the current and speed of the cutter damage the conductor.

5. The anti-damage device for a robot wire stripping tool as described in claim 1, characterized in that, The cutter feed assembly has a built-in cutter feed motor, which controls the speed of the cutter feed motor and, in conjunction with the ball screw, controls the feed speed of the cutter, thereby determining the cutter feed depth in the radial direction of the wire, i.e., the depth of the stripped wire.

6. The wire protection device for a robot wire stripping tool as described in claim 1, characterized in that, During the preparation stage of the wire stripping operation, the robot wire stripping tool holds the cable tightly, so that the ultrasonic probe is in close contact with the cable. When the ultrasonic wave passes through the connected insulation sheath and reaches the surface of the wire core, it is reflected. The thickness of the cable sheath is obtained by receiving the reflected ultrasonic wave and based on the time difference between the emission and reception of the ultrasonic wave.

7. A method for protecting the wire from damage in a robotic wire stripping tool, comprising the wire protection device for a robotic wire stripping tool as described in any one of claims 1-6, characterized in that, include: Control the cutter clamping assembly and auxiliary clamping assembly to clamp the cable, and calculate the cable diameter and the initial position of the cutter; The cutter is controlled to keep close to the cable surface, and the cable sheath thickness is measured based on the ultrasonic thickness measuring unit. The cutter feed is controlled by a detection mechanism that monitors in real time whether the wire insulation has been stripped. If it has not been stripped, the cutter feed is continued; otherwise, the cutter is controlled to rotate around the cable to perform continuous stripping. The current and speed of the cutter are monitored in real time during the rotation process. The cable stripping is completed when the insulation of the cable is stripped around one circumference.

8. A method for protecting wires from damage using a robot wire stripping tool as described in claim 7, characterized in that, In calculating the cable diameter, the cable is gripped by clamping blocks in the auxiliary clamping assembly. These clamping blocks have a V-shaped structure with an included angle α. The total width of the auxiliary clamping assembly is set as L, and the thickness of the clamping blocks is set as B. The clamping blocks are located at both ends of the auxiliary clamping assembly. After clamping the cable, the clamping block stroke is calculated as l1 using a clamping motor encoder located inside the auxiliary clamping assembly. Therefore, the cable diameter D is... .

9. A method for protecting the wire from damage using a robot wire stripping tool as described in claim 8, characterized in that, Initially, the cutter is located at the apex of the clamping block, meaning the distance l2 between the cutter and the cable surface is... .

10. A method for protecting wires from damage using a robot wire stripping tool as described in claim 7, characterized in that, It also includes overcurrent protection for the rotating assembly and overcurrent protection for the cutter feed assembly.

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