Laser cable stripping

Abstract

Systems, methods, devices and computer readable medium for laser cable stripping. A laser cable stripper system can include a first laser device configured to emit a first laser beam and a mechanical rotator configured to rotate. Rotation of the mechanical rotator causes a path of the first laser beam to trace a path around at least a portion of a circumference of a cable. Some implementation can include one or more tractor drives. The one or more tractor drives are configured to engage the cable and feed the cable into a path of the first laser beam. Some implementations can include one or more computing devices; and one or more cameras. The one or more cameras are positioned in a manner such that the cable is within a viewing angle of the one or more cameras, and provide the one or more computing devices with camera data, which the one or more computing devices can use to perform operations related to the laser cable stripping.

Description

Attorney Docket No. 53765-0025WO1LASER CABLE STRIPPINGBACKGROUND

[0001] Conductors are often encased in one or more insulating layers, also referred to as the jacket, sheathing, or dielectric, to provide a protective layer between the conductors and the surrounding environment (e.g., heat, moisture) and to electrically isolate the conductor from other conductors.SUMMARY

[0002] The present disclosure involves systems, devices, methods and apparatus for removing the insulator(s) that encases a conductor. The removal of the insulator(s) is often referred to as cable stripping. More specifically, the description below refers to using laser scribing as part of a more comprehensive automated process to perform a complete cable stripping operation. The use of a laser in automated cable stripping process tooling is an improvement over conventional systems that use mechanical stripping mechanisms, such as blades (e.g., wire stripper blades, utility knife blades, cutter blades, or rotary stripper blades) because using blades can result in damage to the conductor (e.g., nicks, scratches, or cuts, which can weaken the conductor (also referred to as a wire), negatively affect the electrical characteristics of the conductor, and / or lead to conductor failure over time. Performing cable stripping using a laser in the manner discussed herein prevents damage to the conductor, and allows for more precise cable stripping relative to using mechanical stripping mechanisms.

[0003] In some implementations, laser wire stripper system can include a first laser device configured to emit a first laser beam; and a mechanical rotator configured to rotate, wherein rotation of the mechanical rotator causes a path of the first laser beam to trace a path around at least a portion of a circumference of a cable.

[0004] These and other implementations can include one or more of the following features.

[0005] The mechanical rotator can be a bearing connected to the first laser device. Rotation of the bearing causes the first laser device to rotate around the at least a portion of the circumference of the cable. Rotation of the bearing can cause the path of the first laser beam to engage a full 360-degree circumference of the cable.Attorney Docket No. 53765-0025WO1

[0006] The system can include a second laser device configured to emit a second laser beam. The first laser device and the second laser device can be oriented in different directions, such that corresponding paths of first laser beam and the second laser beam emitted by the first laser device and the second laser device collectively engage a full 360 degree circumference of the cable with less than 360 degree rotation of the bearing.

[0007] The system can include one or more tractor drives. The one or more tractor drives can be configured to engage the cable and feed the cable into a path of the first laser beam.

[0008] The system can include one or more computing devices; and one or more cameras. The one or more cameras can be positioned in a manner such that the cable is within a viewing angle of the one or more cameras as it is fed through the system.

[0009] The one or more computing devices can be configured (e.g., programmed) to perform operations including collecting cable data acquired by the one or more cameras; invoking, based on the cable data, movement of the one or more tractor drives, thereby moving the cable relative to the location of the first laser device; halting, based on the cable data, movement of the one or more tractor drives in response to determining that a target cutting location of the cable is within a path of the first laser beam; activating the first laser device based on the target cutting location of the cable being within the path of the first laser beam; rotating the bearing, thereby causing the path of the first laser beam to engage the at least a portion of the circumference of the cable; and deactivating the first laser device after the rotating of the bearing.

[0010] The one or more computing devices can be configured to perform operations including after rotating the bearing, invoking an additional movement of the one or more tractor drives while the first laser device remains activated, thereby causing a specified length of the cable to pass through the path of the first laser beam; and halting the additional movement of the one or more tractor drives in response to determining that the specified length of the cable has passed through the path of the first laser beam, wherein deactivating the first laser device after the rotating of the bearing comprises deactivating the first laser device only after both of (i) the rotating of the bearing and (ii) the specified length of the cable has passed through the path of the first laser beam.

[0011] The system can include a handle; a trigger, and a battery receptacle.

[0012] In some implementations, methods can include the operations of feeding a cable into a target position; activating a first laser device, thereby causing emission of a first laser beamAttorney Docket No. 53765-0025WO1 from the first laser device; and rotationally cutting, using the first laser beam, an insulator of the cable around at least a portion of a circumference of the cable.

[0013] Feeding the cable into a target position can include: invoking movement of one or more tractor drives, thereby moving the cable relative to the location of the first laser device; and halting movement of the one or more tractor drives in response to determining that a target cutting location of the cable is within a path of the first laser beam. Activating the first laser device can include activating the first laser device based on the target cutting location of the cable being within the path of the first laser beam.

[0014] Rotationally cutting an insulator of the cable using the first laser beam can include rotating the bearing, thereby causing the path of the first laser beam to engage the at least a portion of the circumference of the cable.

[0015] Methods can include linearly cutting the insulator of the cable using the first laser beam. Linearly cutting the insulator of the cable using the first laser beam can include: after rotating the bearing, invoking an additional movement of the one or more tractor drives while the first laser device remains activated, thereby causing a specified length of the cable to pass through the path of the first laser beam; and halting the additional movement of the one or more tractor drives in response to determining that the specified length of the cable has passed through the path of the first laser beam.

