Small, automated cable pretreatment device

Abstract

An example of an electrical cable pretreatment device includes a rotary tool head having a plurality of rollers and at least one cutting tool; a depth driver inserted into the rotary tool head and configured to adjust the radial depth of the plurality of rollers or the radial depth of the at least one cutting tool; a housing that houses the rotary tool head and is configured to allow the rotary tool head to rotate around an electrical cable and move axially along the electrical cable; and a gripper configured to connect the housing to the electrical cable and is configured to prevent the housing from rotating or moving axially relative to the electrical cable. The electrical cable pretreatment device is configured to remove one or more layers of an electrical cable.

Description

Cross - reference to related applications

[0001]

[0001] This application claims priority to U.S. Provisional Application No. 63 / 505,214, filed on May 31, 2023, the entire disclosure of which is incorporated herein by reference.

Technical Field

[0002]

[0002] This disclosure relates to the field of electrical equipment for power companies, including power cables and their accessories.

Background Art

[0003]

[0003] Power grids include numerous components for operating in diverse locations and conditions, such as above ground, underground, underwater, cold climates, sweltering climates, or other types of locations or climate conditions. A power grid can include thousands of individual components such as transformers, electrical cables, cable accessories (e.g., cable connections, terminals, or other accessories to the cable), or other components, and a fault in the power grid can be caused by a fault in any single component or a subset of components. The installation of electrical cables is a manual process prone to errors and can cause faults in the electrical cables or cable accessories.

Summary of the Invention

[0004]

[0004] This disclosure describes techniques, apparatus, and systems for preparing electrical cables to be connected to cable accessories for use in a power grid. In some examples of this disclosure, an electrical cable pretreatment system comprising various interconnected modular components is configured to connect to an electrical cable and remove one or more layers of the electrical cable in preparation for connecting the electrical cable to a cable accessory such as a cable connector or terminal. In some examples, the electrical cable pretreatment system comprises an electrical cable pretreatment device having a gripper configured to connect the device to an electrical cable, the electrical cable pretreatment device being configured to remove one or more layers of the electrical cable without being continuously held and / or guided by an operator or a separate base or support structure. In some examples, the electrical cable pretreatment system is compact and configured to be mounted on an electrical cable in a relatively small space or volume such as an electrical cabinet.

[0005]

[0005] In one example, the present disclosure describes an electrical cable preprocessor comprising: a rotary tool head having a plurality of rollers and at least one cutting tool; a depth driver inserted into the rotary tool head and configured to adjust the radial depth of the plurality of rollers or the radial depth of the at least one cutting tool; a housing housing the rotary tool head and configured to allow the rotary tool head to rotate around an electrical cable and move axially along the electrical cable; and a gripper configured to connect the housing to the electrical cable, the gripper being configured to prevent the housing from rotating or moving axially relative to the electrical cable, the electrical cable preprocessor configured to remove one or more layers of the electrical cable.

[0006]

[0006] In another example, the present disclosure describes a method comprising the steps of an operator mounting an electrical cable preprocessor on an electrical cable, and removing layers of the electrical cable by the electrical cable preprocessor, the electrical cable preprocessor comprising: a rotary tool head having a plurality of rollers and at least one cutting tool; a depth driver inserted into the rotary tool head and configured to adjust the radial depth of the plurality of rollers or the radial depth of the at least one cutting tool; a housing housing the rotary tool head and configured to allow the rotary tool head to rotate around the electrical cable and move axially along the electrical cable; and a gripper configured to connect the housing to the electrical cable, the gripper being configured to prevent the housing from rotating or moving axially relative to the electrical cable.

[0007]

[0007] In another example, the present disclosure describes an electrical cable pretreatment system configured to remove one or more layers of an electrical cable, the electrical cable pretreatment system comprising: a rotary tool head having a plurality of rollers and at least one cutting tool; a depth driver inserted into the rotary tool head and configured to adjust the radial depth of the plurality of rollers or the radial depth of the at least one cutting tool; a housing housing the rotary tool head and configured to allow the rotary tool head to rotate around the electrical cable and move axially along the electrical cable; a gripper configured to connect the housing to the electrical cable, the gripper being configured to prevent the housing from rotating or moving axially relative to the electrical cable; and a computing device having a processing circuit configured to position the rotary tool head of the electrical cable pretreatment system at the end of the electrical cable; adjust the radial depth of at least one cutting tool of the rotary tool head to a preprogrammed cutting depth; and rotate the rotary tool head to set the at least one cutting tool to the predetermined cutting depth.

[0008]

[0008] Details of one or more examples of the present disclosure are described in the accompanying drawings and the following description. Other features, purposes, and advantages of the present disclosure will become apparent from the description and drawings and the claims. [Brief explanation of the drawing]

[0009] [Figure 1A] This block diagram shows examples of various components of power systems, such as power grids, including electrical cables and cable accessories, as disclosed herein. [Figure 1B] This figure shows an example of an electrical cable pretreatment system for pretreatment of electrical cables for use in power systems, as disclosed herein. [Figure 2] Figure 1B shows an example of an electrical cable pre-processing system according to this disclosure. [Figure 3A] This is a perspective view of an example of an electrical cable preprocessing device according to the present disclosure. [Figure 3B] Figure 3A is a transparent perspective view of an example of an electrical cable preprocessing device according to this disclosure. [Figure 3C] Figures 3A and 3B show internal perspective views of an example of an electrical cable preprocessing device according to this disclosure. [Figure 4A] This is a perspective view of another example of an electrical cable preprocessing device as disclosed herein. [Figure 4B] This is a perspective view of another example of an electrical cable preprocessing device as disclosed herein. [Figure 4C] Figure 4A and Figure 4B are perspective views of another electrical cable preprocessing device according to this disclosure, and are cross-sectional perspective views of the electrical cable preprocessing device example shown in Figure 4A and Figure 4B according to this disclosure. [Figure 4D] This is a perspective view of another electrical cable preprocessing device as disclosed herein. [Figure 5A] This is a perspective view of an example of an electrical cable pre-processing device connected to an electrical cable in an electrical cabinet, as disclosed herein. [Figure 5B] This is a perspective view of an example of an electrical cable pre-processing device connected to an electrical cable in an electrical cabinet, as disclosed herein. [Figure 5C] This is a perspective view of an example of an electrical cable pretreatment device connected to an electrical cable inside an electrical cabinet, as disclosed in this disclosure. [Figure 5D] This is a perspective view of an example of an electrical cable pretreatment device connected to an electrical cable inside an electrical cabinet, as disclosed in this disclosure. [Figure 6A] This is a flowchart illustrating an example of a method for pre-treating electrical cables using a cable pre-treatment device based on the various technologies of this disclosure. [Figure 6B] This is a conceptual diagram illustrating in detail a technical example of pre-treating an electrical cable using a cable pre-treatment device, based on various technologies of this disclosure. [Figure 6C] This is a conceptual diagram illustrating in detail a technical example of pre-treating an electrical cable using a cable pre-treatment device, based on various technologies of this disclosure. [Figure 7]It is a diagram of an example of a rotary head assembly of an electric cable pretreatment device according to the present disclosure. [Figure 8A] It is a diagram of an example of an insulator blade holder mechanism of an electric cable pretreatment device according to the present disclosure. [Figure 8B] It is a diagram of an example of an insulating shielding layer blade holder mechanism of an electric cable pretreatment device according to the present disclosure. [Figure 9A] It is a diagram of an example of a jacket and insulator blade of an electric cable pretreatment device according to the present disclosure. [Figure 9B] It is a diagram showing an example of a jacket and insulator blade of an electric cable pretreatment device used to remove an electric cable jacket layer according to the present disclosure. [Figure 10] It is a diagram of an example of a driver assembly of an electric cable pretreatment device according to the present disclosure. [Figure 11A] It is a side view of an example of a driver and camshaft assembly of an electric cable pretreatment device according to the present disclosure. [Figure 11B] It is a side view of an example of a driver and camshaft assembly of an electric cable pretreatment device according to the present disclosure. [Figure 11C] It is a front view of an example of a driver and camshaft assembly of an electric cable pretreatment device according to the present disclosure. [Figure 11D] It is a side view of an example of a driver and camshaft assembly of an electric cable pretreatment device according to the present disclosure. [Figure 11E] It is a side view of an example of a driver and camshaft assembly of an electric cable pretreatment device according to the present disclosure. [Figure 11F] It is a front view of an example of a driver and camshaft assembly of an electric cable pretreatment device according to the present disclosure. [Figure 11G] It is a side view of an example of a driver and camshaft assembly of an electric cable pretreatment device according to the present disclosure. [Figure 11H] It is a side view of an example of a driver and camshaft assembly of an electric cable pretreatment device according to the present disclosure. [Figure 11I]This is a front view of an example of a driver and camshaft assembly for an electrical cable preprocessing device according to the present disclosure. [Figure 12A] This diagram shows a side view of a direct drive mechanism example of an electrical cable preprocessing device according to this disclosure. [Figure 12B] This disclosure shows an exploded view of a direct drive mechanism example of an electrical cable preprocessing device. [Figure 13-14] The image shows an example of an interface and control module (ICM) for a cable preprocessing system according to this disclosure (left figure (FIG. 13)) and an example of the screen display of the ICM in the left figure (FIG. 13) according to this disclosure (right figure (FIG. 14)). [Figure 15A] This is a conceptual diagram illustrating one example of a method for using the cable imaging and measurement apparatus examples of the various technologies of this disclosure. [Figure 15B] This is a conceptual diagram illustrating one example of a method for using the cable imaging and measurement apparatus examples of the various technologies of this disclosure. [Figure 15C] This is a conceptual diagram illustrating one example of a method for using the cable imaging and measurement apparatus examples of the various technologies of this disclosure. [Figure 16] These are explanatory diagrams illustrating examples of graphical user interfaces (GUIs) that may be generated by, or in conjunction with, the cable imaging and measurement apparatus shown in Figures 15A to 15C of this disclosure.

[0010]

[0037] This embodiment should be understood to be used without departing from the scope of the invention and that structural modifications may be made. The figures are not necessarily to scale. The same numbers used in the figures refer to the same component. However, it should be understood that the use of numbers to refer to components in each figure is not intended to limit the components in other figures labeled with the same number. [Modes for carrying out the invention]

[0011]

[0038] The installation of cable fittings often involves pre-treating the cable ends by removing layers to the correct length and depth to manage electrical stress. The cable ends can become an integral part of the finished cable terminal, connection, or detachable connector. The cable pre-treating step is very time-consuming and often takes up more than half of the entire connection installation process, and must be performed correctly and precisely to avoid defects that could cause the cable system to fail at the fitting (e.g., arcing and permanent failure).

