CN110676768A

CN110676768A - Mechanical peeling tool based on automatic peeler

Info

Publication number: CN110676768A
Application number: CN201910853776.0A
Authority: CN
Inventors: 孙磊; 吴雪莲; 李文波; 龚志文; 王晨哲; 张振昌; 孙璞; 李传芳; 韦安; 王艳; 刘梅; 聂霖
Original assignee: Hefei Zhongke Blue Arrow Technology Co Ltd; Hefei Technology Innovation Engineering Institute of CAS
Current assignee: Hefei Zhongke Blue Arrow Technology Co Ltd; Hefei Technology Innovation Engineering Institute of CAS
Priority date: 2019-09-10
Filing date: 2019-09-10
Publication date: 2020-01-10

Abstract

The invention belongs to the technical field of cable peeling, and particularly relates to a mechanical peeling tool based on an automatic peeler. The automatic peeler comprises a mounting base, wherein a fixing frame is arranged on the mounting base and fixedly connected with an automatic peeler; the automatic peeler comprises a peeling clamp and a driving unit; the peeling clamp comprises a frame, an upper clamp seat and a lower clamp seat; the upper clamp seat and the lower clamp seat can perform approaching and separating actions in the vertical direction; the upper clamp seat comprises a zero reference sliding plate, a cutter depth adjusting sliding block, a pressing plate, a cutter depth adjusting threaded seat, an elastic compression damping piece, a cutter depth adjusting bolt, a rotating sleeve, a cutter depth adjusting motor and a wire core detecting sensor. The self-centering clamping device can realize the self-adaptive adjustment function of the cutter feed amount, has the advantages of simplicity in operation, convenience in adjustment and self-centering clamping, and is particularly suitable for the robot working environment.

Description

Mechanical peeling tool based on automatic peeler

Technical Field

The invention belongs to the technical field of cable peeling, and particularly relates to a mechanical peeling tool based on an automatic peeler.

Background

Along with the continuous development and progress of society, the scale of power distribution network construction is also continuously enlarged, and the workload of operation and maintenance of the power distribution network is increased day by day. In order to improve the power supply reliability and reduce the number of households in power failure, the working importance of live working is gradually increased. In the process of line welding construction, the stripping of the sheath of the insulated conductor, namely the insulating skin, is an important process in the stripping and connection of the conductor. The existing cable peeling mode is divided into manual peeling mode and automatic peeling mode. When the live-wire work is implemented manually by using potential feeding and discharging tools such as an insulating bucket arm vehicle or an insulating platform, operators can directly contact live wires, unsafe factors are increased, the peeling difficulty is high, the operation steps are multiple, the efficiency is low, the operation environment is easily influenced by the geographical environment, and the peeling is gradually replaced by automatic peeling. The utility model discloses a just published the mechanical skinning instrument of cable based on automatic barker in the utility model patent of the patent name "mechanical skinning instrument of cable based on automatic barker" like the publication number "CN 201829799U", this mechanical skinning instrument based on automatic barker adopts electric drive to the power of gear motor output drives the blade through crank link mechanism and realizes the circular cutting action around the cable rotation, thereby strips the insulating skin. Meanwhile, patent documents with the publication number "CN 108963888A" and the publication number "CN 206432551U" are similarly described, and even the applicant has applied for the patent document with the application number "CN 109119946A" and the name "a cable electric stripping device". According to the existing peeling structure, the peeling device in the market has a common defect that the zero position of the cutter cannot be adjusted on line. Specifically, when the thickness of the insulation sheath of the cable is equal and the outer diameter of the cable is different, different feed amounts need to be adjusted to achieve the same cutting depth, so as to achieve the effect of completely stripping the insulation sheath without damaging the wire core. However, the zero point position of the cutter of the existing mechanical peeling tool based on the automatic peeler can only be preset and adjusted off-line; when the cable is stripped, the cable only needs to be inserted into the stripping clamp frequently, and whether the preset feed amount is enough or not is observed visually in the process. Once the excessive or insufficient cutting amount is found, the mechanical peeling tool based on the automatic peeling machine is taken down from the cable, the cutting amount of the cutter at the mechanical peeling tool based on the automatic peeling machine is adjusted to be deep or shallow a little, and then the visual inspection process is repeated until the cutting amount of the cutter is consistent with the actual cutting depth of the cable. Every model cable is skinned once, all goes on many times along with above-mentioned adjustment operation, and obviously the accommodation process is very loaded down with trivial details, serious influence actual cable efficiency of skinning. In addition, another outstanding problem in the prior art is the combined adjustment of the feed depth and the feed angle of the tool. Because the sheath of the insulated conductor, also commonly called the insulating sheath, is usually made of high-strength polyethylene material, and has very large thickness and hardness, the cutter is required to have a proper depth of cut and a specific optimal angle of cut, so as to realize a reliable function of stripping the insulating sheath. The existing peeling structure often neglects the adjustment of the cutting feed angle, and focuses on the adjustment of the cutting feed depth. Obviously, by means of the single feed angle adjusting operation, when the angle of the cutter is too large, once the hardness of the cable insulation sheath to be stripped is higher, the cutter bending and breaking phenomena can even occur. When the angle of the cutter is too small, the efficiency is low when the peeling operation of the thick insulating skin is carried out, the wire core can be peeled off by repeatedly cutting the thick insulating skin based on a mechanical peeling tool of an automatic peeler, and the efficient modern peeling requirement is not facilitated. In order to solve the problems, the method of matching the automatic peeler-based mechanical peeling tool with the cutter with a specific angle by means of a specific type of cable is only used, but obviously, the actual peeling cost is increased, the single carrying amount of an operator is increased, and accordingly, a lot of troubles are brought to actual operation. Meanwhile, when the cable is peeled, the peeling clamp at the mechanical peeling tool based on the automatic peeler does not need to embrace the cable, and meanwhile, the cable needs to be wound to generate a rotary peeling action, so that the cable is embraced with proper force, and the technical problem to be solved in recent years in the field is solved urgently.

