High-voltage cable insulation shielding layer robot stripping processing compensation mechanism

Abstract

The utility model relates to the field of high-voltage cable pretreatment, and aims to solve the problems in the prior art that manual stripping of a cable insulation shielding layer wastes time and labor, stripping is not uniform, a stripping tool is stuck, the quality of a scraped surface is uneven, and the stripping processing process is easily influenced by external additional force or torque. The utility model provides a high-voltage cable insulation shielding layer robot stripping processing compensation mechanism which comprises a robot tail end connecting flange. The robot tail end connecting flange is connected with a rotatable rod end universal bearing, the rod end universal bearing is fixedly connected with a connecting rod, the other end of the connecting rod is connected with a rotatable sliding shaft, and the sliding shaft is in sliding fit with the connecting rod. The cable insulation shielding layer stripping device has the beneficial effects that the size is small, the weight is light, point location and posture compensation can be carried out on an insulation shielding layer stripping tool, the cable insulation shielding layer stripping is time-saving and labor-saving, the stripping is uniform, the surface processing quality is improved, the requirement on the cable bending degree is reduced, and the requirements on the positioning precision and the track precision of a robot are reduced.

Description

Technical Field

[0001] The utility model relates to the field of high-voltage cable pretreatment, in particular to a compensation mechanism for robot stripping processing of the insulation shielding layer of a high-voltage cable. Background Art

[0002] At present, in the field of high-voltage cable pretreatment, especially the field of 500kV high-voltage cable pretreatment, the insulation shielding layer of the high-voltage cable is often stripped manually by the operator using a handheld glass sheet to scrape the insulation shielding layer, which is time-consuming. In addition, since the scraping relies on the operator's experience, the scraped surface quality is uneven. The current electric stripping tool can also achieve rapid stripping of the insulation shielding layer, and the stripped surface quality is consistent. However, it is necessary to make the posture of the stripping tool follow the cable axis during the stripping process so that it moves along the cable axis. Because the actual cable axis is not an ideal straight line, if the operator has additional torque and other external forces on the stripping tool besides around the axis, it will cause the tool to tilt or the radial feed depth of the tool to change, affecting the quality of the stripped surface. Therefore, the same problem will be faced in the process of stripping the insulation shielding layer using a robot to drive the stripping tool. Utility Model Content

[0003] The utility model aims to provide a compensation mechanism for the robot stripping of the insulation shielding layer of a high-voltage cable, so as to solve the problems in the prior art of manual stripping of the insulation shielding layer of the cable, such as time-consuming and labor-intensive, uneven stripping, jamming of the stripping tool, uneven scraped surface quality, and susceptibility to external additional forces or torques during the stripping process.

[0004] The embodiment of the present utility model is achieved as follows:

[0005] The embodiment of the utility model provides a high-voltage cable insulation shielding layer stripping robot processing compensation mechanism, which includes a robot end connection flange;

[0006] A first threaded hole is formed at the center of the robot terminal connection flange, and the first threaded hole passes through the robot terminal connection flange along the axis of the robot terminal connection flange. A rod end universal bearing is provided on one side of the robot terminal connection flange, and the rod end universal bearing is rotatably connected to the first threaded hole.

[0007] A connecting rod is fixedly connected to the radial direction of the above-mentioned rod-end universal bearing, and a sliding shaft is provided in the radial direction of the end of the connecting rod away from the above-mentioned rod-end universal bearing. The above-mentioned sliding shaft is rotatably connected to the radial direction of the end of the connecting rod away from the above-mentioned rod-end universal bearing, and the above-mentioned sliding shaft slides radially along the end of the connecting rod away from the above-mentioned rod-end universal bearing.

[0008] When in use, the robot end connection flange is fixedly connected to the robot, the rod end universal bearing is rotatably connected to the first threaded hole, the connecting rod is connected to the rod end universal bearing, and the sliding shaft cooperates with the connecting rod. When the stripping tool strips the insulation shielding layer of the high-voltage cable, the stripping tool can slide on the sliding shaft for compensation, and the angle posture change of the stripping tool can be compensated through the rod end universal bearing.