[0012]

[0039] Common defects in electrical cables may include accidental knife cuts in the insulation, inaccurate cutbacks for certain cables and accessories, residue of insulating shielding layers (e.g., semiconducting polymers) on the cable insulation, protrusions or scratches at the transition from the cable insulation to the insulating shielding layer (e.g., semiconducting layer), and contamination on the insulation surface. In some cases, these insulation defects can be neutralized by filling the defect with grease or compound and replacing the air. However, installers may neglect or forget this step. Other concerns that may increase the risk of defects and the time required for installation may include inexperienced installers, as well as complex, general instructions rather than specific instructions for the particular accessories, connectors, and / or cables on hand.

[0013]

[0040] According to the systems and technologies disclosed herein, an electrical cable pretreatment system may be configured to automatically and rapidly pretreatment cable ends, rather than using manual processes, thereby reducing defects or making the resulting terminals, connections, or separable connections more resilient to failure. The system can be configured to perform many important functions of cable pretreatment with little to no intervention, including seamless operator input or automatic determination of cutback length and depth, real-time defect detection and correction, and the ability to deploy and operate in various field environments, such as the narrow constraints of a small cabinet. In addition, the device may be configured to be able to connect to and then detach from an electrical cable to perform cable pretreatment functions without continuous support, holding, or guidance by an operator.

[0014]

[0041] Figure 1A is a block diagram showing examples of various components of a power system 100A, such as a power grid. As shown in the example in Figure 1A, system 100A represents a physical environment in which one or more power lines 124 supply electricity from a power source (e.g., a power plant) to one or more consumers (e.g., businesses, homes, government facilities, etc.). In the example in Figure 1A, system 100A includes one or more distribution nodes 122, one or more power lines 124 (including one or more individual electrical cables 132A and 132B (collectively referred to as "electrical cable 132")), and one or more cable accessories 134A to 134C (collectively referred to as "cable accessories 134").

[0015]

[0042] A distribution node 122 may include one or more input lines for receiving power (e.g., directly from a power source or indirectly via another distribution node 122) and one or more output lines for distributing power directly or indirectly to consumers (e.g., via another distribution node 122). A distribution node 122 may include transformers for stepping up or stepping down voltage. In some examples, a distribution node 122 may be a relatively small node, such as an electrical cabinet, pole-mounted transformer, or pad-mounted transformer, for distributing power to neighboring homes. In another example, a distribution node 122 may be a relatively large node (e.g., a transmission substation) that distributes power to other distribution nodes 122 (e.g., distribution substations), which in turn distribute power to consumers (e.g., homes, businesses, etc.).

[0016]

[0043] Power lines 124 can transmit electricity from a power source (e.g., a power plant) to electricity consumers (e.g., businesses and homes). Power lines 124 can be underground, underwater, or suspended overhead (e.g., from wooden utility poles, metal structures, etc.). Power lines 124 can be used for transmitting electricity at relatively higher voltages (e.g., ) compared to electrical cables commonly used in homes, which can transmit electricity between approximately 12 volts and approximately 240 volts depending on the application and geographical area. For example, power lines 124 can transmit electricity above approximately 600 volts (e.g., between approximately 600 volts and approximately 1,000 volts). However, power lines 124 can transmit electricity within any voltage and / or frequency range. For example, lines 124 can transmit electricity within different voltage ranges. In some examples, the first type of transmission line 124 may transmit voltages exceeding approximately 1,000 volts for distributing power between residential or small commercial customers and power sources (e.g., power companies). In another example, the second type of transmission line 124 may transmit voltages between approximately 1 kV and approximately 69 kV for distributing power to urban and rural communities. The third type of transmission line 124 may transmit voltages exceeding approximately 69 kV for the supplementary transmission and distribution of bulk power, as well as for connecting to very large consumers.

[0017]

[0044] In the example shown in Figure 1A, the power line 124 includes one or more electrical cables 132 and one or more electrical cable accessories 134A to 134C. The electrical cable 132 may be referred to as “power cable” or simply “cable” throughout this disclosure. The electrical cable 132 includes a conductor that may be radially surrounded by one or more insulating layers. In some examples, the electrical cable 132 includes multiple stranded conductors (e.g., a three-phase or multi-conductor cable). Examples of cable accessories 134 include, among others, connectors, detachable connectors, terminals, and connectors. In some examples, the cable accessories 134 may include cable connectors configured to connect two or more electrical cables 132 (e.g., electrically and physically). For example, as shown in Figure 1A, cable accessory 134C is configured to electrically and physically connect cable 132A to cable 132B. In some examples, the terminal may be configured to connect cable 132 (e.g., electrically and physically) to additional electrical equipment such as transformers, switchgear, power substations, businesses, homes, or other structures. For example, as shown in Figure 1A, cable attachment 134B electrically and physically connects cable 132B to distribution node 122 (e.g., the transformer at distribution node 122).

[0018]

[0045] Figure 1B shows an example of a system 100B for pre-processing electrical cables for use in the power system 100A of Figure 1A, as shown in the present disclosure. As shown in Figure 1B, the cable pre-processing system 100B includes at least a cable pre-processing device 150 and a computing device 152.

[0019]

[0046] The cable preprocessor 150 may be configured to automatically cut one or more layers of an electrical cable 132 (e.g., one of the electrical cables 132 in Figure 1A) in order to connect the electrical cable 132 to a cable accessory (e.g., cable accessory 134A in Figure 1A). The cable preprocessor 150 may be configured to automatically remove various layers of the electrical cable 132 (e.g., jacket layer, shielding layer, insulation layer, insulating shielding layer, conductor shielding layer, or other layers) when the device cuts the layers. For example, as will be further detailed below, the cable preprocessor 150 may include one or more cutting tools (e.g., knife blades, saws, etc.) configured to cut various layers of the electrical cable 132.

[0020]

[0047] The cable preprocessing device 150 can preprocess electrical cables 132 more efficiently and accurately than existing technologies for installation within power lines 124 of a 100A power system. In some examples, the cable preprocessing device 150 comprises a rotary tool head. In some examples, the rotary tool head may be configured to perform different “types” of cuts (e.g., slicing cuts, scraping cuts, and / or through cuts) on different layers of the electrical cable 132 in a selected direction (e.g., longitudinal, radial, and / or circumferential), and in some examples, it includes one or more individual cutting tools for removing different layers of the electrical cable 132. In one example, the tool head includes a plurality of rollers configured to support the electrical cable 132 while one or more cutting tools of the tool head cut the different layers.

[0021]

[0048] In some examples, the cable pretreatment device 150 is configured to connect to and then disconnect from an electrical cable 132 to perform cable pretreatment functions without continuous support, holding, or guidance by an operator. In the illustrated example, the cable pretreatment device 150 comprises a housing 154 and a gripper 156. The gripper 156 may be connected to the housing 154, and the gripper 156 may be configured to disconnect the cable pretreatment device 150 to the electrical cable 132, for example by disconnecting the housing 154 to the electrical cable 132. The housing 154 may be configured to house a rotary tool head, and the electrical pretreatment device 150 may be configured to position the rotary tool head relative to the electrical cable 132 so that the rotary tool head can remove one or more layers of the electrical cable 132, and to hold and / or support the rotary tool head while it is removing one or more layers of the electrical cable 132 without continuous holding and / or guidance by an operator or a separate base or support structure. For example, the gripper 156 may be configured to prevent the housing from rotating or moving axially relative to the electrical cable 132, while the housing 154 may allow the rotary tool head to rotate around the electrical cable 132 and move axially along the electrical cable 132 without assistance from the operator.

[0022]

[0049] System 100B includes a computing device 152 communicatively coupled to a cable preprocessor 150, which may be configured to control the operation of the cable preprocessor 150. In some examples, the computing device 152 controls the cable preprocessor 150 to adjust various components of the cable preprocessor 150 to cut different layers of the electrical cable 132. In one example, the computing device 152 outputs commands to the cable preprocessor 150 to adjust the depth of several rollers, so that the tool head can support the electrical cable 132 as the cutting tool cuts different layers of the electrical cable 132.

[0023]

[0050] In some examples, the computing device 152 outputs various commands to control the starting position and cutting distance (e.g., cutting depth or cutback length) of the cutting tool. In one example, the computing device 152 causes the tool head to start cutting at one end of the electrical cable 132. In another example, the computing device 152 causes the tool head to start cutting at a predetermined distance from the end of the electrical cable 132 to form a retaining strip for one or more layers of the electrical cable 132. The retaining strip can prevent one or more layers of the electrical cable 132 from moving or becoming loose while the tool head is cutting the layers of the electrical cable 132.

[0024]

[0051] In some scenarios, the computing device 152 outputs a command to remove one or more layers of the electrical cable 132. In one example, the command causes the cutting tool to penetrate the electrical cable 132 to a selected depth, forming a tab within at least one layer of the cable 132. Another command causes the cutting tool to partially retract (for example, to a shallower cutting depth), allowing the cutting tool to remove one or more outer layers of the electrical cable 132 without cutting one or more internal layers of the electrical cable 132.

[0025]

[0052] In this way, the computing device 152 may enable the cable preprocessing device 150 to preprocess electrical cables faster than other techniques or approaches and to more precisely control the cutting depth and cutback length of cutting into one or more layers of the electrical cable. More precise cutting of the layers of the electrical cable 132 may reduce defects in the electrical cable (e.g., cable connections). For example, more precise cutting of the layers may reduce air gaps and thus reduce the probability and / or amount of partial discharge events. Reducing the probability and / or amount of partial discharge events may reduce the probability of failure events in the electrical cable 132 and extend the service life of the electrical cable 132 and / or cable accessories 134. Reducing the probability of failure events may increase the reliability of the power grid 100A in Figure 1A. Furthermore, extending the life of the electrical cable 132 may reduce the construction, operation, and maintenance costs of the power grid 100A.

[0026]

[0053] The examples described above and herein have been and will continue to be discussed in relation to computing device 152 for illustrative purposes only. It should be understood that the described functions can be implemented by any suitable computing device. Furthermore, the term “computing device” is used to refer to any computing platform having one or more processors that provide an execution environment for programmable instructions. For example, a computing device may include one or more computers (e.g., servers, desktops, laptops, tablets, smartphones, blade computers, virtual machines, etc.) coupled to or otherwise communicating with the cable preprocessor 150. As another example, a computing device may include one or more processors embedded within the cable preprocessor 150.