Meanwhile, the conventional mechanical stripping tool is based on a rotary cutting method when stripping is performed, that is, a cutter needs to spirally surround the cable for one-time stripping operation. On one hand, when the cable is subjected to cutting force, the cable body can naturally generate twisting and vibration phenomena due to the force, and the twisting and vibration phenomena of the cable body can incline the cutting edge cutting angle of the cutter to influence the operation effect. Especially in the field of live-wire connection of robots, the reaction force of cable torsion can directly act on the robots, and extra load is added during operation of the robots. On the other hand, in practical use, the stripped insulating sheath is often wound in a curled shape at the cutter part of a mechanical stripping tool under the influence of factors such as the diameter of a cable, the hardness of the insulating sheath and the stripping length, so that the normal operation of a subsequent stripping process is seriously disturbed. Under ideal operating conditions, an operator hopes that the whole peeling operation can be performed in a segmented manner, namely, after a cutter axially cuts a section of insulation skin with a specified length in a surrounding manner, the cutter rotates around for one circle in the circumferential direction to cut off a peeled line, and then the next axial peeling operation is performed for a plurality of times, so that the influence of the stripped line-shaped insulation skin on the subsequent operation of the mechanical peeling tool is avoided, but no corresponding effective solution is available at present.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provides a mechanical peeling tool based on an automatic peeler, which is reasonable in structure, reliable and convenient to use, can flexibly realize the self-adaptive adjustment function of the cutter feed amount according to the type of a current cable to be clamped, has the advantages of simplicity in operation, convenience in adjustment and self-centering clamping, can be self-adaptive to cables with different wire diameters, ensures the working stability of the cable when the cable is peeled, and is particularly suitable for the robot working environment.

In order to achieve the purpose, the invention adopts the following technical scheme:

a mechanical peeling tool based on an automatic peeler comprises a mounting base, wherein a fixing frame which only generates reciprocating sliding motion along the axial direction of a cable is arranged on the mounting base, and the fixing frame is fixedly connected with the automatic peeler; the clamping pincers are at least arranged at one end of the mounting base so as to clamp the cable in a radial action mode when the automatic peeler works, the axis of a clamping cavity formed by enclosing the jaws of the clamping pincers is overlapped with the axis of the cable, and the arrangement position of the clamping pincers and the action path of the fixing frame are in space avoidance;

the automatic peeler comprises a peeling clamp and a driving unit for driving the peeling clamp to rotate relative to the axis of the cable; the peeling clamp comprises a rack, an upper clamp seat and a lower clamp seat, wherein the upper clamp seat and the lower clamp seat are arranged on the rack, threaded holes are vertically arranged on the upper clamp seat and the lower clamp seat in a penetrating manner, and the vertical approaching and separating actions of the upper clamp seat and the lower clamp seat are realized by means of the rotation action of a bidirectional screw rod in threaded fit with the threaded holes and an opening and closing driving motor positioned at the rod end of the bidirectional screw rod;

the upper clamp seat comprises the following components:

zero reference slide: the guide rail is matched with the outer side plate surface of the upper clamping plate and is matched with a guide rail which is formed between the upper clamping plates and has a vertical lead guiding direction; the bottom end of the zero reference sliding plate is provided with a reference part for positioning the position of the bus on the uppermost side of the cable insulation sheath;

the cutter depth adjusting slide block: the guide rail is positioned on the outer side plate surface of the zero position reference sliding plate and is matched with a guide rail which is formed between the zero position reference sliding plates and has a vertical lead guiding direction; the bottom end of the cutter depth adjusting slide block is fixedly connected with a cutter;