[0009] The present embodiment discloses a compensation mechanism for the robot stripping of the insulation shielding layer of a high-voltage cable. One end of the compensation mechanism is connected to the cable insulation shielding layer stripping tool and the other end is connected to the robot. The compensation mechanism can adapt to the changes in the cable axis, and can compensate for the position of the stripping tool in the transverse, longitudinal and axial directions of the cable. At the same time, it can compensate for the inconsistency of the normals of each point on the axis, so as to avoid the stripping tool being subjected to additional torque and other external forces around the axis. As a result, the robot stripping compensation mechanism for the insulation shielding layer of a high-voltage cable has the beneficial effects of being small in size, light in weight, being able to compensate for the position and posture of the insulation shielding layer stripping tool, saving time and effort in stripping the cable insulation shielding layer, stripping evenly, improving the surface processing quality, reducing the requirements for cable curvature, and reducing the positioning accuracy and trajectory accuracy requirements of the robot.

[0010] Optionally, a plurality of connection holes are provided on the robot terminal connection flange, and the plurality of connection holes are evenly distributed on the robot terminal connection flange.

[0011] With such arrangement, the arrangement of the plurality of connection holes facilitates the connection of the robot end connection flange to the robot, and the robot drives the compensation mechanism so that the compensation mechanism can adapt to changes in the cable axis.

[0012] Optionally: a locking shaft is fixedly connected to the inner ring of the rod end universal bearing, and one end of the locking shaft away from the rod end universal bearing is threadedly connected to the first threaded hole of the robot end connection flange.

[0013] With this arrangement, the locking shaft can connect the rod end universal bearing to the robot end connection flange, and at the same time, can rotate the rod end universal bearing around the locking shaft, thereby compensating for the position of the stripping tool in the transverse direction of the cable.

[0014] Optionally: the outer ring of the rod-end universal bearing has a rod in the radial direction, the end of the rod close to the connecting rod has an external thread, the end of the connecting rod close to the rod has a second threaded hole, and the end of the rod close to the connecting rod is threadedly connected to the end of the connecting rod close to the rod.

[0015] With this arrangement, the rod and the connecting rod are connected to each other, which is beneficial to the connection between the connecting rod and the universal bearing at the rod end, and facilitates the synchronous rotation of the connecting rod and the universal bearing at the rod end, thereby being able to compensate for the position of the stripping tool in the transverse direction of the cable.

[0016] Optionally, a locking nut is threadedly connected to the outer wall of the rod, and the locking nut can be rotatably pressed against an end of the connecting rod close to the rod.

[0017] With such arrangement, the locking nut has a locking effect, effectively preventing the rod and the connecting rod from falling off each other. At the same time, by rotating and controlling the position of the locking nut, the length of the connection between the rod and the connecting rod is controlled, and the distance between the connecting rod and the rod is controlled, thereby adjusting the length of the compensation mechanism.

[0018] Optionally, a through hole is formed on a side surface of one end of the connecting rod away from the rod end universal bearing, and the axis of the through hole is parallel to the axis of the robot end connection flange;

[0019] A rotary linear bearing is fixedly connected inside the through hole, and one end of the sliding shaft close to the connecting rod passes through the rotary linear bearing.

[0020] In this way, the setting of the above-mentioned rotating linear bearing allows the above-mentioned sliding shaft to rotate on the above-mentioned rotating linear bearing and slide in the axial direction of the above-mentioned rotating linear bearing, thereby enabling the compensation mechanism to compensate for the position of the stripping tool in the transverse direction of the cable, and at the same time perform angular compensation for the inconsistency of the normals of each point on the axis, thereby preventing the stripping tool from being subjected to additional torque and other external forces outside the axis.

[0021] Optionally, an annular groove is provided on the outer wall of the rotary linear bearing, a shaft retaining ring is sleeved in the annular groove, and the shaft retaining ring is pressed against the connecting rod.

[0022] With such arrangement, the shaft retaining ring can limit the axial movement of the rotary linear bearing, thereby preventing the rotary linear bearing from being displaced or falling off.

[0023] Optionally, one end of the sliding shaft close to the connecting rod is threadedly connected to a connecting plate, and a plurality of holes are opened on the connecting plate, and the plurality of holes are evenly distributed on the connecting plate.

[0024] With such arrangement, the connection plate is convenient for connection with the stripping tool, and the arrangement of the plurality of holes is conducive to the connection and fixation of the connection plate and the stripping tool.

[0025] Optionally, the sliding shaft has an enlarged head at one end away from the connecting rod, and the diameter of the enlarged head is larger than the diameter of the rotary linear bearing.

[0026] With such arrangement, the enlarged head effectively prevents the sliding shaft from sliding out of the rotary linear bearing, thereby limiting the sliding distance of the sliding shaft.