[0027]

[0054] Figure 2 is a diagram of some example components of the cable pre-processing system 100B of Figure 1B. In the example of Figure 2, the electrical cable 132 includes multiple concentric (e.g., cylindrical) layers, such as a central conductor 252, a conductor shielding layer 254, an insulator 256, an insulating shielding layer 258, a shielding layer 260 (also called the “sheath 260”), and a jacket 262. However, in some examples, the electrical cable 132 may include more or fewer layers. The layers of the cable 132 are not necessarily drawn to scale. The electrical cable 132 may be configured for AC and / or DC power transmission.

[0028]

[0055] The electrical cable 132 may be rated to handle voltages of approximately 11kV, 33kV, 66kV, and 360kV, as some non-limiting voltage examples. In some examples, the electrical cable 132 transmits power between a power source and a substation by transmitting voltages of 360kV or higher, which may be considered a “transmission level” voltage. In some examples, the electrical cable 132 is configured to transmit voltages between 33kV and 360kV, for example, 66kV or 33kV, which may be considered a “secondary transmission level” voltage, supplying power from a power source to an end operator or customer (e.g., a customer using relatively large amounts of power). In another example, the electrical cable 132 transmitting power between a distribution substation and a distribution transformer may transmit voltages below 33kV, which may be considered a “distribution level” voltage. The electrical cable 132 may also transmit power between a distribution substation or distribution transformer (e.g., a pad-mounted transformer or a pole-mounted transformer) and an end-user or consumer (e.g., a home or business), and may transmit voltages between 360 volts and 240 volts. At such voltages, the electrical cable 132 may be called a “secondary distribution line.”

[0029]

[0056] The central conductor 252 comprises a conductive material such as copper or aluminum. In some examples, the central conductor 252 comprises a single solid conductor or multiple stranded conductors. The diameter or thickness of the central conductor 252 is based on the current for which the electrical cable 132 is designed to transmit or conduct electricity. In other words, the cross-sectional area of ​​the central conductor 252 is based on the current for which the electrical cable 132 is designed to transmit electricity. For example, the central conductor 252 may be configured to transmit currents of 1,000 amperes or more.

[0030]

[0057] The conductor shielding layer 254 may contain a semiconducting polymer, such as a carbon black-filled polymer. The semiconducting polymer may have a volume resistivity in the range of about 5 ohms·cm to about 100 ohms·cm. The conductor shielding layer 254 may be physically and electrically coupled to the central conductor 252. In the example of Figure 2, the conductor shielding layer 254 is placed between the central conductor 252 and the insulator 256. The conductor shielding layer 254 may provide a continuous conductive surface around the outer surface of the central conductor 252, which can reduce or eliminate sparks otherwise generated by the central conductor 252.

[0031]

[0058] In some examples, the insulator 256 includes polyethylene such as cross-linked polyethylene (which may be abbreviated as PEX, XPE, or XLPE) or ethylene propylene rubber (which may be abbreviated as EPR). The diameter or thickness of the insulator 256 is based on the voltage for which the electrical cable 132 is designed to transmit or conduct electricity.

[0032]

[0059] The insulating shielding layer 258 may contain a semiconducting polymer, such as a conductive shielding layer. In the example in Figure 2, the insulating shielding layer 258 is placed between the insulator 256 and the shielding layer 260. The insulating shielding layer 258 may be bonded to the insulator 256. In some examples, the insulating shielding layer 258 is electrically bonded to the shielding layer 260. The shielding layer 260 may contain a conductive material such as a metal foil or film or a wire. In some examples, the shielding layer 260 may be called a “grounding conductor”.

[0033]

[0060] As shown in Figure 2, the jacket 262, also called the “outer sheath,” is the outer layer of the electrical cable 132. The jacket 262 may be a plastic or rubber polymer such as polyvinyl chloride (PVC), polyethylene (PE), or ethylene propylene diene monomer (EPDM). The electrical cable 132 may include additional layers such as swellable material or waterproofing material placed within the conductor strands (e.g., strand filling) or between the various layers within the electrical cable 132.

[0034]

[0061] The computing device 152 may include one or more power supplies 206 for supplying power to the components shown in the computing device 152. In some examples, the power supplies 206 include a primary power supply for supplying power and a secondary backup power supply for supplying power when the primary power supply is unavailable (e.g., has failed or is otherwise not supplying power). In some examples, the power supplies 206 include a battery, such as a lithium-ion battery.

[0035]

[0062] One or more processors 202 may implement functions within the computing device 152 and / or execute instructions. For example, a processor 202 may receive and execute instructions stored by the storage device 210. These instructions executed by the processor 202 may cause the computing device 152 to store and / or modify information in the storage device 210 during program execution. In some examples, a processor 202 may cause a control module 220 to execute instructions for its components in order to perform one or more operations in accordance with the technology of this disclosure. That is, the control module 220 may be operable by the processor 202 to perform various functions described herein.

[0036]

[0063] One or more communication units 204 of the computing device 152 may communicate with an external device by transmitting and / or receiving data. For example, the computing device 152 may use the communication units 204 to transmit and / or receive radio signals over a radio network such as a cellular radio network. Examples of communication units 204 include network interface cards (e.g., Ethernet cards), optical transceivers, radio frequency transceivers, or any other type of device that transmits and receives information. Other examples of communication units 204 include Bluetooth®, cellular (e.g., 3G, 4G), LPWAN, and Wi-Fi® radio. As another example, the communication unit 204 may communicate with an external device by transmitting and / or receiving data via wired communication.

[0037]

[0064] The computing device 152 may include one or more sensors 208. In one example, the sensors 208 include one or more position sensors for detecting the position of various components of the cable preprocessor 150 (e.g., the position of a tool head, roller, or cutting tool). In another example, the sensors 208 may include one or more speed sensors configured to measure the speed of various components of the cable preprocessor 150. In yet another example, the cable preprocessor 150 may include sensors (e.g., position, speed, distance, torque, force, etc.) and can communicate sensor readings to the computing device 152. In yet another example, all sensors 208 are located on other modular devices of system 100B, as further described below with respect to Figure 3. The computing device 152 can connect to the sensors 208 via data cables (as shown in Figure 23A) or wirelessly (as shown in Figures 23B and 23C), and the computing device 152 interprets the sensor signals. The sensors 208 reside within a module and can be fed to a local processor that controls the motor based on the sensor readings. In other words, the encoder can be integrated into the motor or as torque / power feedback from the motor, as will be explained in more detail below. Furthermore, any or all of the modular components of the system may have a camera as sensor 208.

[0038]

[0065] In some examples, the sensor 208 may include one or more imaging devices, such as a camera or a barcode scanner. For example, any or all of the cable preprocessing device 150, the computing device 152, or the additional modular components in Figures 3A and 3B may include one or more cameras configured to acquire images of the electrical cable 132 before, during, and / or after the layers of the electrical cable 132 are cut.

[0039]

[0066] One or more storage devices 210 may store information for processing by the processor 202. In some examples, the storage device 210 is temporary memory, meaning that long-term storage is not the primary purpose of the storage device 210. The storage device 210 may be configured as volatile memory for short-term storage of information, and therefore may not retain its stored contents when deactivated. Examples of volatile memory include random-access memory (RAM), dynamic random-access memory (DRAM), static random-access memory (SRAM), and other forms of volatile memory known in the art.

[0040]

[0067] In some examples, the storage device 210 may also include one or more computer-readable storage media. The storage device 210 may be configured to store larger amounts of information than volatile memory. The storage device 210 may further be configured as non-volatile memory for long-term storage of information, for example, retaining information after activation / off-cycle or across cycles. Examples of non-volatile memory include solid-state drives (SSDs), magnetic hard disk drives (HDDs), flash memory, or electrically programmable memory (EPROM) or electrically erasable and programmable (EEPROM) memory. The storage device 210 may store program instructions and / or data related to other components such as the control module 220.

[0041]

[0068] In the example in Figure 2, the storage device 210 includes an electrical equipment data repository 212. The data repository 212 may include a relational database, a multidimensional database, a map, a hash table, or any other data structure for storing data. In some examples, the electrical equipment data repository 212 may include, among other things, device or equipment data, manufacturing data, installation data, consumer data, and / or distribution data. For example, the electrical equipment data repository 212 may include data identifying each cable accessory 134 (Figure 1A) such as the date of manufacture, date of installation, location (e.g., GPS coordinates, address, etc.), the entity that installed the cable accessory, a unique identifier (e.g., serial number), and the type of cable accessory. In another example, the electrical equipment data repository 212 may include data indicating the cutting dimensions of various types of electrical cables and / or cable accessories.

[0042]

[0069] In aspects of this disclosure, the control module 220 may be able to operate the functions of the computing device 152 by one or more processors 202, as described herein. For example, the control module 220 may output commands to control the operation of the cable preprocessor 150. In some examples, the control module 220 may also change the position or speed of physical components within the cable preprocessor, such as a cutting tool, in response to a combination of sensor readings and stored data, according to programmed logic. In some examples, the control module 220 controls the cable preprocessor 150 to adjust various components of the cable preprocessor 150 to cut various layers of the electrical cable 132. In one example, the control module 220 outputs commands to the cable preprocessor 150 to adjust the radial depth of several rollers, so that the tool head can support the electrical cable 132 when the cutting tool cuts various layers of the electrical cable 132.

[0043]

[0070] In some examples, the control module 220 outputs various commands to control the starting position and cutting distance (e.g., cutting depth or cutback length) of the cutting tool. For example, the control module 220 may cause the tool head to start cutting at one end of the electrical cable 132. In another example, the control module 220 may cause the tool head to start cutting at a predetermined distance from the end of the electrical cable 132 to form a retaining strip for one or more layers of the electrical cable 132. The retaining strip can prevent one or more layers of the electrical cable 132 from moving or becoming loose while the tool head is cutting the layers of the electrical cable 132.

[0044]

[0071] In some scenarios, the control module 220 outputs a command to remove one or more layers of the electrical cable 132. In one example, the command causes the cutting tool to penetrate to the depth of the electrical cable 132. Another command causes the cutting tool to partially retract (for example, to a shallower cutting depth) so that the cutting tool can remove one or more outer layers of the electrical cable 132 without cutting one or more inner layers of the electrical cable 132.

[0045]

[0072] In some examples, the control module 220 outputs various commands to control the gripper 156 to connect to the electrical cable 132. For example, the control module 220 may cause the gripper 156 to tighten or loosen around the cable 132, thereby gripping or releasing the cable 132.

[0046]

[0073] The electric driver 222 can control the characteristics of the power supplied to various components of the cable preprocessor 150. Examples of components of the cable preprocessor 150 include, among other things, motors and / or actuators that drive tool heads or tool positioning drivers. Examples of power characteristics include voltage, current, and / or frequency. In one example, the electric driver 222 outputs commands to a power converter to control the power characteristics. In another example, the electric driver 222 includes a power converter for controlling the power characteristics.