[0016] Methods can include after halting the additional movement, rotating the bearing, thereby causing the path of the first laser beam to engage at least a portion of the circumference at a different location along a length of the cable.

[0017] Methods can include deactivating the first laser device in response to determining that (i) the specified length of the cable has passed through the path of the first laser beam and (ii) the rotating is complete. An I-shaped cut in an insulator of the cable can result from rotationally cutting the cable at two locations based on rotating the bearing twice and linearly cutting the cable during the additional movement.

[0018] Methods can include removing a portion of the insulator. Removing the portion of the insulator can include removing the portion of the insulator using a prying device.

[0019] The details of these and other aspects and embodiments of the present disclosure are set forth in the accompanying drawings and the description below. Other features, objects, andAttorney Docket No. 53765-0025WO1 advantages of the disclosure will be apparent from the description and drawings, and from the claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG. 1 is an illustration of a system for laser stripping a cable.

[0021] FIG. 2 is an illustration of the laser being used to cut the insulation from the cable.

[0022] FIG. 3 is an illustration of an example bearing that can be used in the system.

[0023] FIGs. 4A-4C are views of a cable being laser stripped.

[0024] FIG. 5 is an illustration of a portable laser wire stripper.

[0025] FIG. 6A is an illustration of two laser device (modules) that can be included in the portable stripper.

[0026] FIG. 6B is an illustration of laser cuts made in a cable insulator.

[0027] FIG. 7 is a diagram of an example system for laser stripping a cable.

[0028] FIG. 8 is a flow chart of an example process for laser stripping a cable.DETAILED DESCRIPTION

[0029] FIG. 1 is an illustration of a system 100 for laser stripping a cable 102. The cable 102 has an inner conductor that is encased in, or otherwise surrounded by, one or more insulator(s). The insulators are typically a polymer, such as polyvinyl chloride (PVC), a Polyolefin such as Polyethylene (PE) or Polypropylene (PP), , Teflon (PTFE), rubber, silicone, or another polymer. The conductor is a usually a metal such as copper, aluminum, gold, silver, steel, or nickel. The system 100 includes tractor drives 104 that engage the cable 102 and secure the cable 102 in position (e.g., by pressing against opposite sides of the cable 102), and are motor driven to move the cable 102 through the system 100 (e.g., from left to right, or vice versa, in FIG. 1). For example, the tractor drives 104 can be servo driven tractors. The tractor drives 104 can be adjustable so that the distance between each pair of tractor drives 104 can be adjusted to accommodate different cable diameters, and to release pressure on the cable 102 in the event that the system needs to be shut down and / or the cable 102 is to be removed before the full spool of cable 102 has been fed through the system 100.

[0030] The system 100 includes at least one laser cutting assembly 106 that includes at least one laser device 108. The laser device can be activated and deactivated, for example, by one or more computers. The laser device 108 is configured to emit a laser beam, and activation of theAttorney Docket No. 53765-0025WO1 laser device 108 causes the laser beam to be emitted from the laser device 108, while deactivation of the laser device 108 causes emission of the laser beam to be halted. As discussed below, activation and deactivation of the laser device 108 (or another laser device) can be performed based on conditions, such as locations and / or orientations of the cable 102 in the system 100.

[0031] The laser device 108 can be, for example, a carbon dioxide (CO2) laser device. A CO2 laser device is a type of gas laser device that uses carbon dioxide (CO2) as its active medium to emit a laser beam. CO2 laser devices emit infrared light (typically between 9-11pm wavelength), and can be used for cutting, engraving, and welding and is particularly effective at cutting polymeric based materials. A CO2 laser device that emits a laser beam that will cut the insulator(s) of the cable 102, but will not damage or even mark the conductor of the cable 102 can be selected. As such, a CO2 laser device is a type of laser device that can be used to perform laser cable stripping on the cable 102 without damaging the conductor of the cable 102. Other lasers that will cut the insulator(s) without damaging the conductor can also be used.

[0032] The laser device 108 is mounted within the laser cutting assembly 106. For example, the laser device 108 (referred to as a laser 108 for brevity) can be mounted to a bearing on a motor actuator that is part of the laser cutting assembly 106. In this example, the bearing can spin around the cable 102 to enable the laser 108 to rotate around the cable 102, such that the laser beam emitted from the laser 108 will engage and cut the insulator(s) all the way around the circumference of the cable (or at least a portion of the circumference of the cable). For example, the location at which the insulator(s) of the cable 102 is to be engaged (e.g., cut / stripped) can be positioned under the laser 108 by activating the tractor drives 104, which invokes movement of the tractor drives. When the cable 102 is positioned, the laser 108 can be turned on (activated), and the bearing of the cutting assembly 106 can be rotated around the circumference of the cable 102 (e.g., 360 degrees). In this way, the laser 108 (e.g., a laser beam emitted by the laser 108) can trace a path around (at least a portion of) the circumference of the cable 102, and be used to cut the insulator(s) all the way around the circumference of the cable 102, while simultaneously effecting a complete cut all the way to the surface of the conductor. Once the rotational cut is made using the laser 108, the laser 108 can be turned off (deactivated), and the cable 102 can be repositioned using the tractor drives 104. For example, additional movement of the tractor drives 104 can be invoked to reposition the cable relative to the laser 108. If another cut in the insulator(s)Attorney Docket No. 53765-0025WO1 is to be made, the process above can be repeated to create another cut in the insulator(s) at the desired location.