[0027] Optionally: the above-mentioned connecting plate is connected to the cable insulation shielding layer stripping tool through the above-mentioned hole bolts, and the above-mentioned robot end connecting flange is connected to the robot through the above-mentioned connecting hole bolts.

[0028] In this arrangement, one end of the compensation mechanism is connected to the above-mentioned cable insulation shielding stripping tool, and the other end of the compensation mechanism is connected to the above-mentioned robot. This can avoid the problems of uneven stripping and jamming of the stripping tool that may occur when the above-mentioned robot directly loads the above-mentioned cable insulation shielding stripping tool, and can improve the quality of stripping the insulation shielding layer of the high-voltage cable.

[0029] Based on the above description, the utility model discloses a high-voltage cable insulation shielding layer robot stripping processing compensation mechanism with small size, light weight, the ability to compensate for the position and posture of the insulation shielding layer stripping tool, time-saving and labor-saving stripping of the cable insulation shielding layer, uniform stripping, improved surface processing quality, reduced requirements for cable curvature, and reduced robot positioning accuracy and trajectory accuracy requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 This is a schematic structural diagram from a first perspective of a compensation mechanism for stripping the insulation shielding layer of a high-voltage cable by a robot in an embodiment of the present utility model;

[0032] Figure 2 This is a schematic structural diagram from a second perspective of a compensation mechanism for stripping the insulation shielding layer of a high-voltage cable by a robot in an embodiment of the present utility model;

[0033] Figure 3 This is a schematic diagram of the installation structure of a compensation mechanism for stripping the insulation shielding layer of a high-voltage cable by a robot in an embodiment of the present utility model;

[0034] Figure 4 This is a three-dimensional perspective view of the robot end connection flange in the embodiment of the present utility model;

[0035] Figure 5 It is a three-dimensional stereogram of the connecting rod in the embodiment of the present utility model.

[0036] Icons: 1-robot end connection flange, 2-first threaded hole, 3-rod end universal bearing, 4-connecting rod, 5-sliding shaft, 6-connecting hole, 7-locking shaft, 8-rod, 9-second threaded hole, 10-locking nut, 11-through hole, 12-rotating linear bearing, 13-shaft retaining ring, 14-connecting plate, 15-hole, 16-enlarging head, 17-cable insulation shield stripping tool, 18-robot. DETAILED DESCRIPTION

[0037] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0039] Example

[0040] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 ,This embodiment proposes a high-voltage cable insulation shielding layer stripping robot processing compensation mechanism, including a robot end connection flange 1;

[0041] A first threaded hole 2 is provided at the center of the robot end connection flange 1. The first threaded hole 2 passes through the robot end connection flange 1 along the axis of the robot end connection flange 1. A rod end universal bearing 3 is provided on one side of the robot end connection flange 1. The rod end universal bearing 3 is rotatably connected to the first threaded hole 2.

[0042] A connecting rod 4 is fixedly connected to the rod end universal bearing 3 in the radial direction, and a sliding shaft 5 is provided in the radial direction of the end of the connecting rod 4 away from the rod end universal bearing 3. The sliding shaft 5 is rotatably connected to the radial direction of the end of the connecting rod 4 away from the rod end universal bearing 3, and the sliding shaft 5 slides radially along the end of the connecting rod 4 away from the rod end universal bearing 3.

[0043] When in use, the robot end connection flange 1 is fixedly connected to the robot 18, the rod end universal bearing 3 is rotatably connected to the first threaded hole 2, the connecting rod 4 is connected to the rod end universal bearing 3, and the sliding shaft 5 cooperates with the connecting rod 4. When the stripping tool strips the insulation shielding layer of the high-voltage cable, the stripping tool can slide on the sliding shaft 5 for compensation, and the angular posture change of the stripping tool can be compensated through the rod end universal bearing 3.

[0044] The present embodiment discloses a compensation mechanism for the robot stripping of the insulation shielding layer of a high-voltage cable. One end of the compensation mechanism is connected to the cable insulation shielding layer stripping tool 17 and the other end is connected to the robot 18. The compensation mechanism can adapt to the changes in the cable axis, and can compensate for the position of the stripping tool in the transverse, longitudinal and axial directions of the cable. At the same time, it can compensate for the inconsistency of the normals of each point on the axis, so as to avoid the stripping tool being subjected to additional torque and other external forces around the axis. As a result, the robot stripping compensation mechanism for the insulation shielding layer of a high-voltage cable has the beneficial effects of being small in size, light in weight, being able to compensate for the position and posture of the insulation shielding layer stripping tool, saving time and effort in stripping the cable insulation shielding layer, stripping evenly, improving the surface processing quality, reducing the requirements for cable curvature, and reducing the robot positioning accuracy and trajectory accuracy.