[0047]

[0074] Figures 3A to 3C are perspective views of the electrical cable pretreatment device 150 according to this disclosure. Figure 3A is a perspective view of the electrical cable pretreatment device 150, Figure 3B is a transmission perspective view of the electrical cable pretreatment device 150 showing its internal components relative to the housing 154, and Figure 3C is an internal perspective view of the electrical cable pretreatment device 150.

[0048]

[0075] In the illustrated example, the electrical cable preprocessor 150 includes a tool assembly 160 connected to, supported by, and guided by a guide rail 162. The tool assembly 160 includes a rotary tool head (not visible in Figures 3A-3C) having a plurality of rollers and at least one cutting tool. The tool assembly 160 also includes a depth driver (not visible in Figures 3A-3C) inserted into the rotary tool head and configured to adjust the radial depth of the plurality of rollers or the radial depth of at least one cutting tool.

[0049]

[0076] In the example shown in Figure 3C, the tool assembly 160 includes an axial driver 164, a tool housing 168, a proximal guide 170A, and a distal guide 170B. The tool housing 168 may include a motor configured to drive one or all of the rollers, depth drivers, or the axial driver 164. The tool housing 168 may also include sensors such as a camera, a motor, a control circuit configured to control the sensor and / or camera, and a battery configured to power the control circuit, motor, sensor and / or camera.

[0050]

[0077] The tool housing 168 may be configured to house a rotary tool head, connect the tool assembly 160 to the housing 154, and provide a mounting structure for the rotary tool head to hold the rotary tool head in place relative to the electrical cable 132. For example, the tool housing 168 may be connected to proximal and distal guides 170A-170B, which are configured to be directly connected to and movable along the guide rail 162, and are supported and guided by the guide rail 162 for axial movement of the tool assembly 160 along the electrical cable 132.

[0051]

[0078] The tool housing 168 may also be connected to an axial driver 164. The axial driver 164 may be configured to engage with a lead screw 166 to move the tool assembly 160 axially along the guide rail 162. For example, the axial driver 164 may include an internal thread configured to connect to and / or engage with the lead screw 166. The axial driver 164 may also be connected to a motor, for example, its own motor or a motor in the tool housing 168, which may be configured to rotate the lead screw 166 to move the axial driver 164 and the tool assembly 160 axially along the lead screw 166 and the guide rail 162, for example, via the threads of the lead screw 166. In other examples, the lead screw 166 may be stationary, for example, fixed to the proximal and distal ends of the housing 154 so as not to rotate, and the axial driver 164 may be configured to rotate an internal thread engaged with the thread of the lead screw 166 to move the tool assembly 160 along the lead screw 166 and the guide rail 162 in the proximal or distal axial direction.

[0052]

[0079] The guide rail 162 and lead screw 166 may be directly connected (e.g., in contact with and mounted) to the proximal housing end 158A and the distal housing end 158B. Each of the proximal and distal housing ends 158A-158B may include a motor, one or more sensors such as a camera, a control circuit configured to control the motor, sensors, and / or camera, and a battery configured to power the motor, sensors, camera, and / or control circuit. For example, the distal housing end 158B may include a camera 174 configured to acquire an image of the distal end face of an electrical cable 132, and a control circuit that processes the image and / or controls a communication circuit to transmit the image to a computing device 152 for processing. The proximal housing end 158A may include a camera configured to acquire an image of the outer periphery of the electrical cable 132, for example, to image a circumferential structure (e.g., any removed layer) and / or to image or read any label on the outer surface of the electrical cable 132, and a control circuit that processes the image and / or controls a communication circuit to transmit the image to a computing device 152 for processing. The proximal housing end 158A may also include a motor configured to cause the gripper 156 to grip the electrical cable 132. One or both of the proximal and distal housing ends 158A-158B may include a motor configured to rotate the lead screw 166.

[0053]

[0080] In some examples, the housing 154 comprises proximal and distal housing ends 158A-158B, and the housing 154 may include a cover or shell that at least partially encloses the proximal and distal housing ends 158A-158B, the guide rail 162, the lead screw 166, and the tool assembly 160. The proximal and distal housing ends 158A-158B may be connected by the guide rail 162 and the lead screw 166, and optionally by a cover and / or shell, and the axial length L between the proximal and distal housing ends 158A-158B may determine the axial operating length of the tool assembly 160 along the electrical cable 132. In some examples, the housing 154 may be considered to include all of the proximal and distal housing ends 158A-158B, the guide rail 162, the lead screw 166, and the gripper 156.

[0054]

[0081] The gripper 156 is directly connected to the housing 154. In the illustrated example, the gripper 156 is directly connected to the proximal housing end 158A (e.g., in direct contact and directly mounted), but in other examples, the electrical cable preprocessor 150 may comprise multiple grippers 156, for example, both the proximal and distal housing ends 158A-158B may be connected to a proximal gripper 156 and a distal gripper (not shown), respectively. In some examples, the gripper 156 may be integrated with the housing 154, for example, the housing 154 may include the gripper 156. The gripper 156 is configured to directly connect to the electrical cable 132 (e.g., clamp), thereby connecting the housing 154 to the electrical cable 132 and preventing the housing 154 from rotating and / or moving axially relative to the electrical cable 132. In the illustrated example, the gripper 156 comprises a nut 176A and a collet (not shown). For example, nut 176A is configured to be rotatable and screw onto the threads of base 176B, moving axially toward base 176B, applying a radially inward compressive force to a tapered collet positioned within nut 176A, which then compresses (e.g., clamps) the electrical cable 132. Nut 176A can also be configured to be rotatable and move axially away from base 176B to reduce the radially inward compressive force on the collet and release it from the electrical cable 132.

[0055]

[0082] In some examples, the gripper 156, the proximal and distal housing ends 158A–158B, and the tool assembly 160 (e.g., the proximal and distal guides 170A–170B) include a cable alignment opening 172. In some examples, the cable alignment opening 172 may be adjustable and / or interchangeable to accommodate different cable sizes or diameters. For example, the cable alignment opening 172 may be configured to be adjusted or replaced by an operator, or a computing device 152 may be configured to cause the cable alignment opening 172 to adjust its size or diameter.

[0056]

[0083] In some examples, the housing 154 includes one or more openings configured to allow the removal of cuttings, such as cut and removed layers of the electrical cable 132, from the electrical cable preprocessor 150. For example, the housing 154 may have proximal and distal housing ends 158A-158B connected by guide rails 162 and lead screws 156, as shown in Figure 3C, and the housing 154 may not be enclosed by a shell or cover. In some examples, the electrical cable preprocessor 150 may include a stopper for limiting the length of the electrical cable 132 that can be inserted into the electrical cable preprocessor 150, or alternatively, for limiting the length that the electrical cable preprocessor 150 can be inserted onto the electrical cable 132. In some examples, the stopper may be on the inner surface of the distal housing end 158B.

[0057]

[0084] In some examples, the electrical cable pretreatment device 150 may be configured to allow the rotary tool head to operate hands-free. For example, the electrical cable pretreatment device 150 may be small, lightweight, and connected to the electrical cable 132 to reduce movement, vibration, and torque on the electrical cable 132 with minimal or no external support while the rotary tool head is operating on the electrical cable 132. For example, the maximum cross-sectional dimensions of the electrical cable pretreatment device 150 (e.g., in a plane substantially perpendicular to its longitudinal axis 180) may be less than 20 inches, or less than 10 inches, or less than 7 inches, or less than 4 inches. In some examples, the maximum cross-sectional dimensions of the cable pretreatment device 150 in the direction perpendicular to the longitudinal axis of the electrical cable are less than 7 inches.

[0058]

[0085] Figures 4A to 4B are perspective views of the electrical cable preprocessor 250 according to the present disclosure. Figure 4A is a transmission perspective view of the electrical cable preprocessor 250 showing its internal components relative to the housing 154, and Figure 4B is an internal perspective view of the electrical cable preprocessor 250. The electrical cable preprocessor 250 may be substantially similar to the electrical cable preprocessor 150, except that the electrical cable preprocessor 250 includes two opposing guide rails 266 and may use different axial drive mechanisms.

[0059]

[0086] For example, the electrical cable preprocessor 250 may include a tool assembly 260, which may be substantially similar to the tool assembly 160 described above, except that the tool assembly 260 includes a guide 270. The guide 270 may be configured to house a rotating tool head and may be connected to a guide rail 266. The electrical cable preprocessor 250 may use a lead screw drive mechanism to move the tool housing 168 and the guide 270, as described above. Alternatively, the electrical cable preprocessor 250 may include a belt and / or chain drive housed and / or supported by the guide rail 260 to move the guide 270, the tool housing 168, and the rotating tool head in the axial direction. In some examples, the electrical cable preprocessor 250 may include a stepping motor, wheel, ball bearing, or other mechanism to move the guide 270, the tool housing 168, and the rotating tool head in the axial direction along the guide rail 266.

[0060]

[0087] Figures 4C-4D are perspective views of an electrical cable preprocessor 350 illustrating an alternative mechanism for connecting to an electrical cable 132 according to the present disclosure. The electrical cable preprocessor 350 may be substantially similar to the electrical cable preprocessor 150 or 250 described above, except that the electrical cable preprocessor 350 is configured to open and close in a clamshell configuration. Figure 4C is a perspective view of the electrical cable preprocessor 350 in an open configuration, and Figure 4D is a perspective view of the electrical cable preprocessor 350 in a closed configuration around the electrical cable 132. In the illustrated example, the gripper 356 is configured to connect to or clamp the electrical cable 132 by closing on the electrical cable 132, and to release from the electrical cable 132 by opening. For example, other parts of the housing 354 may be configured to open and close to allow the electrical cable preprocessor 350 to be positioned on (for example, around, approximately) the electrical cable 132, but not to clamp or grip the electrical cable 132, the gripper 356 is configured to grip the electrical cable 132 in order to connect the electrical cable preprocessor 350 to the electrical cable 132.

[0061]

[0088] Figures 5A and 5B are perspective views of an electrical cable pretreatment device 150 connected to an electrical cable 132 in an electrical cabinet 502, and Figures 5C and 5D are perspective views of an electrical cable pretreatment device 150 connected to an electrical cable 132 in an electrical cabinet 502 according to this disclosure.