[0033] In addition to rotationally cutting around the circumference of the cable 102, the laser 108 (e.g., by way of the emitted laser beam) can also be used to cut along a length of the cable 102 (e.g., in a direction orthogonal to the circumference of the cable). For example, instead of turning the laser 108 off before using the tractor drives 104 to reposition the cable 102, the laser 108 can remain on while the tractor drives 104 are invoked to reposition the cable 102. In this scenario, the laser 108 will continue to cut the cable 102 along the length of the cable 102 as it moves laterally (e.g., left to right, or vice versa, in FIG. 1). In some implementations, when a specified length of the cable 102 has passed through the path of the laser beam emitted by the laser device 108, movement of the tractor drives 104 (and the cable 102) can be halted. This technique can be used to create a lateral cut in the insulator(s) that is orthogonal to (or otherwise intersects) the circumferential cut that was made by rotating the laser 108 around the cable 102. As discussed in more detail below, this lateral cut in the insulator(s) can facilitate the removal of the insulator(s). The proposed lateral cut is not necessarily a straight line, it can also employ any pattern which connects the two circumferential cuts (or one circumferential cut to an edge) to facilitate removal of the insulator(s). For example, the lateral cut could be a sinusoidal wave pattern, a square wave pattern, or even a straight diagonal line or any combination thereof.

[0034] In some implementations, after a lateral cut has been created in the insulation and movement of the tractor drives has been halted, the bearing can again be rotated while the laser 108 is activated, thereby engaging the circumference of the cable at a different location (e.g. laterally separated) relative to the previously discussed rotational cut in the insulator. In these implementations, the lateral cut discussed above can intersect each of the two rotational cuts around the circumference of the cable 102, resulting in an I-shaped cut in the insulation, as discussed in more detail below.

[0035] In some implementations, the system 100 can include multiple lasers 108 (e.g., a first laser device and a second laser device), as shown. For example, the two laser devices can be oriented in different directions. As shown, the two laser devices 108 are oriented on opposite sides of the cable (e.g., at a top and bottom), such that the laser beams emitted by the two laser devices 108 will have opposite directions of emission. The two laser devices 108 could be oriented differently, but in any offset orientation, the corresponding paths of the laser emitted from the twoAttorney Docket No. 53765-0025WO1 laser devices 108 will differ, such that the two laser devices 108 will collectively engage a full 360 degree circumference of the cable with less than 360 degree rotation of the bearing. In these implementations, the bearing of the cutting assembly 106 does not need to rotate as far to cut the insulator(s) because the insulator(s) can be cut on both sides at the same time. Additional lasers 108 can be positioned at different locations around the bearing, which can further reduce (or eliminate) the amount of bearing rotation required to cut the insulator(s) along the full circumference of the cable 102. Specifically, the bearing need not rotate 360 degrees for the full circumference of the cable 102 to be engaged by (e g., cut) by the laser beam emitted by the laser 108. Other devices can be used to distribute the beam of one or more lasers 108, such as using mirrors, fiber optic cables, or other materials that can guide the beam of the one or more lasers 108 to focus on different portions of the cable 102. The rotation of the bearing can be caused by a motor that is connected to the bearing.

[0036] FIG. 2 is an illustration 200 of the laser 108 being used to cut the insulation from the cable 102. In FIG. 2, the cable 102 has been moved into position, and the laser 108 has been activated (turned on), such that a beam 202 is being applied to the cable 102. In this illustration, the laser 108 is shown as mounted to an outside of a bearing 204 by way of an offset 206. The offset 206 can be any rigid component that is capable of securing the laser to the bearing 204. As the bearing 204 rotates, as shown by the arrow 208, the offset 206 and laser 108 will also rotate. During the rotation, the beam 202 emitted by the laser 108 (e.g., laser diode, laser module, or other laser device, etc ), will cut through the insulator(s) of the cable 102 as the laser 108 is rotated around the circumference of the cable 102. After rotation is complete, the beam 202 will have removed the insulator within the region 210 between the dashed lines.

[0037] FIG. 3 is an illustration 300 of an example bearing 302 that can be used in the system 100. The bearing 302 has a cable cutout or recess 304 that allows for the cable 102 to pass within the circumference of a circle defined by an outer arc of the bearing 302. In this way, the cable 102 can be contained within the bearing 302, the bearing 302 can be rotated around the cable 102, and access to the cable 102 can be provided without having to run an entire spool of the cable 102 through the bearing 302. For example, if the cable 102 needs to be removed from the bearing 302 or the system 100, the bearing 302 can be positioned such that an opening of the cable cutout / recess 304 is facing an exterior side or top of the system 100. In this way, an access panel of the system 100 can be opened, for example, and the cable 102 can be removed from the bearingAttorney Docket No. 53765-0025WO1302 / system when the opening of the cable cutout / recess 304 is facing the access panel of the system 100. In this illustration, the conductor 306 and the insulator 308 of the cable 102 are shown.

[0038] The bearing 302 includes multiple teeth 312. These teeth can be configured to interface with another set of teeth (not shown) of a drive motor or another component. When the drive motor is activated, the teeth of the drive motor will interface with the teeth 312, which will cause the rotational movement as indicated by the arrow 314. Any appropriate number of teeth 312 can be used.