pressing a plate: the surface of the pressing plate is horizontally arranged, and the tail end of the pressing plate is fixedly connected and matched with the top end of the upper clamping plate;

adjusting the depth of the cutter to a threaded seat: the knife depth adjusting threaded seat is positioned below the pressing plate and is parallel to the surface of the pressing plate, and the tail end of the knife depth adjusting threaded seat is fixedly connected and matched with the zero-position reference sliding plate;

elastic compression damping member: the elastic compression damping piece is used for driving the pressing plate and the knife depth adjusting sliding block to generate vertical lead separation action, the top end of the elastic compression damping piece is abutted against the bottom end face of the pressing plate, and the bottom end of the elastic compression damping piece is matched with the knife depth adjusting sliding block;

adjusting the depth of the cutter by bolts: the cutter depth adjusting bolt penetrates through the cutter depth adjusting threaded seat from top to bottom and forms threaded fit with the cutter depth adjusting threaded seat, a radial bulge is arranged at the bottom end of the cutter depth adjusting bolt, and a one-way spigot fit for limiting the cutter depth adjusting bolt to generate an upward motion is formed between the radial bulge and the cutter depth adjusting sliding block; when the radial protrusion and the knife depth adjusting threaded seat are matched together to oppositely clamp and fix the knife depth adjusting sliding block, the knife tip of the knife and the bottom end surface of the reference part are both abutted against the uppermost bus of the cable;

rotating the sleeve: the rotary sleeve is coaxially sleeved at the top end of the knife depth adjusting bolt, a limiting groove hole is axially and concavely arranged at the bottom end surface of the rotary sleeve, and a limiting bulge or a key structure is radially and outwards convexly arranged at the knife depth adjusting bolt, so that when the knife depth adjusting bolt is axially inserted into the cavity of the rotary sleeve, the axial sliding fit capable of transmitting torque is formed between the limiting bulge and the limiting groove hole or between the key structure and the limiting groove hole;

the knife depth adjusting motor: a power output shaft of the knife depth adjusting motor forms power fit with a top shaft end of the rotating sleeve to drive the rotating sleeve to generate a rotating action with a rotating axis as a plumb line;

wire core detection sensor: the monitoring device is used for monitoring whether the wire core of the cable is exposed or not; the wire core detection sensor is arranged on the wire inlet side of the upper clamp seat and/or the lower clamp seat and is arranged adjacent to the cutter, and the detection end of the wire core detection sensor points to the surface of the cable along the radial direction of the cable.

Preferably, the clamping pincers comprise an installation plate with a vertically arranged plate surface, and the bottom end of the inner side plate surface of the installation plate is fixedly connected with the end part of the installation base; an axial telescopic rod is arranged on the outer side plate surface of the mounting plate, and a telescopic path of a working end of the axial telescopic rod is vertical to the axis of the cable; the working end of the axial telescopic rod is fixedly connected with a push block, and the two ends of the push block are fixedly connected with a left slide block and a right slide block in an axisymmetric manner along the axial line of the axial telescopic rod; the cable axis at the top end of the outer plate surface of the mounting plate is taken as a symmetry axis, and a left guide block and a right guide block which are vertical to the plate surface are arranged in an axisymmetric manner, and the left guide block and the right guide block are matched at the mounting plate through horizontal guide rails; positioning pin shafts are convexly arranged on the outer side plate surfaces of the left guide block and the right guide block, positioning pin holes for the positioning pin shafts to penetrate into are correspondingly arranged on the left sliding block and the right sliding block, the length direction of the hole patterns of the positioning pin holes is arranged in an extending manner along the corresponding plate surface of the sliding block from bottom to top, and the horizontal distance between the two groups of positioning pin holes is gradually increased from bottom to top; a group of C-shaped bayonets are respectively arranged on the adjacent end faces of the left guide block and the right guide block, and the groove cavities of the two groups of C-shaped bayonets are matched with each other to form the cylindrical clamping cavity for closing and clamping the cable body.

Preferably, the mounting plate is in a vertical square plate shape, a U-shaped groove-shaped limiting arc groove for limiting the maximum descending distance of the cable is concavely arranged at the top end of the mounting plate, and the groove wall opening end of the limiting arc groove is in an outward-expanding inverted V shape so that the cable can be conveniently placed at the C-shaped bayonet; two groups of extension plates extend upwards in an inclined mode from the opening ends of the two groove walls of the limiting arc groove, the extension plates and the mounting plate are located on the same vertical plane, and the horizontal distance between the two groups of extension plates is gradually increased from bottom to top.