[0062]

[0089] In the example shown in Figure 5A, the electrical cable pretreatment device 150 is connected to the electrical cable 132 outside the cabinet 502, and the electrical cable 132 is supplied to the cabinet 502 from the bottom. In the example shown in Figure 5B, the electrical cable pretreatment device 150 is connected to the electrical cable 132 outside the cabinet 502, and the electrical cable 132 is supplied to the cabinet 502 from the top. In the illustrated examples, the electrical cable 132 extends from the cabinet 502, and the electrical cable pretreatment device 150 can be connected to the electrical cable 132 outside the cabinet 502 by bending and / or straightening the electrical cable 132 to the minimum extent. The electrical cable device 150 may be connected vertically or horizontally (not shown) in either direction and may remain connected to the electrical cable 132 when a rotary tool head removes one or more layers of the electrical cable 132.

[0063]

[0090] In the examples shown in Figures 5A-5B, the mounting support 504 can be attached to the electrical cable preprocessor 150. In the illustrated examples, the mounting base 506 can be attached to the cabinet 502. The mounting base 506 may be configured to be attached to the cabinet 502 via magnets, adhesive, clamps, or any suitable mounting mechanism. The mounting support 508 can connect the housing 154 of the electrical cable preprocessor 150 to the mounting base 506. In some examples, the mounting support 508 may be substantially rigid, for example, a rod. In other examples, the mounting support 508 may be substantially flexible, for example, a cable. The mounting support 504 is configured to support the weight of the electrical cable pretreatment device 150 to prevent the electrical cable 132 from bending, is connected to the electrical cable 132, and may be configured to reduce the movement of the electrical cable pretreatment device 150 during the operation of the rotary tool head, for example, when the rotary tool head is rotating around the electrical cable 132, moving axially along the electrical cable 132, and / or removing layers of the electrical cable 132.

[0064]

[0091] In the examples shown in Figures 5C-5D, the electrical cable preprocessor 150 is connected to the electrical cable within the cabinet 502. For example, the electrical cable preprocessor 150 may be small, lightweight, and configured to fit within the cabinet 502. In some examples, the electrical cable preprocessor 150 may be configured to operate by connecting to the electrical cable 132 within the cabinet 502, for example, without removing a portion of the electrical cable 132 from the cabinet 502. In other examples, the electrical cable preprocessor 150 may be connected to the electrical cable 132 outside the cabinet 502 and then placed inside the cabinet 502 during operation. In some examples, the electrical cable preprocessor 150 may be mounted within the cabinet 502, for example, via a mounting support 504 (not shown in Figures 5C-5D). In other examples, the electrical cable preprocessor 150 may be configured to operate while being supported only by the electrical cable 132.

[0065]

[0092] In some examples, the electrical cable preprocessor 150 may be configured to communicate with and be controlled by a computing device 152. In the illustrated example, the computing device 152 may cause the electrical cable preprocessor 150 to grasp the electrical cable 132 and remove layers of the electrical cable 132 without the physical assistance or support of an operator (e.g., other than mounting the electrical cable preprocessor 150 onto the electrical cable 132). In some examples, any of the electrical cable preprocessors 150, 250, or 350 may be used in the examples shown in Figures 5A–5D.

[0066]

[0093] Figures 6A-6C illustrate technical examples of pretreatment of electrical cables using electrical cable pretreatment devices 150, 250, or 350. Figure 6A is a flowchart illustrating an example of a method for pretreatment of an electrical cable 132 using the cable pretreatment device 150, Figure 6B is a conceptual diagram showing details of the technical example in Figure 6A, and Figure 6C is a conceptual diagram showing the electrical cable 132 at different stages of pretreatment. The method in Figure 6A is described with reference to Figure 6B, the power system 100A, the cable pretreatment system 100B, and the electrical pretreatment device 150, but other systems and devices, such as the electrical cable pretreatment device 250 or 350, may be used.

[0067]

[0094] The operator may install the electrical cable pretreatment device 150 on the electrical cable 132 (602). For example, the operator may open the electrical box 502 and slide the cable pretreatment device 150 onto the electrical cable 132, for example, through the opening 172. In some examples, the operator may slide the cable pretreatment device 150 onto the electrical cable 132 for a length L, or in other examples, slide it until the distal end of the electrical cable 132 contacts the mechanical stopper of the cable pretreatment device 150, for example, the inner surface of the distal housing end 158B. Alternatively, the operator may open the electrical cable pretreatment device 350, place the electrical cable pretreatment device 350 on the electrical cable 132, and then close the electrical cable pretreatment device 350.

[0068]

[0095] In some examples, immediately before or after attaching the electrical cable preprocessor 150 to the electrical cable 132 (for example, at step 622 in Figure 6B), the operator may select and / or input parameters for removing at least one layer of the electrical cable 132. For example, the operator may select and / or input cutback parameters or other information (e.g., location identification, device identification, date and time, etc.) to the computing device 152, which may then communicate the parameters to the electrical cable preprocessor 150.

[0069]

[0096] In some examples, once the electrical cable preprocessor 150 is positioned on the electrical cable 132, the operator may cause the gripper 156 to grip the electrical cable 132, as shown in step 624 of Figure 6B. For example, the operator may twist or screw in the nut 176A to tighten the gripper 156, or the operator may close the electrical cable preprocessor 350, thereby closing and clamping the gripper 356 onto the electrical cable 132. Alternatively, the operator may indicate that the electrical cable preprocessor 150 is ready to grip by inputting information or making a selection via the computing device 152. The computing device 152 then communicates with the electrical cable preprocessor 150, and the control circuit may, for example, respond to a command from the computing device 152 to tighten the gripper 156 and grip the electrical cable 132. Alternatively, the operator may close the electrical cable preprocessor 350 without the gripper 356 gripping the electrical cable 132, then the operator may make fine adjustments to the axial position of the electrical cable preprocessor 350 along the electrical cable 132, the operator may then select an option via the computing device 152, and the control circuit may cause the gripper 356 to grip the electrical cable 132.

[0070]

[0097] The electrical cable preprocessor 150 can remove one or more layers of the electrical cable 132 (604). For example, the electrical cable preprocessor 150 can measure one or more dimensions of the electrical cable 132 via sensors or cameras and complete the steps necessary to remove the layers of the electrical cable 132. In some examples, an operator can receive information about the required steps via a computing device 152 and, for example, in step 626 shown in Figure 6B, input information for removing the layers of the electrical cable 132, make selections, and / or approve the steps. The electrical cable preprocessor 150 can inspect the electrical cable 132 via sensors or cameras at each of the required steps.

[0071]

[0098] In some examples, the electrical cable preprocessor 150 may position a rotary tool head at the end of the electrical cable 132. For example, a control circuit may cause the electrical cable preprocessor 150 to position a rotary tool head at the end of the electrical cable 132. The control circuit may then cause the electrical cable preprocessor 150 to adjust the radial depth of at least one cutting tool of the rotary tool head to a pre-programmed cutting depth. For example, the control circuit may cause the electrical cable preprocessor 150 to insert a depth driver into the rotary tool head and engage it with the radial depth adjustment mechanism of the rotary tool head, and then rotate the depth driver to adjust the radial depth of at least one cutting tool.

[0072]

[0099] The control circuit may cause the electrical cable preprocessing device 150 to insert at least one cutting tool of the rotary tool head into at least one layer of the electrical cable 132 to a predetermined depth and rotate the at least one cutting tool at a predetermined pitch. The control circuit may then cause the electrical cable preprocessing device 150 to rotate the rotary tool head to create a helical cut through at least one layer of the electrical cable 132.

[0073]

[0100] For example, the control circuit may cause the axial driver 164 to move the rotary tool head longitudinally along the guide rail 162 to perform, for example, a helical cut, while the electrical cable preprocessor 150 rotates the rotary tool head around the electrical cable 132 to a predetermined depth of at least one cutting tool. While the electrical cable preprocessor 150 rotates the rotary head around the electrical cable 132 and the axial driver 164 moves the rotary head axially along the electrical cable 132, the gripper 156 holds the housing 154 and the guide rail 162 stationary relative to the electrical cable 132.

[0074]

[0101] The operator can then remove the electrical cable preprocessor 150 from the electrical cable 132. For example, the operator may loosen the gripper 156 or open the electrical cable preprocessor 350. In some examples, the operator may interact with the computing device 152 to cause the control circuit to loosen the gripper 156 (or gripper 356) of the electrical cable preprocessor 150. The operator can then slide the electrical cable preprocessor 150 away from the electrical cable 132, as shown in step 628 of Figure 6B.

[0075]

[0102] Figure 6C is a conceptual diagram illustrating an example of a method for pre-treating the end of a power cable 132 using an electrical cable pre-treatment device 150 according to various techniques of the present disclosure. In step 652, the electrical cable pre-treatment device 150 (not shown in Figure 6C) is connected to the electrical cable 132. In an optional step, the end of the electrical cable 132 (e.g., the distal end) is cut substantially perpendicular to the axis of the electrical cable 132. In step 654, the jacket of the electrical cable 132 is removed. In steps 656 and 658, the shielding layer of the electrical cable 132 (e.g., wire, foil, or other shielding material) is removed and optionally folded over the uncut jacket (as shown in step 660). In step 660, the insulating shielding layer and insulator of the electrical cable 132 are removed to expose the central conductor. In step 662, a second portion of the insulating shielding layer is removed to expose a portion of the insulator. In some examples, before cutting one or more layers of the electrical cable 132, the end portion of the cable jacket may be left on the cable to provide an uncut portion of the cable jacket for connecting the electrical pretreatment device 150.

[0076]

[0103] Figure 7 is a perspective view of an example of a rotary tool head 696 (alternatively referred to as a rotary tool assembly 696) of an electrical cable preprocessing device 150 (or 250 or 350) according to the present disclosure. As shown in the example in Figure 7, the rotary head assembly 696 includes an insulator blade assembly holder 700, a roller key 702, a jacket blade assembly holder 704, a head body 706, a roller bearing assembly 708 (also referred to herein as “roller chuck 708”), a roller holder 710, an insulating shielding layer blade holder 712, a roller 714, and a cable channel 716.

[0077]

[0104] In the example shown in Figure 7, the rotating head assembly 696 includes three roller bearing assemblies 708, and three blade assemblies 700, 704, and 712. Each of the blade assemblies 700, 704, and 712 includes a corresponding radial depth adjustment mechanism 720 that, when rotated clockwise or counterclockwise, raises or lowers the respective blade assembly toward or away from the cable channel 716. At least one blade assembly (for example, as shown in Figure 7 with respect to the jacket blade assembly holder 704) includes a pitch adjustment mechanism 722 that can control the pitch of each blade. Furthermore, all blade assemblies 700, 704, and 712 include a corresponding reflective target 724 to enable distance measurement for closed-loop position adjustment. Such distance measurement may include, as a non-limiting example, an optical-based measurement such as laser measurement.