[0039] In some implementations, the system 100 can include a camera that can be used to determine a location of the cable 102, as well as characteristics of the cable 102. For example, a LIDAR, 3D camera, 3D Vision camera, or another camera can be placed at one or more locations within the system. The camera (or multiple cameras) are positioned in a manner such that the cable 102 is within a viewing angle of the camera. As the cable 102 is fed through the system 100, the camera can collect cable data, which is information about the cable (e.g., thickness, diameter, X,Y,Z location, conductor thickness / diameter, insulator(s) thickness / diameter, a length of the cable that has been fed through the system, etc.), and provide the cable data to a computer or computer processor that is responsible for positioning the cable 102 and / or laser 108 during operation, invoking and halting movement of the tractor drives, and / or activating / deactivating lasers 108. For example, the information obtained by the camera can be used to engage / di sengage the tractor drives 104 to position the cable within the system, the thickness / diameter of the cable obtained by way of the camera can be used to adjust the pressure of the tractor drives 104 of FIG. 1 on the cable and / or to position and / or focus the one or more lasers 108 for optimal cutting of the insulator(s). The cable data collected by the camera (also referred to as camera information) can be used for other purposes as well, such as inspecting the quality of the cable stripping.

[0040] As discussed above, the lasers 108 can be used to cut circumferentially as well as laterally (e.g., orthogonal to the circumferential cuts and / or along a length of the cable 102). In this way, employed in a basic pattern, a lateral cut can be made between two circumferential cuts, resulting in an “I” cut. This facilitates easy removal of the insulator(s) in situations where a window / center stripping of the cable 102 is desired. Window / center stripping is when stripping is performed at locations other than an end of the cable 102. For example, if a center section of the insulation is to be removed, while leaving insulation on both sides of the stripped section, this would be considered window / center stripping. When window / center stripping, the portion of theAttorney Docket No. 53765-0025WO1 insulator(s) being removed needs to be cut from one end to the other (laterally), so that section of the insulator(s) can be removed. By creating “I” cuts as discussed above, the insulator(s) can simply be pushed off of the conductor.

[0041] FIGs. 4A-4C are different views of a cable being laser stripped. FIG. 4A includes an illustration 400 of a side view of a cable 404 that has been window / center stripped. As shown, the cable 404 has been window stripped in the area 406 where the insulator(s) 408 has been removed from the cable 404, thereby exposing the conductor 410. After the window stripping, the exposed portion of the conductor 410 is between other segments of the cable 404 in which the conductor 410 is still encased by the insulator(s) 408. In some implementations, the portion of the conductor 410 can be exposed by creating one or more “I” cuts 412 in the insulator(s) 408 using the laser, as described above and shown in FIG. 4B. For example, one or more lasers can be used to cut the insulator(s) 408 circumferentially at the locations marked 414, and then cut the insulator(s) 408 laterally along an axis 416 that extends between the locations marked 414. The lateral cut can terminate at the locations marked 414. The resulting cuts resemble a capital letter “I”, thereby constituting an “I” cut, or I-cut 412. Again, the circumferential cuts at the locations 414 can be created by aligning the locations 414 within the system 100 discussed above, and rotating the laser around the cable 404 (e.g., by rotating a bearing or another mechanical member that moves the laser as programmed). Meanwhile, the lateral cut 416 can be created by moving the cable 404 through the system laterally while the laser is emitting a laser beam.

[0042] Once the I-cut 412 is made, the insulator(s) 408 can be removed from the cable 404 to expose the conductor 410 by applying pressure in the location of the lateral cut 416. For example, as shown in FIG. 4C, which is an illustration 450 of cross-sectional view of the cable 404, a prying device 420 can be inserted into the lateral cut 416, which will cause the insulator(s) 408 to be forced off of the conductor 410, similar to the way in which a clam knife or oyster knife is inserted into a clam or oyster to shuck the clam or oyster. However, in the case of the cable 404, the tension of the insulator(s) 408 can cause the insulator(s) 408 to project away from the conductor 410 when the location of the lateral cut 416 in the insulator(s) 408 is pushed past the thickest portion (e.g., the full diameter) of the conductor 410. In this way, the insulator(s) 408 can be automatically propelled away from the cable 404, thereby clearing the area where the cable 404 is located. In some implementations, the system 100 discussed above can include an insulator(s)Attorney Docket No. 53765-0025WO1 catcher (e.g., a bin or another container) that is positioned to catch the stripped insulator(s) 408 after it is projected away from the cable 404.

[0043] FIG. 4C shows a cross-section of the cable 404 in which a lateral cut 416 is shown on the left side, and the prying device 420 is being inserted into the lateral cut 416 on the left side. In this example, the prying device 420 includes two arms 430 and 432 that can initially be closed (e.g., one end of each arm 430 and 432 in contact with the same end of the other arm), to facilitate easy insertion of the prying device into the lateral cut 416. When the prying device 420 is positioned into the desired / target location (e g., inserted at least a specified amount into the lateral cut 416), at least one end of the arms of the prying device 420 can be actuated (e.g., using robotics) away from each other as shown by the arrows 424 and 426, and moved further toward the conductor 410 and / or an opposite side of the cable from the location of the lateral cut 416. In this way, the prying device 420 will spread edges of the insulator(s) 408 created by the lateral cut 416, and be able to push the insulator(s) off of the conductor 410. In some situations, the prying device 420 can be metal or a hardened plastic having a similar shape to a set of tweezers. Other configurations are possible.