[0045] In this embodiment, the compensation mechanism can release torque or force other than the torque around the cable axis, and is used to compensate for the corresponding position and rotation angle of the stripping tool when using the robot 18 to strip the insulation shielding layer of the high-voltage cable, thereby avoiding the generation of unnecessary force or torque and ensuring the processing quality.

[0046] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 A plurality of connection holes 6 are provided on the robot end connection flange 1, and the plurality of connection holes 6 are evenly distributed on the robot end connection flange 1. The arrangement of the plurality of connection holes 6 facilitates the connection of the robot end connection flange 1 to the robot 18, and the compensation mechanism is driven by the robot 18 so that the compensation mechanism can adapt to changes in the cable axis.

[0047] A locking shaft 7 is fixedly connected to the inner ring of the rod-end universal bearing 3. The end of the locking shaft 7 away from the rod-end universal bearing 3 is threadedly connected to the first threaded hole 2 of the robot end connection flange 1. The locking shaft 7 can not only connect the rod-end universal bearing 3 to the robot end connection flange 1, but also enable the rod-end universal bearing 3 to rotate around the locking shaft 7, thereby compensating for the position of the stripping tool in the transverse direction of the cable.

[0048] The outer ring of the rod end universal bearing 3 has a rod 8 in the radial direction, and the end of the rod 8 close to the connecting rod 4 has an external thread (not shown in the figure), and the end of the connecting rod 4 close to the rod 8 has a second threaded hole 9. The end of the rod 8 close to the connecting rod 4 is threadedly connected to the end of the connecting rod 4 close to the rod 8. The rod 8 and the connecting rod 4 are connected to each other, which is beneficial to the connection between the connecting rod 4 and the rod end universal bearing 3, and facilitates the synchronous rotation of the connecting rod 4 and the rod end universal bearing 3, thereby being able to compensate for the position of the stripping tool in the transverse direction of the cable.

[0049] A locking nut 10 is threadedly connected to the outer wall of the rod 8. The locking nut 10 can be rotatably pressed against the end of the connecting rod 4 close to the rod 8. The locking nut 10 has a locking effect, which effectively prevents the rod 8 and the connecting rod 4 from falling off each other. At the same time, the position of the locking nut 10 is controlled by rotation, thereby controlling the length of the connection between the rod 8 and the connecting rod 4, and then controlling the distance between the connecting rod 4 and the rod 8, so that the length of the compensation mechanism can be adjusted.

[0050] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 A through hole 11 is provided on the side of the end of the connecting rod 4 away from the rod end universal bearing 3, and the axis of the through hole 11 is parallel to the axis of the robot end connection flange 1; a rotating linear bearing 12 is fixedly connected to the inside of the through hole 11, and the sliding shaft 5 passes through the rotating linear bearing 12 at the end close to the connecting rod 4. The setting of the rotating linear bearing 12 allows the sliding shaft 5 to rotate on the rotating linear bearing 12 and slide in the axial direction of the rotating linear bearing 12, thereby enabling the compensation mechanism to compensate for the position of the stripping tool in the transverse direction of the cable, and at the same time perform angular compensation for the inconsistency of the normals of the various points on the axis, thereby preventing the stripping tool from being subjected to additional torque and other external forces outside the axis.

[0051] There is an annular groove (not shown in the figure) on the outer wall of the rotating linear bearing 12, and a shaft retaining ring 13 is sleeved in the groove of the annular groove. The shaft retaining ring 13 is pressed against the connecting rod 4. The shaft retaining ring 13 can limit the axial movement of the rotating linear bearing 12 to prevent the rotating linear bearing 12 from being displaced or falling off.

[0052] One end of the sliding shaft 5 close to the connecting rod 4 is threadedly connected to a connecting plate 14, and a plurality of holes 15 are opened on the connecting plate 14. The holes 15 are evenly distributed on the connecting plate 14. The connecting plate 14 is convenient for connecting the stripping tool. The setting of the holes 15 is conducive to the connection and fixation of the connecting plate 14 and the stripping tool.

[0053] The end of the sliding shaft 5 away from the connecting rod 4 has an enlarged head 16, the diameter of the enlarged head 16 is larger than the diameter of the rotary linear bearing 12, and the enlarged head 16 effectively prevents the sliding shaft 5 from sliding out of the rotary linear bearing 12, thereby limiting the sliding distance of the sliding shaft 5.