[0078]

[0105] Figure 8A is an exploded view of an example of the insulated blade assembly holder 700 of Figure 7 according to the present disclosure. The insulated blade assembly holder 700 includes a pitch adjustment mechanism 722, a blade holder mechanism 802, a blade 804 (which may be an insulated blade or a jacketed blade), a blade housing 806, and a mounting spring 808. In some examples, the assembly 700 includes a telescopic mechanism 720 to extend the radial range of motion of the blade 804. The telescopic mechanism 720 can move the blade 804 upward or downward along the blade holder mechanism 802. The pitch adjustment mechanism 722 can rotate the blade 804 to change the pitch at which the blade 804 contacts the cable 132 (Figure 1B).

[0079]

[0106] The telescopic mechanism 720, when rotated, is configured to control the radial depth of the blade 804. In some examples, the jacket blade does not need to be telescopic, but the insulator blade may need to be telescopic, for example, when the insulator blade needs to move radially inward from an "open" position toward a radial position located on the outer surface of the small conductor cable 132. The pitch adjustment mechanism 722, when rotated, is configured to control the pitch of the blade 804. During operation, the blade 804 first makes contact with the jacket 262 or insulator 256 (Figure 2) and begins to peel the jacket 262 from the cable 132. The blade 804 extends to the correct radial depth and peels the jacket 262 from the cut end of the cable 132.

[0080]

[0107] Figure 8B is an exploded view of an example of the insulating shielding layer blade holder 712 of Figure 7 according to the present disclosure. In the example of Figure 8B, the insulating shielding layer blade holder 712 includes a blade holder mechanism 850, an insulating shielding layer knife 852 having a mounting height limiter 858, a mounting spring 854, and a blade housing 856. The insulating shielding layer knife 852 extends beyond the mounting height limiter 858 to a predetermined distance. The mounting height limiter 858 travels over the surface of the insulating shielding layer 258 during the grooving process. The grooving has a predetermined radial depth (measured from the outer surface of the cable 132). In one example, the insulating shielding layer blade holder 712 may include a dome-shaped support instead of rollers, as shown in Figure 8B. A blade 804 (Figure 8A) may extend from the tip of the dome, which then travels over the conductive shielding layer 254 (Figure 2). In some examples, the blade holder mechanism 850 may include one or more set screws or other mechanical fasteners instead of mounting springs 854 to hold the blade (e.g., an insulating shielding layer blade 852) within the blade holder mechanism 850.

[0081]

[0108] Figure 9A shows an example of the blade 804 of Figure 8A according to this disclosure. The blade 804 can be used with either the insulator blade assembly holder 700 and / or the jacket blade assembly holder 704 of Figure 7. The blade 804 includes an interface 900 configured to connect with a bit 726 (Figure 8A) located at the distal end of the pitch adjustment mechanism 722. The cutting blade 902 is located just below the interface 900, together with the positioning and lifting blade 904. As shown in Figure 9B, the blade 804 can remove the jacket 262 (and / or insulator 256) from the cable 132 by cutting the jacket 262 (and / or insulator 256) with the cutting blade 902 and then lifting the jacket 262 (and / or insulator 256) from the cable 132 with the positioning and lifting blade 904. The pitch adjustment mechanism 722 is configured to rotate to change the pitch of the blade 804, in particular the cutting blade 902. The blade 804 can be formed from virtually any suitable material, such as metal, hard plastic, or wood.

[0082]

[0109] Figure 10 is an exploded view of an example of a driver assembly 694 according to the present disclosure. In some examples, the driver assembly 694 may be responsible for the movement of all rollers 714 (Figure 7), insulator and jacket blades (e.g., blade 804 in Figure 8A), and insulating shielding layer knife 852 (Figure 8B) through the engagement of a telescopic mechanism 720 and a pitch adjustment mechanism 722.

[0083]

[0110] The driver assembly 694 is configured to include an upper seal plate 1000, a driver 1002, a bearing 1004, a camshaft plate 1006, a laser distance sensor 1008 (e.g., utilizing laser triangulation), a motor and gearbox 1010, a lower seal plate 1012, a camshaft 1014, a bevel gear 1016, a camshaft motor 1018, and a driver motor 1020. During operation, the camshaft engine 1018 engages and moves one or more selected drivers 1002 upward to engage with one or more of the roller keys 702, the telescopic mechanism 720, and / or the pitch adjustment mechanism 722. When the driver 1002 engages with the roller key 702, the telescopic mechanism 720, and / or the pitch adjustment mechanism 722, the driver engine 1020 engages and rotates the driver 1002, causing the roller key 702, the telescopic mechanism 720, and / or the pitch adjustment mechanism 722 to rotate in a clockwise or counterclockwise direction.

[0084]

[0111] In some examples, the driver motor 1020 may include a maxon® EC-i series motor available from maxon precision motors in Taunton, Massachusetts, for example, having a diameter of approximately 30 mm, a power rating of approximately 75 W, and a torque rating of approximately 0.11 Nm. The driver motor 1020 may be supplied in combination with a gear ratio of approximately 10³:1, which can supply a torque of approximately 6 N-m. However, according to the examples of this disclosure, any suitable type of motor may be utilized.

[0085]

[0112] In some examples, the camshaft motor 1018 may include a maxon® ECX series motor, available from maxon precision motors in Taunton, Massachusetts, for example, having a diameter of about 19 mm, a power rating of about 34 W, and a torque rating of about 7 mN-m. The camshaft motor 1018 may be supplied in combination with a gear ratio of about 111:1, which can supply a torque of about 0.5 Nm. However, according to the examples of this disclosure, any suitable type of motor may be utilized.

[0086]

[0113] Figures 11A–11I illustrate an example of the driver assembly 694 of Figure 10, including a driver 1002 and a camshaft 1014, as per the present disclosure. In the example of Figures 11A–11I, the driver 1002 collectively includes three individual drivers 1100, 1102, and 1104.

[0087]

[0114] In Figures 11A, 11B, and 11C, drivers 1100, 1102, and 1104 are set in the “diameter” position, which means that two of the rear drivers (e.g., drivers 1100 and 1102) are in the “engaged” position, extending to engage with the roller key 702 and the telescopic mechanism 720 (Figure 7). The camshaft 1014 is shown in the “rotated” position (as shown in Figure 11B) where the camshaft 1014 is pushing drivers 1100 and 1102 upward, causing them to engage with the roller key 702 and the telescopic mechanism 720. The control circuit may move the roller chuck 708 toward the cable 132 (Figure 1B) located within the electrical cable preprocessor 150 by engaging and rotating driver 1100 in the desired clockwise or counterclockwise direction with the driver engine 1020.

[0088]

[0115] Furthermore, the control circuit may engage the driver 1102 with the driver engine 1020 and rotate it, thereby rotating the telescopic mechanism 720 in a clockwise or counterclockwise direction, to lower the insulating blade 804 so that it contacts the cable 132 in the MWM 350.

[0089]

[0116] Figures 11D, 11E, and 11F show that driver 1002 is in the “angle” position, which means that drivers 1100 and 1102 are in the “neutral” position and driver 1104 is in the “engaged” position. Camshaft 1014 rotates, raising driver 1104. Driver 1104 can engage with the pitch adjustment mechanism 722 and can be rotated clockwise or counterclockwise by driver engine 1020. In Figures 11G, 11H, and 11I, all three drivers 1100, 1102, and 1104 are in the “neutral” position, which means that camshaft 1014 has rotated to a position where none of drivers 1100, 1102, or 1104 are extending upward.

[0090]

[0117] Figures 12A and 12B show a side view and exploded view, respectively, of an example of a motor 690 (alternatively referred to as “direct drive mechanism 690” or “direct drive 690”) according to the present disclosure. The direct drive 690 is shown together with a rotating head assembly 696, spacer 1200, stator 1202, encoder ring 608, stator lock plate 1204, encoder leader 1206, rotor lock plate 1208, rotor 1210, chassis 620, bearing 1212, and bushing 1214.

[0091]

[0118] The rotor 1210 is a cylindrical rotor and can be made of solid steel. In some examples, the rotor 1210 includes a brushless DC ("BLDC") motor topology and includes permanent magnets. The rotor 1210, encoder ring 608, and other components are connected to a rotating head 696 and fixed to a frame 620 by bearings. The encoder ring 608 and encoder reader 1206 constitute an electromechanical device configured to measure the angular position or motion of the rotor 1210 and may output the measurement in the form of an analog or digital output signal. The encoder ring 608 may be an absolute decoder or an incremental encoder.

[0092]

[0119] In some examples, the motor 690 is essentially a rotating electric device. The stator 1202 acts as a field magnet and can interact with the rotor 1210 to produce circular motion. This circular motion essentially rotates the head body 696 around the cable 132. In some examples, the motor 690 could be the Model QTR-A-133-34 linear motor available from Tecnotion in Almelo, Netherlands, or substantially any type of motor that provides rotational motion.

[0093]

[0120] In some examples, the motor 690 may alternatively be a bidirectional gear and main motor assembly, and the motor 690 may be configured to drive a bidirectional gear assembly (not shown). The bidirectional gear assembly may provide a gear system with a ratio of 1:1 in one direction and a ratio of 1:X in the reverse direction, where X is a number in the range of about 0.1 to about 10. For example, the gear assembly may include a sprag gear that, when operated in a first direction, is released and thereby transmits rotation to the output shaft in a ratio of 1:1, and when operated in a second direction opposite to the first direction, engages with a planetary gear assembly that drives the output shaft in a different gear ratio of 1:X, where X is a number in the range of about 0.1 to about 10.

[0094]

[0121] The left figure (FIG. 13) of "Figure 13-14" is an example of the computing device 152 of Figure 1B, and the right figure (FIG. 14) of "Figure 13-14" is an example of a graphical user interface (GUI) 1400 that the computing device 152 may generate and display on the screen of the computing device 152, according to the present disclosure. As shown in the right figure (FIG. 14) of "Figure 13-14", the GUI 1400 includes a plurality of virtual input / output mechanisms 1402 (e.g., buttons, input boxes, sliders, text boxes, etc.) configured to enable an operator or another user to control an electrical cable preprocessing device 150 via the computing device 152 in order to preprocess an electrical cable 132 (Figure 1B) for connection to an electrical power system 100A (Figure 1A).