[0044] In some implementations, the system 100 discussed above can be configured to create two or more lateral cuts 416. For example, as shown in FIG. 4C, the cross-sectional view of the conductor 404 a second lateral cut 416 is located on an opposite side of the cable 404 (e.g., right side of the view shown) relative to the first lateral cut 416 discussed above, which is on a left

[0045] side of the view shown in FIG. 4C. In these implementations, one or more prying device 420 can be used to remove the insulator(s) 408 from the cable 404. For example, a different set of prying devices 420 can be aligned with each of the different lateral cuts 416, and inserted into the different lateral cuts 416. Once the insulator(s) 408 is removed from the area where the I- cut is made, the result is a cable 404 that has precisely window stripped without damaging the conductor 410.

[0046] FIG. 5 is an illustration of a portable laser wire stripper 500. The portable laser wire stripper (“portable stripper”) 500 is similar to the system 100 discussed above in that it includes a cutting assembly having a laser 502 (i.e., one or more lasers) that is configured to rotated around a cable 504 to remove insulation from the cable 504. The portable stripper 500 can be a handheld device that is power by a battery 520, thereby making the portable stripper 500 battery operated. For example, a lithium-ion battery (or another battery), similar to those used to powerAttorney Docket No. 53765-0025WO1 portable construction tools (e g., drills, saws, etc.) can be inserted into a battery receptacle 506 of the portable stripper 500. The portable stripper 500 also includes a handle 508, and a trigger 510 that activates the laser 502 when pulled into an active state. When the laser 502 is activated (e.g., by pulling the trigger 510), the laser 502 rotates around the cable 504 to create a circumferential cut and / or an I-cut similar to that described above. More specifically, the portable stripper 500 can have an opening 525 that receives the cable 504, and a securing mechanism 530 (e.g., clamp, spring clamp, or another securing mechanism) that is configured to maintain the position of the cable 504 within a chamber of the cutting assembly in which the laser 502 is located. For example, the securing mechanism can be pivotably, rotatably, slidably, or otherwise attached to the stripper 500.

[0047] When the trigger 510 is activated (e.g., pulled or otherwise depressed), the laser 502 will emit a laser beam, and will mechanically rotate, by way of a mechanical rotator, around the cable 504 to create the circumferential cut, as illustrated by the arrow 512. In some implementations, the portable stripper 500 (e.g., the cutting assembly) can include multiple lasers that are separated by a specified distance (e.g., specified by user input to a keypad, or manual adjustment). The specified distance can be, for example, the size (e.g., lateral distance along the cable) of the window stripping to be created on the cable.

[0048] A mechanical rotator is a device configured to rotate, e.g., move rotationally and / or rotationally move another component. An example of a mechanical rotator is a bearing. Another example of a mechanical rotator is a belt driven device that is connected to a component of a laser wire stripper. For example, a laser device can be connected at a specific location of the belt driven device, and movement of the belt can realign or rotationally move / reposition the laser device. A mechanical rotator can include a motor, or can be driven by a motor.

[0049] The portable stripper 500 can also create a lateral cut in the cable to form an I-cut similar to that discussed above. For example, in addition to creating the circumferential cuts by rotating the laser around the cable 504, the portable stripper 500 can include one or more lasers that simultaneously create the lateral cut between the locations of the circumferential cuts. In another example, one or more of the lasers that create the circumferential cuts can also be configured to move laterally along the length of the cable that is within the cutting assembly of the portable stripper 500, as discussed in more detail below.Attorney Docket No. 53765-0025WO1

[0050] FIG. 6A is an illustration of two laser device (modules) 602 that can be included in the portable stripper 500 discussed above (e.g., within the cutting assembly). Each of the laser devices 602 can include one or more laser emitters 604. The laser devices 602 can be connected to a motor or another device that is configured to rotate the laser devices 602 around a cable 606 that has an inner conductor 608 and one or more outer insulator(s) 610 (e.g., jacket). As the laser device 602 rotates around the cable 606, circumferential cuts 612 (as shown in FIG. 6B) are made in the outer insulator(s) 610 without damaging the inner conductor 608. Note that the circumferential cuts 612 can be complete cuts, such that there is complete dissection of the outer insulator(s) 610 without damaging the inner conductor 608. One or more of the laser devices 602 can also be configured to move laterally along the length of the cable 606, as illustrated by the arrow 614. In this way, the one or more laser devices 602 can also create a lateral cut 616 in the outer insulator(s) 610 of the cable 606, resulting in an I-cut similar to that discussed above. In some implementations, the portable stripper can include a prying device similar to that discussed above. The prying device can be located within the cutting assembly, and mechanically automated to remove the portion of the outer insulator(s) 610 in the area of the I-cut, or the prying device can be a physical appendage located outside of the cutting assembly that is used to manually remove the cut outer insulator(s) 610. For example, the prying device can be rotatably attached to a handle or another portion of the portable stripper 500 such that the prying device can be rotated out for use when needed, and then stowed when not in use.

[0051] FIG. 7 is a diagram of an example system 700 for laser stripping a cable 102. The system 700 is similar to the system 100 discussed above. For example, the system 700 includes the tractor drive 104, the laser cutting assembly, which includes at least one laser 108. These components are discussed above with reference to FIG. 1, and that description is not repeated here for brevity.