[0054] The connecting plate 14 is bolted to the cable insulation shielding stripping tool 17 through a number of holes 15, and the robot end connecting flange 1 is bolted to the robot 18 through a number of connecting holes 6. One end of the compensation mechanism is connected to the cable insulation shielding stripping tool 17, and the other end of the compensation mechanism is connected to the robot 18. This can avoid the problems of uneven stripping and jamming of the stripping tool 17 when the robot 18 directly loads the cable insulation shielding stripping tool 17, and can improve the quality of stripping the insulation shielding layer of the high-voltage cable.

[0055] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 In this embodiment, the compensation mechanism is small in size and light in weight, and can be easily installed between the robot 18 and the cable insulation shielding stripping tool 17. It can compensate for the requirements for the adaptability of the stripping tool position and posture due to the bending of the cable axis, reduce the requirements for the positioning accuracy and trajectory accuracy of the robot 18, and can greatly enhance the adaptability of the robot 18 load stripping tool to strip the cable insulation shielding layer. At the same time, it can improve the surface quality of the stripping process.

[0056] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 In this embodiment, the robot end connection flange 1 is used to connect with the end of the robot 18. The robot end connection flange 1 is installed at the end of the robot 18, and a first threaded hole 2 is opened in the middle thereof. The rod end universal bearing 3 passes through the bearing hole through the locking shaft 7 and is connected to the first threaded hole 2 of the robot end connection flange 1; the rod end universal bearing 3 can rotate around the locking shaft 7, and the rod end universal bearing 3 is connected to the second threaded hole 9 of the connecting rod 4 through the rod 8, and is locked and positioned by the locking nut 10 to ensure that the hole axis of the rod end universal bearing 3 in the initial state (no rotation state) is parallel to the axis of the sliding shaft 5; the rotating linear bearing 12 cooperates with the through hole 11 of the connecting rod 4 and is fixed by the shaft retaining ring 13; the sliding shaft 5 passes through the rotating linear bearing 12 and is threadedly connected to the aforementioned connecting plate 14; the rotating linear bearing 12 can realize relative rotation and relative sliding between the sliding shaft 5 and the rotating linear bearing 12. Finally, the connecting plate 14 is connected to the cable insulation shielding layer stripping tool 17 by bolts.

[0057] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 In this embodiment, when the insulation shielding layer stripping operation is performed by installing a compensation mechanism between the robot 18 and the cable insulation shielding layer stripping tool 17, the cable insulation shielding layer stripping tool 17, the compensation mechanism and the end of the robot 18 form a two-link triangle structure. When the cable axis is assumed to be a straight line or the stripping tool actually moves along the cable axis due to the positioning accuracy and trajectory accuracy of the robot 18, the distance between the center point of the cable cross section and the center point of the robot end connection flange 1 will be the same as the distance between the center point of the robot end connection flange 1 and the cable cross section corresponding to the set robot trajectory. There is a deviation in the distance between the center points of the surfaces, which will cause the stripping tool to strip the insulation shielding layer unevenly, or cause the stripping tool to get stuck; after adding the compensation mechanism, the distance deviation between the center point of any cross section of the cable insulation shielding layer stripping section and the center point of the robot end connection flange 1 can be adjusted by the angle change of the two connecting rods of the compensation mechanism to adapt to the distance between the center point of any cross section of the cable insulation shielding layer stripping section and the center point of the robot end connection flange 1. At the same time, at any point, the two connecting rods are constrained by the cable and the robot end connection flange 1 to form a stable triangle, which can ensure the transmission of the stripping tool's torque around the cable axis.

[0058] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 In this embodiment, since the cable insulation shielding stripping tool 17 rotates one circle and advances a fixed distance along the cable axis, it is difficult to maintain precise consistency between the moving speed of the robot 18 and the forward speed of the cable insulation shielding stripping tool 17. In order to ensure that the cable insulation shielding stripping tool 17 is not affected by the moving speed of the robot 18, the compensation mechanism can supplement the speed difference. When the forward speed of the cable insulation shielding stripping tool 17 is inconsistent with the moving speed of the robot 18, the cable insulation shielding stripping tool 17 can slide on the sliding shaft 5 for compensation.