[0095]

[0122] Figures 15A-15C are conceptual diagrams illustrating a functional example of the camera 174 (Figure 3C) of the electrical cable preprocessing device 150. For example, Figure 15A shows a first electrical cable example 132A having a theoretical "ideal" end face 3150A, where the end face 3150A conforms to (at least substantially) a single plane, and the plane of the end face 3150A is (at least substantially) perpendicular to the central longitudinal axis 2754A of the cable 132A. In such an example, the camera 174 with a telecentric lens is substantially likely to capture an image 3202A that is visually similar to an image 3204A captured by a cross-sectional detection module without a telecentric lens. In other words, the two images 3202A and 3204A will be substantially similar, mainly due to the "ideal" surface of the end face 3150A.

[0096]

[0123] However, Figure 15B shows a second example of an electrical cable 132B having a non-ideal end face 3150B, where the end face 3150B conforms to (at least substantially) a single plane, but the plane is not substantially perpendicular to the central longitudinal axis 2754B of the cable 132B. For example, as shown in Figure 15B, the cable end face 3150B is oriented at an oblique angle with respect to the central longitudinal axis 2754B. In such an example, camera 174 may include a telecentric lens configured to capture an image 3202B that is substantially different from an image 3204B captured by a camera without a telecentric lens (e.g., a camera with only conventional optical lenses). For example, as shown in Figure 15B, the lower part of the end face 3150B appears distorted in image 3204B in that the lower part of the camera that is slightly further from camera 3110 is reduced or diminished by an amount based on the distance from camera 3110. Therefore, image 3204B would otherwise result in inaccurate measurements of the layers of cable 132B, e.g., diameter, radius, radial thickness, arc length, or other similar dimensions. These inaccurate measurements could result in inaccurate cutting or scraping of one or more layers, as each cable preprocessing system may determine the radial depth of its cutting tool based at least partially on these inaccurate measurements. However, by incorporating a telecentric lens into camera 174, each portion of end face 3150B is magnified by the same amount regardless of its distance from the lens, and as a result, image 3202B has the appearance that end face 3150B is substantially "ideal," e.g., substantially flat and substantially perpendicular to the cable axis 2754B.

[0097]

[0124] Similarly, Figure 15C shows a third electrical cable example 132C having a non-ideal end face 3150C, where the end face 3150C does not conform to a single plane, and none of the multiple planes are oriented substantially perpendicular to the central longitudinal axis 2754C of the cable 132C, but rather, for example, at an oblique angle to the central longitudinal axis 2754C. In such an example, camera 174 with a telecentric lens is configured to capture an image 3202C that is substantially different from an image 3204C captured by a camera without a telecentric lens. For example, as shown in Figure 15C, both the upper and lower parts of the end face 3150C appear distorted in image 3204C in that the upper and lower ends are slightly further from camera 3110 of camera 174 than the middle part, and therefore both the upper and lower parts appear distorted in that they are reduced or diminished by an amount based on their respective distances from camera 3110. Therefore, image 3204C would otherwise result in inaccurate measurements of the layers of cable 132C, such as diameter, radius, radial thickness, arc length, or other similar dimensions. These inaccurate measurements would also result in inaccurate cutting or scraping of one or more layers, as the cable preprocessing system determines the radial depth of the cutting tool based at least partially on the measurements. However, by incorporating a telecentric lens into camera 174, the magnification of each portion of end face 3150C is magnified by the same amount regardless of the distance from camera 3110, and as a result, image 3202C has the appearance that end face 3150C is substantially ideal.

[0098]

[0125] Figure 16 is an explanatory diagram illustrating an example of a graphical user interface (GUI) 3300 that may be generated by or in conjunction with the electrical preprocessor 150. In the example shown in Figure 16, the GUI 3300 includes an image 3302 of the end face 3150 of the cable 132 captured by the camera 174. In some examples, a computing device (e.g., computing device 152, or any other computing device in system 100B of Figure 1B) is configured to process the image 3302 to identify or determine the approximate location or boundary (e.g., distinction) between various layers of the electrical cable 132 within the image 3302. Thus, as shown in Figure 16, the image 3302 may include one or more geometric objects (e.g., rings) 3304 that cover the image 3302 and indicate the estimated boundaries between the layers of the cable 132.

[0099]

[0126] GUI3300 may further include various measurements and dimensional estimates corresponding to the estimated locations or boundaries of various layers of the cable. In some examples, GUI3300 may further include an input device 3306 that allows the user to confirm or reject ("cancel") the estimated measurements as needed. Upon receiving a "cancel" instruction from the user, the system may automatically recapture another image 3302 of the end face 3150 of the cable 132 and regenerate the measurements based on the new image. Upon receiving a "confirm" instruction from the user, the system may send the measured dimensions to another computing device (e.g., from computing device 152 to the control circuit of the electrical cable preprocessor 150). In addition, or alternatively, in response to receiving a “confirmation” instruction from the user via the GUI 3300, each computing system may be configured to automatically generate and execute corresponding program instructions for configuring the electrical cable preprocessing device 150 to preprocess the electrical cable 132 (for example, for adjusting the orientation and / or radial depth of one or more cutting blades), and / or to cause the electrical cable preprocessing device 150 to begin cutting one or more layers of the cable 132.

[0100]

[0127] In some examples provided by this disclosure, the computing system may be configured to determine and output additional or different instructions to the user via a GUI 3300 or the like. For example, the computing system of this disclosure (e.g., computing device 152) may be configured to determine, based on the measured dimensions in image 3302 of cable 132, whether the measured dimensions correspond to a type of electrical cable indicated by the user (e.g., via GUI 3300 or other user input mechanism). For example, the computing system may be configured to determine whether the imaged electrical cable 132 has the expected number of layers, the expected type of layers, the expected thickness of the layers (e.g., within threshold tolerance), conductor size and stranding, insulation thickness and voltage class, shielding type, overall cable diameter, etc. If the computing system determines that the cable parameters for this type are outside the expected values ​​or range, the computing system may generate and output an alert via GUI 3300 or the like to notify the user that the cable is different from a type of cable previously indicated or described by the user, so that the user can determine whether the discrepancy was based on user error or whether camera 174 needs to be recalibrated.

[0101]

[0128] In some examples of this disclosure, the computing system may be configured to determine, based on the measured dimensions of the cable 132 in image 3302, that the cable 132 is excessively distorted or otherwise out of specification, making it unlikely that an attempt to pre-process the cable will be successfully completed, or alternatively, that the pre-processing procedure may be completed, but that it may produce a pre-processed cable that is not safe to use. For example, the computing system may be configured to determine (e.g., measure) the eccentricity (e.g., "ellipticity") of the cross-section of the cable 132, or excessive or insufficient layer thickness, or other similar parameters that are not within safe or expected tolerances for the cable pre-processing system. In some such examples, the computing system may generate and output an alert via GUI 3300, etc., that the cable should not be used with the cable pre-processing system and should probably be discarded.

[0102]

[0129] Unless otherwise indicated, all numerical values ​​used in the specification and claims to represent feature sizes, quantities, and physical properties should be understood in all cases to be modified by the term "approximately." Therefore, unless otherwise indicated, the numerical parameters described in the aforementioned specification and appended claims are approximations that may vary depending on the desired properties to be obtained by a person skilled in the art utilizing the teachings disclosed herein.

[0103]

[0130] As used herein and in the appended claims, the singular forms "a," "an," and "the" encompass embodiments having multiple references unless the context explicitly indicates otherwise. As used herein and in the appended claims, the term "or" generally includes "and / or" unless the context explicitly indicates otherwise.

[0104]

[0131] As used herein, spatially related terms, including but not limited to “proximal,” “distal,” “below,” “above,” “below,” “up,” and “on top,” are used for ease of description to explain the spatial relationship of one element (single or plural) to another. Such spatially related terms encompass different orientations of a device in use or operation, in addition to the orientations shown in the figures and described herein. For example, if an object shown in a figure is turned over or inverted, a part previously described as being below or beneath other elements will subsequently be above or on top of those other elements.

[0105]

[0132] Where used herein, for example, an element, component, or layer is described as forming a “matching interface” with another element, component, or layer, or as “on top of,” “connected,” “joined,” “stacked,” or “in contact with,” it may be directly on top of, directly connected to, directly joined to, directly stacked, or directly in contact with, or an intervening element, component, or layer may be on top of, connected to, joined to, or in contact with, a particular element, component, or layer. For example, where an element, component, or layer is referred to as “directly on top of,” directly connected to, directly joined to, or “in direct contact with” another element, for example, there is no intervening element, component, or layer. The technologies of this disclosure can be implemented in a wide variety of computer devices, such as servers, laptop computers, desktop computers, notebook computers, tablet computers, handheld computers, and smartphones. Any component, module, or unit is described to highlight its functional aspects and does not necessarily require implementation by different hardware units. The technologies described herein can also be implemented in hardware, software, firmware, or any combination thereof. Any feature described as a module, unit, or component may be implemented together in an integrated logic device or separately as individual interoperable logic devices. In some cases, various features may be implemented as integrated circuit devices such as integrated circuit chips or chipsets. In addition, while several individual modules, many performing their own functions, are described throughout this description, all functions of all modules can be combined into a single module or even divided into additional modules. The modules described herein are merely illustrative and are described in this manner for the sake of ease of understanding.

[0106]

[0133] When implemented in software, the technology can be at least partially realized by a computer-readable medium containing instructions that, when executed by a processor, perform one or more of the methods described above. The computer-readable medium may comprise a tangible computer-readable storage medium and may form part of a computer program product that includes packaging materials. The computer-readable storage medium may comprise random access memory (RAM) such as synchronous dynamic random access memory (SDRAM), read-only memory (ROM), non-volatile random access memory (NVRAM), electrically erasable programmable read-only memory (EEPROM), FLASH memory, magnetic or optical data storage media. The computer-readable storage medium may also comprise non-volatile storage devices such as hard disks, magnetic tapes, compact discs (CDs), digital versatile discs (DVDs), Blu-ray discs, holographic data storage media, or other non-volatile storage devices.

[0107]

[0134] As used herein, the term “processor” may refer to any of the aforementioned structures or any other structure suitable for implementing the technology described herein. In addition, in some respects, the functions described herein may be provided within a dedicated software module or hardware module configured to perform the technology of this disclosure. Even when implemented in software, the technology may use hardware such as a processor for running the software and memory for storing the software. In such cases, the computer described herein may define a specific machine capable of performing the specific functions described herein. Furthermore, the technology may be fully implemented in one or more circuits or logic elements, which can also be considered a processor.