Preferably, an axial push rod is further arranged on the mounting base, and the thrust direction of the axial push rod is parallel to the axial direction of the cable; the axial telescopic rod and the axial push rod are both electric push rods; a top end stop block is arranged at the top end of the axial push rod, an induction surface is arranged on the top end stop block, a sensing head used for being matched with the induction surface is arranged on the fixing frame, and the induction end of the sensing head points to the direction of the induction surface; the system also comprises a tension spring, one end of the tension spring is fixedly connected to the top end stop block, and the other end of the tension spring extends along the axial direction of the cable and is fixedly connected and matched with the fixing frame.

Preferably, a group of sliding optical axes are arranged on the upper side and the lower side of the axial push rod, and the two groups of sliding optical axes are arranged in an axisymmetric manner along the axis of the axial push rod; two sets of axial mounting holes of the axial parallel cable are arranged on the fixing frame, and the sliding optical axis and the mounting holes are in one-to-one correspondence to form hole axis sliding fit.

Preferably, the shape of the fixing frame is a square plate with a vertically arranged plate surface, the top end of the fixing frame extends upwards to form an extension arm which is directly matched with the automatic peeler, and the fixing frame is provided with an avoidance hole which is superposed with the axial push rod axis and is used for the axial push rod to pass through; and a linear bearing is arranged in the mounting hole, and the sliding optical axis penetrates through the inner ring of the linear bearing to form a bearing fit relation with the mounting hole.

Preferably, the sensing head is a travel switch, the fixing frame extends to the direction of the top end stop block to form a sliding stop block, the sensing head is arranged on the sliding stop block, one surface of the top end stop block facing the direction of the sliding stop block forms the sensing surface, and the sensing head is located on an action path of the sensing surface.

Preferably, the wire core detection sensor is a photoelectric sensor or an electromagnetic field detection sensor or a discharge detection sensor.

Preferably, a datum positioning plate is horizontally and convexly arranged on the outer side plate surface of the cutter depth adjusting sliding block, and a vertical datum hole is vertically arranged on the datum positioning plate in a penetrating mode; a convex ring is coaxially and convexly arranged on the bottom end surface of the cutter depth adjusting bolt, and the convex ring forms the radial bulge; the upper ring surface of the radial bulge and the lower plate surface of the reference positioning plate form a one-way spigot fit.

Preferably, the reference part is a zero reference bearing with a horizontal axis, and the reference part is matched with the bottom end surface of the zero reference sliding plate through a bearing seat; a V-shaped holding plate with a downward opening is fixedly connected to the bottom end face of the upper clamping plate, and the groove length direction of the V-shaped holding plate is parallel to the axis direction of the cable; an abdicating port for dodging the vertical action path of the reference part is vertically arranged on the V-shaped holding plate in a penetrating way.

Preferably, the elastic compression damping member is a compression spring; guide posts with axes arranged vertically extend vertically from the top end of the knife depth adjusting sliding block in the vertical direction, and the top ends of the guide posts penetrate through the pressing plate to form guiding fit with the guide holes at the pressing plate; the elastic compression damping piece is coaxially sleeved on a section of guide pillar between the pressing plate and the knife depth adjusting slide block; the two guide posts are arranged in an axisymmetrical mode along the axis of the knife depth adjusting bolt.

Preferably, the pressing plate is vertically provided with a through hole for a power output shaft of the knife depth adjusting motor to penetrate through, and the power output shaft of the knife depth adjusting motor penetrates through the through hole from top to bottom and then is fixedly connected with the concave hole at the top end face of the rotary sleeve in a screw type through a radial locking screw.

Preferably, a zero-position reference guide rail with a lead vertical guide direction is fixedly connected to the outer plate surface of the upper clamping plate, so that a guide rail fit is formed between the zero-position reference sliding plate and the upper clamping plate; and a cutter depth adjusting guide rail with a vertical lead guiding direction is arranged on the outer side plate surface of the zero-position reference sliding plate, so that the cutter depth adjusting sliding block and the zero-position reference sliding plate form guide rail matching.

Preferably, the automatic peeler further comprises a vertical guide rail arranged on the rack, wherein the back sides of the upper clamp seat and the lower clamp seat are respectively provided with a vertical slide block, and the corresponding guide rail is matched with the vertical guide rail.

Preferably, the cutter comprises a cutter seat for being directly fixedly connected with the cutter depth adjusting sliding block, a cutter head for cutting the insulating skin and an adjusting handle for connecting the cutter seat and the cutter head; the shape of the adjusting handle is a vertical plate with a vertically arranged plate surface, an arc-shaped convex edge or an arc-shaped concave groove is convexly or concavely arranged on the plate surface on one side of the adjusting handle, and a vertical matching surface on the tool apron is correspondingly provided with the arc-shaped convex edge or the arc-shaped concave edge corresponding to the arc-shaped convex edge or the arc-shaped concave groove, so that the radian extension path of the corresponding groove or convex edge is positioned on the same circle which takes the tool bit tool point as the center of circle and takes the distance between the tool bit tool point and the corresponding groove or convex edge as the radius on; the adjusting handle is also provided with a fixing screw for fixing the position of the cutter head relative to the adjusting handle at any time.