[0052] The system 700 differs from the system 100 in that the system 700 includes a camera 702. The camera 702 can be a three-dimensional (3D) camera, LIDAR, 3D Vision camera, or another camera as previously discussed. The system 700 is also depicted with a cable spool 704 on which the cable 102 is stored. As the cable 102 is fed through the system 700, the camera 702 can capture images of the cable 102 that is present in a field of view 704 of the camera 702. In turn, the camera 702 feed cable data (e.g., thickness, diameter, X,Y,Z location, conductor thickness / diameter, insulator(s) thickness / diameter, a length of the cable that has been fed throughAttorney Docket No. 53765-0025WO1 the system, etc.) to a computer 706 or computer processor that is responsible for positioning the cable 102 and / or laser 108 during operation. For example, the information obtained by the camera 702 can be used to engage / di sengage the tractor drives 104 to position the cable within the system, the thickness / diameter of the cable obtained by way of the camera 702 can be used to adjust the pressure of the tractor drives 104 on the cable and / or to position and / or focus the one or more lasers 108 for optimal cutting of the insulator(s). The camera information can be used for other purposes as well, such as inspecting the quality of the cable stripping.

[0053] In some implementations, the computer 706 (e.g., a computing device) is configured to collect the cable data acquired by the one or more cameras, and perform other operations based on the acquired cable data. In some implementations, those operations include using the cable data to invoke movement of the tractor drives 104, thereby moving the cable 102 relative to the location of the laser device 108. The computer 706 can also use the cable data to determine that a target cutting location of the cable is within a path of the laser beam emitted by the laser device 108. In response to this determination, the computer 706 can halt movement of the tractor drives 104.

[0054] When the target cutting location of the cable 102 is within the path of the laser beam, the computer can activate the laser device 108 to cause the laser beam to be emitted. While the laser device 108 is activated, the computer 706 can rotate the bearing (or another mechanical rotator), thereby causing the path (e.g., focal point) of the laser beam to engage at least a portion of the circumference of the cable 102, which creates a rotational cut in the insulator of the cable 102. As previously discussed, the rotation can be throughout the full 360-degree circumference. The rotation can also be less than 360 degrees, for example, when multiple laser devices 108 are used.

[0055] After the insulator has been rotationally cut (e.g., after rotating the bearing), the computer can invoke an additional movement of the tractor drives 104, which causes lateral movement of the cable 102. In some implementations, this additional movement is performed while the first laser device remains activated, which causes the insulator of the cable 102 to be linearly cut using the laser beam of the laser device 108. This causes a specified length of the cable to pass through the path of the first laser beam. Non-limiting examples of specified lengths can include one inch, two inches, four inches, or any other appropriate length, which can be more or less than those examples provided.Attorney Docket No. 53765-0025WO1

[0056] The computer 706 can also deactivate the laser device 108, which causes the laser device 108 to stop emitting the laser beam. The laser device 108 can be deactivated after either of the rotational cuts have been made. In some implementations, the laser device is deactivated based on both of (i) rotating the bearing, thereby causing the rotational cut(s) and (ii) the specified length of cable has passed through the path of the laser beam. This can result in an I-shaped cut, as previously discussed.

[0057] FIG. 8 is a flow chart of an example process 800 for stripping a cable using a laser. The process 800 can be performed, for example, using the system 100, the portable wire cutter 500, and / or the system 700 discussed above. Operations of the process 800 can be implemented, for example, by way of one or more computing devices that are specially programmed to perform operations of the process 800. Operations of the process 800 can also be implemented by way of instructions stored on a computer readable medium, such as a non-transitory computer readable medium. Execution of the instructions can cause a computing device (e.g., including one or more data processing devices) to perform operations of the process 800.

[0058] A cable is fed into position (802). In some implementations, the cable is fed into position using the tractor drives previously discussed. The target position can be defined by a location at which an insulator of a cable is to be cut along the length of the cable. For example, data input to a computer can indicate that a window stripping is to be performed beginning at a location that is four feet past a first end of the cable that is inserted into the system, and that the window stripping is to be two inches long. In this example, the computer can invoke movement of the tractor drives (e g., one or more tractor drives), which causes the cable to be moved relative to the location of the laser device of the system. The computer can determine (e.g., based on received camera data or calculated based on the movement of the tractor system) when the cable has been moved into the target position (e.g., when the target cutting location is within a path of the laser beam of a laser device of the system). When the computer determines that the target cutting location is within a path of the laser beam of the laser device, the computer can halt movement of the tractor drives.

[0059] A laser device is activated (804). Activation of the laser deice causes a laser beam to be emitted from the laser device. The activation of the laser device can be performed based on the determination that the target cutting location of the cable is within the path (e.g., focal point) of the laser beam that is emitted by the laser device when activated, as previously discussed. InAttorney Docket No. 53765-0025WO1 some implementations, more than one laser device can be activated, for example, when the system includes differently positioned laser devices.

[0060] An insulator of the cable is rotationally cut using a laser beam of the activated laser device. (806). In some implementations, at least a portion of the full circumference of the insulator of the cable is rotationally cut using the laser beam. In some implementations, the full circumference of the insulator is cut. The rotational cutting of the insulator can be performed, for example, by rotating a bearing, which causes the path of the laser beam to engage the circumference of the cable / insulator (e.g., either partially or fully).