[0108]

[0135] In one or more examples, the described functions may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored or transmitted as one or more instructions or codes on a computer-readable medium and executed by a hardware-based processing unit. The computer-readable medium may include computer-readable storage media corresponding to tangible media such as data storage media, or communication media including any medium that facilitates the transfer of computer programs, for example, from one location to another, according to a communication protocol. In this manner, the computer-readable medium may generally correspond to (1) non-temporary tangible computer-readable storage media, or (2) communication media such as signals or carrier waves. The data storage medium may be any available medium that can be accessed by one or more computers or one or more processors to obtain instructions, codes, and / or data structures for implementation of the technology described herein. A computer program product may include computer-readable media.

[0109]

[0136] For example, and not limited to, such computer-readable storage media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage devices, magnetic disk storage devices or other magnetic storage devices, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and is accessible by a computer. Also, any connection is appropriately called computer-readable media. For example, if instructions are transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of media. However, it should be understood that computer-readable storage media and data storage media do not include connections, carriers, signals, or other temporary media, but instead refer to non-temporary tangible storage media. The discs used include compact discs (CDs), laserdiscs, optical discs, digital multipurpose discs (DVDs), floppy disks, and Blu-ray discs. Discs typically reproduce data magnetically, while others reproduce data optically using a laser. Combinations of the above should also be included within the scope of computer-readable media.

[0110]

[0137] Instructions may be executed by one or more processors, such as digital signal processors (DSPs), general-purpose microprocessors, application-specific integrated circuits (ASICs), field-programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuits. Therefore, the term "processor" used may refer to any of the aforementioned structures, or any other structure suitable for implementing the described technology. In addition, in some respects, the described functionality may be provided within dedicated hardware and / or software modules. Furthermore, the technology can be fully implemented in one or more circuits or logic elements.

[0111]

[0138] The technology of this disclosure can be implemented in a wide variety of devices or apparatus, including wireless handsets, integrated circuits (ICs), or sets of ICs (e.g., chipsets). Various components, modules, or units are described in this disclosure to highlight the functional aspects of a device configured to perform the disclosed technology, but do not necessarily require implementation by different hardware units. Rather, as described above, various units may be combined with appropriate software and / or firmware to form a hardware unit including one or more processors as described above, or provided by a set of interoperable hardware units.

[0112]

[0139] It should be recognized that certain actions or events of any of the methods described herein may, in some examples, be performed in different orders, added, combined, or omitted entirely (for example, not all described actions or events are necessary for the practice of the method). Furthermore, in certain examples, actions or events may be performed not sequentially, but concurrently, for example, through multithreading, interrupt handling, or across multiple processors.

[0113]

[0140] In some examples, computer-readable storage media include non-temporary media. The term "non-temporary" indicates, in some examples, that the storage medium is not embodied in a carrier wave or propagating signal. In certain examples, non-temporary storage media store data that may change over time (e.g., in RAM or cache).

Claims

1. A rotary tool head comprising multiple rollers and at least one cutting tool, A depth driver inserted into the rotary tool head and configured to adjust the radial depth of the plurality of rollers or the radial depth of at least one cutting tool, A housing that houses the rotary tool head and is configured to allow the rotary tool head to rotate around an electrical cable and move axially along the electrical cable, A gripper configured to connect the housing to the electrical cable, wherein the housing is configured to prevent rotation or axial movement relative to the electrical cable, An electrical cable pretreatment device comprising: An electrical cable pretreatment device configured to remove one or more layers of the aforementioned electrical cable.

2. The electrical cable preprocessing device according to claim 1, wherein the gripper comprises a nut and a collet.

3. The electrical cable preprocessing device according to claim 1 or 2, wherein the gripper comprises a clamshell clamp.

4. The electrical cable preprocessing apparatus according to any one of claims 1 to 3, wherein the housing comprises a guide rail extending parallel to the longitudinal axis of the electrical cable, and configured to guide the axial movement of the rotary tool head along the electrical cable.

5. The electrical cable preprocessor according to claim 4, wherein the gripper is configured to be directly connected to the housing and directly connected to the electrical cable, the housing is configured to be directly connected to the guide rail, the guide rail is configured to be directly connected to the rotary tool head, and the rotary tool head is further configured to allow the rotary tool head to rotate around the electrical cable within the housing.

6. The electrical cable preprocessor according to any one of claims 1 to 5, wherein the gripper is a first gripper located at the proximal end of the housing, the housing further comprises a second gripper located at the distal end of the housing, and the second gripper is configured to connect the rotary tool head to the electrical cable.

7. The electrical cable pretreatment apparatus according to any one of claims 1 to 6, wherein the housing comprises an opening configured to allow cut fragments to be removed from the electrical cable pretreatment apparatus.

8. The electrical cable preprocessing apparatus according to any one of claims 1 to 7, further comprising a camera configured to output image data representing one or more images of the electrical cable.

9. The electrical cable preprocessing apparatus according to any one of claims 1 to 8, wherein the rotary tool head is configured to operate hands-free.

10. The electrical cable pretreatment apparatus according to any one of claims 1 to 9, wherein the maximum cross-sectional dimension of the cable pretreatment apparatus in a direction perpendicular to the longitudinal axis of the electrical cable is less than 7 inches.

11. The electrical cable pretreatment device according to any one of claims 1 to 10, wherein the electrical cable pretreatment device is configured to operate by connecting to the electrical cable without removing the electrical cable from the electrical cabinet housing the electrical cable.

12. The electrical cable preprocessing apparatus according to any one of claims 1 to 11, further comprising an axial driver configured to move the rotary tool head axially along the longitudinal axis of the electrical cable.

13. The electrical cable preprocessing apparatus according to any one of claims 1 to 12, wherein the plurality of rollers are configured to move symmetrically in the radial direction with respect to the central axis of the electrical cable.

14. The electrical cable preprocessing device according to claim 13, wherein the plurality of rollers are configured to move symmetrically with respect to each other by being mechanically connected to each other.

15. The electrical cable preprocessing apparatus according to any one of claims 1 to 14, wherein the at least one cutting tool comprises at least one spring-biased cutting tool.

16. The electrical cable preprocessing apparatus according to any one of claims 1 to 15, wherein the at least one cutting tool includes a first cutting tool configured to remove the jacket layer of the electrical cable and a second cutting tool configured to remove the insulating layer of the electrical cable.

17. The electrical cable preprocessing apparatus according to claim 16, wherein the first cutting tool and the second cutting tool are the same.

18. The electrical cable preprocessor according to claim 16 or 17, further comprising a second depth driver inserted into the rotary tool head and configured to adjust the pitch of the first cutting tool.

19. The electrical cable preprocessing apparatus according to claim 17 or 18, wherein the first cutting tool comprises a cutting blade extending substantially vertically and a positioning and lifting blade extending substantially horizontally.

20. The operator installs the electrical cable pretreatment device onto the electrical cable, The steps include removing the layer of the electrical cable using the electrical cable pretreatment device, A method including, The aforementioned electrical cable preprocessing device is A rotary tool head comprising multiple rollers and at least one cutting tool, A depth driver inserted into the rotary tool head and configured to adjust the radial depth of the plurality of rollers or the radial depth of at least one cutting tool, A housing that houses the rotary tool head and is configured to allow the rotary tool head to rotate around an electrical cable and move axially along the electrical cable, A gripper configured to connect the housing to the electrical cable, wherein the gripper is configured to prevent the housing from rotating or moving in the axial direction relative to the electrical cable, comprising: method.

21. The step of installing the aforementioned electrical cable pretreatment device is, The operator places the electrical cable preprocessing device on the electrical cable, The gripper is used to grasp the electrical cable, The method according to claim 21, including the method described in claim 21.

22. The method according to claim 22, wherein the gripper is configured to be operated by the operator to grasp the electrical cable, or to grasp the electrical cable in response to a command received from a computing device, or at least one of the above.

23. The electrical cable preprocessing device comprises the steps of positioning the rotating tool head of the electrical cable preprocessing device at the end of the electrical cable, The steps include adjusting the radial depth of at least one cutting tool of the rotary tool head to a pre-programmed cutting depth using the electrical cable preprocessor, The electrical cable preprocessing device performs the steps of rotating the rotary tool head to set the at least one cutting tool to the predetermined cutting depth, The method according to any one of claims 20 to 22, further comprising:

24. The method according to claim 23, further comprising the step of rotating the at least one cutting tool to a predetermined pitch using the electrical cable pretreatment device.

25. Adjusting the radial depth of the at least one cutting tool is The electrical cable preprocessing device inserts the depth driver into the rotary tool head and engages it with the radial depth adjustment mechanism of the rotary tool head, The electrical cable preprocessing device rotates the depth driver to adjust the radial depth of the at least one cutting tool, The method according to claim 23 or 24, including the method described in claim 23 or 24.

26. The steps include inserting the at least one cutting tool of the rotating tool head of the electrical cable preprocessor into at least one layer of the electrical cable to a predetermined depth, The electrical cable preprocessing device comprises the steps of rotating the at least one cutting tool to a predetermined pitch, The steps include: using the electrical cable preprocessing device, rotating the rotary tool head to form a spiral cut through at least one layer of the electrical cable; The method according to any one of claims 23 to 25, further comprising:

27. The step of performing a spiral cut is This includes moving the rotary tool head longitudinally along a guide rail by an axial driver while rotating the rotary tool head around the electrical cable with at least one cutting tool at a predetermined depth, The method according to claim 26, wherein the gripper is directly connected to a housing configured to accommodate the rotary tool head, the housing is directly connected to the guide rail, and the guide rail is directly connected to the rotary tool head.

28. The method according to claim 27, further comprising the step of using the gripper to hold the housing and guide rail stationary relative to the electrical cable when the rotating tool head rotates around the electrical cable or moves longitudinally along the guide rail.

29. An electrical cable pretreatment system configured to remove one or more layers of an electrical cable, A rotary tool head comprising multiple rollers and at least one cutting tool, A depth driver inserted into the rotary tool head and configured to adjust the radial depth of the plurality of rollers or the radial depth of at least one cutting tool, A housing that houses the rotary tool head and is configured to allow the rotary tool head to rotate around an electrical cable and move axially along the electrical cable, A gripper configured to connect the housing to the electrical cable, wherein the housing is configured to prevent rotation or axial movement relative to the electrical cable, A computing device equipped with a processing circuit, The rotating tool head of the electrical cable preprocessing device is positioned at the end of the electrical cable, Adjusting the radial depth of at least one cutting tool of the rotary tool head to a pre-programmed cutting depth, Rotating the rotary tool head to set the cutting depth of at least one of the cutting tools, A computing device configured to perform the following: An electrical cable pre-processing system equipped with the following features.

30. The electrical cable pretreatment system according to claim 29, wherein the processing circuit is further configured to cause the gripper to grasp the electrical cable after the rotating tool head has been positioned on the electrical cable.

Images