Preferably, the adjusting handle is horizontally provided with an arc-shaped fixing hole in a penetrating manner, and a concentric circle layout is formed between the radian extending path of the arc-shaped fixing hole and the radian extending path of the arc-shaped groove or the arc-shaped convex edge; the fixing screw horizontally penetrates through the arc-shaped fixing hole, and the top end of the fixing screw is in threaded fixed connection fit with the vertical matching surface at the tool apron, so that the adjusting handle is horizontally and tightly pressed and fixed on the tool apron by using the nut end of the fixing screw.

Preferably, the adjusting handle is in a trapezoid plate shape, and the inner side plate surface of the adjusting handle forms a propping surface for matching with the vertical matching surface at the tool apron; the trapezoidal top edge of the adjusting handle extends towards the tool apron direction to form a matching plate, and the surface of the matching plate is vertical to the surface of the adjusting handle; the cutter head is cylindrical, the rear section of the cutter head forms a cutter head handle end, and the cylindrical surface of the cutter head handle end and the adjusting hole are coaxially arranged; a rotary threaded hole is coaxially arranged through the handle end of the tool bit, and an adjusting screw penetrates through the matching plate and is in threaded fixed connection matching with the rotary threaded hole; the top end of the front section of the cutter head is coaxially and concavely provided with a counter bore, an inner chamfer is arranged at the orifice of the counter bore to cut the cutter head by a cutting plane coincident with the axis of the cutter head, so that the front section of the cutter head is in a semi-cylindrical structure, and the inner chamfer at the position of the counter bore after being cut forms a semi-arc-shaped cutting edge.

Preferably, the automatic peeler further comprises an equipotential elastic sheet which is in a shape of a C-shaped sheet, the equipotential elastic sheet is arranged at the groove wall of the V-shaped holding plate of the upper clamp seat and/or the lower clamp seat, and the direction of the notch of the arched groove cavity of the equipotential elastic sheet is opposite to the direction of the notch of the groove cavity of the V-shaped holding plate where the equipotential elastic sheet is arranged.

Preferably, go up anchor clamps seat department and still be provided with the device of leading of being used for leading the insulating skin of cable that cutter department peeled off, the device appearance of leading is the horn mouth form that upper portion bore is greater than the lower part bore, and the bottom small-bore end of leading the device of skin extends to cutter department to the insulating skin of cable that the guide cutter peeled off.

The invention has the beneficial effects that:

1) through the scheme, on the one hand: on the basis of the structure of the existing automatic peeler, the invention provides an automatic control zero reference adjusting structure, so that the self-adaptive adjusting function of the cutter feed amount can be flexibly realized according to the diameter of a current cable to be clamped. Specifically, when the knife depth adjusting bolt is driven by the knife depth adjusting motor until the annular bulge at the knife depth adjusting bolt is matched with the pressing plate together to clamp the knife depth adjusting threaded seat oppositely, not only are the knife tip of the knife and the reference part on the same horizontal line at the moment; meanwhile, the cutter depth adjusting threaded seat is fixedly connected with the zero-position reference sliding plate, so that the zero-position reference sliding plate, the reference part, the cutter depth adjusting threaded seat and the cutter depth adjusting sliding block are fixedly connected with one another to form an integrated structure, and elastic floating motion can be generated relative to the upper clamping plate and the pressing plate under the action of the elastic compression damping piece. In case the cable is lived in the parcel of punch holder cooperation lower plate, reference portion can be promoted and the come-up under the effect of elasticity compression damping piece this moment, because cutter and reference portion have been integrated, consequently the cutter also can produce synchronous come-up action, accomplishes zero-position reference correction operation promptly. And then, the rotary sleeve is driven to rotate by the knife depth adjusting motor, so that the knife depth adjusting bolt generates spiral descending motion, and the knife can slowly cut into the cable insulation skin along with the integral rotation of the peeling clamp under the action of the elastic restoring force of the elastic compression damping piece. Every time the cutter depth adjusting bolt descends for one centimeter, the cutter can sink for one centimeter absolutely relative to the uppermost bus of the reference part or the cable insulating skin, the purpose of adjusting the consistency of the feed amount and the actual depth of the cable to be cut is finally achieved, the effect of adjusting the absolute depth of the cut is achieved, and the actual peeling efficiency of the cable can be greatly improved.