[0061] The insulator can be optionally cut linearly using the laser beam of the activated laser device (808). In some implementations, the linear cutting is performed after performing the rotational cut of the step 806. For example, after rotating the bearing as discussed above, the computer can invoke an additional movement of the tractor drives while the laser device remains activated. This causes a specified length of the cable to pass through the path of the laser beam being emitted by the active laser device. The additional movement of the tractor drives can be halted by the computer in response to the computer determining that the specified length of cable has passed through the path of the laser beam of the active laser device. As previously discussed, that determination can be made, for example, based on camera data.

[0062] In some implementations, the process 800 can be iterative in nature. For example, the step 806 can be repeatedly performed to create multiple rotational cuts in the insulator of the cable (with or without performance of the step 808). Similarly, the combination of the steps 806 and 808 can be iteratively performed to create one or more I-shaped cuts in the insulator. In situations where a single I-shaped cut is to be created in the insulation, the step 806 can again be performed at a different location along the length of the cable. For example, this can be performed after halting the additional movement, and can include rotating the bearing again. This causes the path of the laser beam of the activated laser device to engage at least a portion of the circumference at a different location along the length of the cable, relative to the first instance of the step 806 discussed above. After the second instance of the operation in this example, the process 800 can proceed to 810, discussed below, or the process can again iterate at step 806 (e.g., after again invoking movement of the tractor drives) and / or proceed to step 808 again.

[0063] When the cuts are completed, the computer can deactivate the laser device. This can be performed in response to determining that (i) the specified length of the cable has passedAttorney Docket No. 53765-0025WO1 through the path of the first laser beam and (ii) the rotating is complete. These are indications that the rotational cuts are complete, and the linear cuts are complete.

[0064] A portion of the insulator is removed (810). In some implementations, the portion of the insulator is removed using a prying device, as discussed above with reference to FIG. 6.

[0065] Embodiments of the subject matter and the operations described in this specification can be implemented in digital electronic circuitry, or in computer software, firmware, or hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions, encoded on computer storage medium for execution by, or to control the operation of, data processing apparatus. Alternatively, or in addition, the program instructions can be encoded on an artificially-generated propagated signal, e.g., a machine-generated electrical, optical, or electromagnetic signal, that is generated to encode information for transmission to suitable receiver apparatus for execution by a data processing apparatus. A computer storage medium can be, or be included in, a computer- readable storage device, a computer-readable storage substrate, a random or serial access memory array or device, or a combination of one or more of them. Moreover, while a computer storage medium is not a propagated signal, a computer storage medium can be a source or destination of computer program instructions encoded in an artificially-generated propagated signal. The computer storage medium can also be, or be included in, one or more separate physical components or media (e g., multiple CDs, disks, or other storage devices).

[0066] The operations described in this specification can be implemented as operations performed by a data processing apparatus on data stored on one or more computer-readable storage devices or received from other sources.

[0067] The term “data processing apparatus” encompasses all kinds of apparatus, devices, and machines for processing data, including by way of example a programmable processor, a computer, a system on a chip, or multiple ones, or combinations, of the foregoing The apparatus can include special purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit). The apparatus can also include, in addition to hardware, code that creates an execution environment for the computer program in question, e.g., code that constitutes processor firmware, a protocol stack, a database managementAttorney Docket No. 53765-0025WO1 system, an operating system, a cross-platform runtime environment, a virtual machine, or a combination of one or more of them. The apparatus and execution environment can realize various different computing model infrastructures, such as web services, distributed computing and grid computing infrastructures.

[0068] A computer program (also known as a program, software, software application, script, or code) can be written in any form of programming language, including compiled or interpreted languages, declarative or procedural languages, and it can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, object, or other unit suitable for use in a computing environment. A computer program may, but need not, correspond to a fde in a file system. A program can be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code). A computer program can be deployed to be executed on one computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communication network.

[0069] The processes and logic flows described in this specification can be performed by one or more programmable processors executing one or more computer programs to perform actions by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatus can also be implemented as, special purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit).

[0070] Processors suitable for the execution of a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processors of any kind of digital computer. Generally, a processor will receive instructions and data from a read-only memory or a random-access memory or both. The essential elements of a computer are a processor for performing actions in accordance with instructions and one or more memory devices for storing instructions and data. Generally, a computer will also include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g., magnetic, magneto-optical disks, or optical disks. However, a computer need not have such devices. Moreover, a computer can be embedded in another device, e.g., a mobile telephone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a Global Positioning System (GPS) receiver, or a portable storage deviceAttorney Docket No. 53765-0025WO1(e g., a universal serial bus (USB) flash drive), to name just a few. Devices suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including by way of example semiconductor memory devices, e.g., EPROM, EEPROM, and flash memory devices; magnetic disks, e.g., internal hard disks or removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks. The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry.

[0071] To provide for interaction with a user, embodiments of the subject matter described in this specification can be implemented on a computer having a display device, e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor, for displaying information to the user and a keyboard and a pointing device, e.g., a mouse or a trackball, by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback, e.g., visual feedback, auditory feedback, or tactile feedback; and input from the user can be received in any form, including acoustic, speech, or tactile input. In addition, a computer can interact with a user by sending documents to and receiving documents from a device that is used by the user; for example, by sending web pages to a web browser on a user’s client device in response to requests received from the web browser.

[0072] Embodiments of the subject matter described in this specification can be implemented in a computing system that includes a back-end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front-end component, e.g., a client computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the subject matter described in this specification, or any combination of one or more such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (“LAN”) and a wide area network (“WAN”), an internetwork (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks).