[0059] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5In this embodiment, since the actual cable axis is a curve, the optimal working state of the cable insulation shielding stripping tool 17 is that the posture is not constrained and changes with the cable axis. The posture change of the cable insulation shielding stripping tool 17 can be compensated by the rod end universal bearing 3. When the cable insulation shielding stripping tool 17 changes its angular posture due to the change of the normal line of the point on the cable axis, the rod end universal bearing 3 of the compensation mechanism will be driven to rotate accordingly, so that it will not be constrained, and no additional force or torque will be generated to cause the tool of the stripping tool to deflect and affect the processing quality or cause the stripping tool to get stuck.

[0060] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A high-voltage cable insulation shielding layer stripping robot compensation mechanism, characterized by: It includes a robot end connection flange (1); A first threaded hole (2) is provided at the center of the robot end connection flange (1), and the first threaded hole (2) passes through the robot end connection flange (1) along the axis of the robot end connection flange (1). A rod end universal bearing (3) is provided on one side of the robot end connection flange (1), and one end of the rod end universal bearing (3) is rotatably connected to the first threaded hole (2); The rod end universal bearing (3) is fixedly connected to a connecting rod (4) in the radial direction, and a sliding shaft (5) is provided in the radial direction of one end of the connecting rod (4) away from the rod end universal bearing (3). The sliding shaft (5) is rotatably connected to the radial direction of the end of the connecting rod (4) away from the rod end universal bearing (3), and the sliding shaft (5) is radially slidably fitted along the end of the connecting rod (4) away from the rod end universal bearing (3).

2. The high-voltage cable insulation shielding layer stripping robot compensation mechanism according to claim 1, characterized in that: A plurality of connection holes (6) are provided on the robot end connection flange (1), and the plurality of connection holes (6) are evenly distributed on the robot end connection flange (1).

3. The high-voltage cable insulation shielding layer stripping robot compensation mechanism according to claim 1, characterized in that: A locking shaft (7) is fixedly connected to the inner ring of the rod end universal bearing (3), and one end of the locking shaft (7) away from the rod end universal bearing (3) is threadedly connected to the first threaded hole (2) of the robot end connection flange (1).

4. The high-voltage cable insulation shielding layer stripping robot compensation mechanism according to claim 1, characterized in that: The outer ring of the rod-end universal bearing (3) has a rod (8) in the radial direction, the end of the rod (8) close to the connecting rod (4) has an external thread, the end of the connecting rod (4) close to the rod (8) has a second threaded hole (9), and the end of the rod (8) close to the connecting rod (4) is threadedly connected to the end of the connecting rod (4) close to the rod (8).

5. The high-voltage cable insulation shielding layer stripping robot compensation mechanism according to claim 4, characterized in that: A locking nut (10) is threadedly connected to the outer wall of the rod (8), and the locking nut (10) is rotatably pressed against one end of the connecting rod (4) close to the rod (8).

6. The high-voltage cable insulation shielding layer stripping robot compensation mechanism according to claim 2, characterized in that: A through hole (11) is formed on the side surface of one end of the connecting rod (4) away from the rod end universal bearing (3), and the axis of the through hole (11) is parallel to the axis of the robot end connection flange (1); A rotary linear bearing (12) is fixedly connected to the interior of the through hole (11), and one end of the sliding shaft (5) close to the connecting rod (4) passes through the rotary linear bearing (12).

7. The high-voltage cable insulation shielding layer stripping robot compensation mechanism according to claim 6, characterized in that: An annular groove is provided on the outer wall of the rotary linear bearing (12), a shaft retaining ring (13) is sleeved in the annular groove, and the shaft retaining ring (13) abuts against the connecting rod (4).

8. The high-voltage cable insulation shielding layer stripping robot compensation mechanism according to claim 6, characterized in that: One end of the sliding shaft (5) close to the connecting rod (4) is threadedly connected to a connecting plate (14), and a plurality of holes (15) are formed on the connecting plate (14), and the plurality of holes (15) are evenly distributed on the connecting plate (14).

9. The high-voltage cable insulation shielding layer stripping robot compensation mechanism according to claim 6, characterized in that: An end of the sliding shaft (5) away from the connecting rod (4) has an enlarged head (16), and the diameter of the enlarged head (16) is larger than the diameter of the rotary linear bearing (12).

10. The high-voltage cable insulation shielding layer stripping robot compensation mechanism according to claim 8, characterized in that: The connecting plate (14) is bolted to a cable insulation shielding layer stripping tool (17) through a plurality of the holes (15), and the robot end connecting flange (1) is bolted to a robot (18) through a plurality of the connecting holes (6).

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