On the other hand, on the basis of the automatic peeler, the invention also designs an external hanging piece attached to the automatic peeler, thereby achieving the purpose of increasing the functions of the automatic peeler. In the specific operation, the direct clamping function of the cable can be realized through the clamping pincers so as to ensure the integrated fixing purpose of the cable, the clamping pincers, the mounting base and the automatic peeler. Meanwhile, the sliding action of the fixing frame relative to the mounting base ensures that the automatic peeler can naturally realize the effect of convolute stripping of the insulation skin of the relative cable by the fixing frame and the axial action of the automatic peeler during peeling of the cable when the cable is clamped and fixed by the clamping clamp. Therefore, when the automatic peeler starts to perform peeling along the axial direction of the cable in a winding manner, the reaction force exerted by the cable in the reverse direction on the automatic peeler is fed back to the mounting base and even the clamping pincers, and is reliably clamped and offset by the clamping pincers relative to the cable, so that the reaction force cannot directly act on the robot in a reverse manner, and the reliability of the outdoor continuous work of the robot is ensured. Meanwhile, the self-centering clamping function of cables with different wire diameters is realized by utilizing the inherent operation that two groups of jaws of the clamping pliers are oppositely closed and are oppositely opened.

In conclusion, the self-adaptive tool feeding amount adjusting device can flexibly realize the self-adaptive adjusting function of the tool feeding amount according to the type of the cable to be clamped currently; meanwhile, the invention has the advantages of simple operation, convenient adjustment and self-centering clamping, can be self-adapted to cables with different wire diameters, ensures the working stability of the cables during peeling, and is particularly suitable for the robot working environment.

2) Furthermore, for the specific structure of the clamping pincers, the electric pincers and the like which are available on the market can be directly used actually, and the purpose of integrally fixing the clamping pincers on the mounting base and ensuring the reliable clamping of the cable is only needed. As a further preferable scheme of the scheme, the invention adopts a unique axial telescopic rod to push the double sliding blocks to act, and drives the double guide blocks to generate the approaching and separating operation along the horizontal guide rail, thereby finally realizing the purposes of clasping, fastening and loosening the cable by the C-shaped bayonet. An axial telescopic rod structure is adopted, and the aim is to convert the vertical upward thrust of the axial telescopic rod into the similar action force of the two groups of guide blocks through positioning pin holes which are arranged in an inverted V shape; in addition, this kind of cooperation structure also possesses good auto-lock nature, consequently in case to closing and hugging closely the cable, can effectively avoid the cable not hard up situation to take place, simple structure is compact simultaneously, and the centre gripping is reliable and stable. The two groups of guide blocks are connected with the opposite movement of the C-shaped bayonets, so that the cable clamp can adapt to cables with different diameters, and the circle centers of the cables with different diameters are all at the same position after the cables are clamped.

3) In consideration of the requirement of convenience in use, the invention is also designed with the limiting arc groove, so that the lowest point of cable descending is formed through the groove bottom surface of the limiting arc groove with the upward opening, and the maximum descending distance of the cable is limited. In other words, when the limiting arc groove is clamped into the cable body from bottom to top, the clamping pincers are folded, and the two groups of C-shaped bayonets of the clamping pincers can just hold the cable tightly.

4) And further, the arrangement of the extension plate is similar to an internal chamfer structure which is necessary at the notch of the traditional guide clamping groove so as to play a role in guiding the cable.

5) For the axial telescopic rod, the same as the axial push rod, multiple specific implementation structures can be selected during actual operation: if a pneumatic push rod, a threaded screw rod structure or even a gear and rack structure is adopted, only the axial telescopic rod and the working end of the axial push rod can produce reciprocating displacement motion relative to the axial direction of the cable when needed. The present invention preferably uses the power putter in consideration of the compactness and compactness of the structure of the power putter itself. Particularly, the electric push rod does not need an additional auxiliary structure, and the purpose of driving the automatic peeler by using the electric power required by the automatic peeler is achieved, so that the use is more convenient. On the other hand, the push rod current is monitored on line even when the electric push rod acts, so that the function of monitoring the clamping force of the electric push rod can be achieved, and the purposes of stopping and holding the cables with different diameters in an adaptive mode by the two groups of C-shaped bayonets are guaranteed.

6) On the basis of the structure that the clamping pincers and the fixing frame are arranged on the mounting base, the axial follow-up mechanism is additionally arranged. Specifically, the axial follow-up structure can enable the automatic peeler to be placed on the fixing frame in practical operation, and at the moment, the relative distance between the sensing surface at the axial push rod and the sensing end of the sensing head is the maximum traveling distance of the automatic peeler during first peeling. After the cable is reliably clamped by the clamping pincers, when the first stripping is finished, the fixing frame cannot move forward due to limitation of the top end stop block, and the cutter at the position of the automatic stripper is in an idle running state, so that the stripped insulating skin cut out before is cut off. Then, the axial push rod continues to the next process so as to enable the sensing surface to generate an axial distance with the sensing end of the sensing head again, the axial distance is the distance which needs to be traveled when the skin is peeled for the second time, and the fixing frame can continue to move forwards without the obstruction of the top end stop block. Meanwhile, due to the existence of the tension spring, when the axial push rod moves to the next process point, the tension spring is subjected to tension force, so that the fixing frame generates axial force tending to the direction of the top end stop block, the cutting edge of the cutter at the position of the automatic peeler is assisted to axially cut into the end face of the insulated wire sheath with hard texture, then the next section of peeling operation is started, and the operation automation degree is extremely high.