[0073] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. In some embodiments, a serverAttorney Docket No. 53765-0025WO1 transmits data (e g., an HTML page) to a client device (e g., for purposes of displaying data to and receiving user input from a user interacting with the client device). Data generated at the client device (e.g., a result of the user interaction) can be received from the client device at the server.

[0074] While this specification contains many specific implementation details, these should not be construed as limitations on the scope of any inventions or of what may be claimed, but rather as descriptions of features specific to particular embodiments of particular inventions. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.

[0075] Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results.

[0076] Thus, particular embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In certain implementations, multitasking and parallel processing may be advantageous.

[0077] What is claimed is:

Claims

Attorney Docket No. 53765-0025WO1CLAIMS1. A laser wire stripper system, comprising: a first laser device configured to emit a first laser beam; and a mechanical rotator configured to rotate, wherein rotation of the mechanical rotator causes a path of the first laser beam to trace a path around at least a portion of a circumference of a cable.

2. The laser wire stripper system of claim 1, wherein: the mechanical rotator is a bearing connected to the first laser device; rotation of the bearing causes the first laser device to rotate around the at least a portion of the circumference of the cable.

3. The laser wire stripper system of claim 2, wherein rotation of the bearing causes the path of the first laser beam to engage a full 360-degree circumference of the cable.

4. The laser stripper system of claim 2, further comprising: a second laser device configured to emit a second laser beam, wherein: the first laser device and the second laser device are oriented in different directions, such that corresponding paths of first laser beam and the second laser beam emitted by the first laser device and the second laser device collectively engage a full 360 degree circumference of the cable with less than 360 degree rotation of the bearing.

5. The laser wire stripper system of claim 2, further comprising: one or more tractor drives, wherein the one or more tractor drives are configured to engage the cable and feed the cable into a path of the first laser beam.

6. The laser wire stripper system of claim 5, further comprising: one or more computing devices; and one or more cameras, wherein the one or more cameras are positioned in a manner such that the cable is within a viewing angle of the one or more cameras.Attorney Docket No. 53765-0025WO17. The laser wire stripper system of claim 6, wherein the one or more computing devices are configured to perform operations including: collecting cable data acquired by the one or more cameras; invoking, based on the cable data, movement of the one or more tractor drives, thereby moving the cable relative to the location of the first laser device; halting, based on the cable data, movement of the one or more tractor drives in response to determining that a target cutting location of the cable is within a path of the first laser beam; activating the first laser device based on the target cutting location of the cable being within the path of the first laser beam; rotating the bearing, thereby causing the path of the first laser beam to engage the at least a portion of the circumference of the cable; and deactivating the first laser device after the rotating of the bearing.

8. The laser wire stripper system of claim 7, wherein the one or more computing devices are further configured to perform operations including: after rotating the bearing, invoking an additional movement of the one or more tractor drives while the first laser device remains activated, thereby causing a specified length of the cable to pass through the path of the first laser beam; and halting the additional movement of the one or more tractor drives in response to determining that the specified length of the cable has passed through the path of the first laser beam, wherein deactivating the first laser device after the rotating of the bearing comprises deactivating the first laser device only after both of (i) the rotating of the bearing and (ii) the specified length of the cable has passed through the path of the first laser beam.

9. The laser wire stripper system of claim 2, further comprising: a handle; a trigger, and a battery receptacle.

10. A method compri sing : feeding a cable into a target position;Attorney Docket No. 53765-0025WO1 activating a first laser device, thereby causing emission of a first laser beam from the first laser device; and rotationally cutting, using the first laser beam, an insulator of the cable around at least a portion of a circumference of the cable.

11. The method of claim 10, wherein feeding the cable into a target position comprises: invoking movement of one or more tractor drives, thereby moving the cable relative to the location of the first laser device; and halting movement of the one or more tractor drives in response to determining that a target cutting location of the cable is within a path of the first laser beam.

12. The method of claim 11, wherein activating the first laser device comprises activating the first laser device based on the target cutting location of the cable being within the path of the first laser beam.

13. The method of claim 12, wherein rotationally cutting an insulator of the cable using the first laser beam comprises: rotating the bearing, thereby causing the path of the first laser beam to engage the at least a portion of the circumference of the cable.

14. The method of claim 13, further comprising linearly cutting the insulator of the cable using the first laser beam.

15. The method of claim 14, wherein linearly cutting the insulator of the cable using the first laser beam comprises: after rotating the bearing, invoking an additional movement of the one or more tractor drives while the first laser device remains activated, thereby causing a specified length of the cable to pass through the path of the first laser beam; and halting the additional movement of the one or more tractor drives in response to determining that the specified length of the cable has passed through the path of the first laser beam.Attorney Docket No. 53765-0025WO116. The method of claim 15, further comprising: after halting the additional movement, rotating the bearing, thereby causing the path of the first laser beam to engage at least a portion of the circumference at a different location along a length of the cable.

17. The method of claim 16, further comprising deactivating the first laser device in response to determining that (i) the specified length of the cable has passed through the path of the first laser beam and (ii) the rotating is complete.

18. The method of claim 17, wherein an I-shaped cut in an insulator of the cable results from rotationally cutting the cable at two locations based on rotating the bearing twice and linearly cutting the cable during the additional movement.

19. The method of claim 18, further comprising removing a portion of the insulator.

20. The method of claim 19, wherein removing the portion of the insulator comprises removing the portion of the insulator using a prying device.

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