7) As a further preferable mode of the above, the present invention preferably employs a double-row optical axis guide structure for the axial displacement operation of the mount. The purpose of stable guiding of the fixing frame can be ensured through the matching of the bearings between the double-row optical axis and the mounting holes at the fixing frame. In addition, in consideration of correct matching of the sensing surface and the sensing end at the sensing head, the fixing frame should be close to the axial push rod as much as possible, so that the fixing frame is arranged to be in a hole plate shape, and the axial push rod can directly penetrate through the fixing frame through the avoiding hole, so that the accuracy of subsequent matching action of the fixing frame and the axial push rod is ensured.

8) For the sensing head, the invention preferably uses a travel switch and is matched with the action of the sliding stop block to realize the function of axially limiting the fixed frame by the top end stop block. During actual operation, once the axial push rod acts until the travel switch touches the induction surface, the fixing frame stops acting at the moment, and therefore the automatic peeler positioned on the fixing frame stops moving axially relative to the cable. Once the automatic peeler stops the axial displacement action, the cutter on the automatic peeler still does the gyration action at this moment, and the insulating skin that produces before can be cut off fast this moment.

9) The invention also adopts the unique structure of the cutter, so that the cutter holder is used as a fixed body, the cutter head is used as a working end, and the adjusting handle is used as a middle connecting piece, thereby realizing the purpose of adjusting the arc-shaped action of the cutter head relative to the cutter holder. The adjusting handle and the tool apron form a guide rail sliding block matching relation with an arc-shaped action in the guiding direction, and the circle center of an arc-shaped action path generated by the adjusting handle relative to the tool apron is the point where the tool tip of the tool bit is located, so that the tool bit always generates arc-shaped rotation action with the tool tip as the circle center no matter how the adjusting handle is driven, the function of changing the cutting-in angle of the tool edge is realized, the tool bit is ensured to always accurately abut against the preset initial cutting-in point at the position of the insulation skin no matter how the tool bit is adjusted, and finally the purpose of quickly stripping the insulation skin can be stably and reliably realized under the driving action of a subsequent mechanical peeling tool based on an automatic peeler.

10) To the guide rail cooperation structure between regulation handle and blade holder, can have multiple realization scheme during the in-service use: if the guide sliding rail is arranged at the adjusting handle, and the tool apron is provided with the sliding block structure, the guide matching function of the tool apron is realized through the matching of the guide sliding rail and the sliding block. Also can arrange the arc hole of through type in regulation handle department to thereby set up the locating pin on the blade holder and stretch into in the arc hole, in order to realize its radian direction function. The invention preferably uses a matching structure of the groove and the convex edge, and the matching structure is matched with the fixed screw to be fixedly connected and matched with the thread of the cutter holder so as to ensure the online adjusting function of the adjusting handle relative to the cutter holder. On one hand, the corresponding matching structure of the groove and the convex edge ensures that the whole processing process tends to shallow processing and the processing technology requirement is lower. On the other hand, the arc-shaped fixing hole is matched with the matching structure of the fixing screw, so that the action surface on the whole structure is positioned at one side of the cutter holder, the operation of adjusting the cutter holder can be completely finished at one side of the cutter holder, and the cutter holder is particularly suitable for being used in a narrow working environment where the cutter holder is positioned. In addition, a set of arc-shaped actuating mechanisms are formed by matching the corresponding grooves and the corresponding ribs, and a set of arc-shaped actuating mechanisms are actually formed by matching the fixing screws with the arc-shaped fixing holes. Above-mentioned double arc direction mode, the accurate arc swing function of realization tool bit that can the maximize to ensure the tool bit all the time when carrying out the blade angle change of relative insulating skin, the tool bit knife tip is died all the time and is in the initial point department of cutting in of insulating skin department presetting, and its operational reliability is high.

11) Furthermore, the tool bit can realize the rotation adjusting function around the axis of the tool bit through the unique cylindrical structure of the tool bit when the tool bit has the cutting edge cutting-in angle adjusting function. Through the rotary adjustment, on one hand, the vertical height of the arc-shaped cutting edge of the tool bit can be always ensured to be larger than the total thickness of the insulation skin when the cutting is fed, on the other hand, the best lateral chip guiding and chip removing effect can be achieved, and the purpose of optimized insulation skin cutting can be achieved by matching with the adjustment of the cutting angle of the cutting edge. In addition, the cylindrical or semi-cylindrical cutter head can generate huge cutting force when cutting the insulating skin, and the cutter head can also have enough rigidity and strength to bear the reverse force of the cutter head, so that the actual service life of the integral component is ensured.

12) When the cable clamping device is used for clamping and fixing cables, the synchronous approaching and separating actions of the upper clamp seat relative to the lower clamp seat can be realized through the forward and reverse rotation actions of the opening and closing driving motor. During actual operation, the opening and closing driving motor rotates to drive the upper clamp seat and the lower clamp seat to synchronously move in opposite directions, and when the upper clamp seat and the lower clamp seat start to feel the obstruction of the cable, the current of the opening and closing driving motor changes. When the current change of the opening and closing driving motor reaches a set current value, the opening and closing driving motor can stop moving, and the peeling clamp can embrace the cable.

13) In the reference part, during actual operation, a straight rod or the like can be used for realizing the contact function relative to the cable insulation skin, or a rectangular block with a ball at the front end is used for realizing the contact matching effect. The invention adopts the zero reference bearing to realize the reference calibration function at the preferred time: the zero reference bearing can not only realize the contact effect relative to the cable insulation skin, but also can generate bearing rolling action relative to the cable surface when the peeling clamp rotates relative to the cable to continuously peel the insulation skin, so that the rotation resistance of the peeling clamp is reduced, and the convenience and the peeling efficiency of the whole peeling operation are effectively improved.

14) And further, the upper clamping plate and the lower clamping plate preferably realize the embracing function of the opposite cables by mutually matching the V-shaped embracing surfaces of the V-shaped embracing plates. When the V-shaped holding plate is arranged at the bottom end face of the upper clamping plate, if the coverage area of the V-shaped holding plate is enlarged, the action path of the reference part is interfered; if the coverage area of the V-shaped holding plate is reduced, the holding effect of the opposite cable may be reduced. According to the invention, the position-giving port is directly formed on the V-shaped holding plate for the reference part to normally pass through, so that the coverage area of the V-shaped holding plate is ensured, and the normal zero-position reference correction function of the reference part is ensured, thereby achieving multiple purposes.

15) For the elastic compression damping part, structures such as an elastic damping air bolt and even a hydraulic damping rod can be adopted. The invention preferably adopts a traditional guide post and spring matching structure, so that two groups of compression springs are matched through two guide posts, and the purpose of accurate vertical guiding of lead of the knife depth adjusting slide block is ensured while the elastic matching function of the knife depth adjusting slide block relative to the pressing plate is ensured.

16) And for the rotating sleeve, a knife depth adjusting motor is further arranged above the rotating sleeve, so that the automatic rotation adjusting function for the rotating sleeve is realized. The knife depth adjusting motor and the rotating sleeve are preferably matched by a radial locking screw in a fastening screw type.

17) For the matching structure of the zero-position reference sliding plate and the upper clamping plate as well as the cutter depth adjusting sliding block and the zero-position reference sliding plate, the reliable vertical sliding matching function of lead can be ensured through the zero-position reference guide rail and the cutter depth adjusting guide rail, so that the purpose of online sliding adjustment of the lead is ensured.

18) Furthermore, the cutter holder is used as a fixing body, the cutter head is used as a working end, and the adjusting handle is used as a middle connecting piece, so that the purpose of adjusting the arc-shaped action of the cutter head relative to the cutter holder is achieved. The adjusting handle and the tool apron form a guide rail sliding block matching relation with arc-shaped action in the guiding direction, and the circle center of an arc-shaped action path generated by the adjusting handle relative to the tool apron is the point where the tool bit tool tip is located, so that the tool bit always generates arc-shaped rotation action with the tool tip as the circle center no matter how the adjusting handle is driven, the function of changing the cutting-in angle of the tool bit is realized, the tool bit is ensured to always accurately abut against the initial cutting-in point preset at the position of the insulating skin no matter how the tool bit is adjusted, and finally the aim of quickly stripping the insulating skin can be stably and reliably realized under the subsequent action of the zero-position reference adjusting assembly.

19) To the guide rail cooperation structure between regulation handle and blade holder, can have multiple realization scheme during the in-service use: if the guide sliding rail is arranged at the adjusting handle, and the tool apron is provided with the sliding block structure, the guide matching function of the tool apron is realized through the matching of the guide sliding rail and the sliding block. Also can arrange the arc hole of through type in regulation handle department to thereby set up the locating pin on the blade holder and stretch into in the arc hole, in order to realize its radian direction function. The invention preferably uses a matching structure of the groove and the convex edge, and the matching structure is matched with the fixed screw to be fixedly connected and matched with the thread of the cutter holder so as to ensure the online adjusting function of the adjusting handle relative to the cutter holder. On one hand, the corresponding matching structure of the groove and the convex edge ensures that the whole processing process tends to shallow processing and the processing technology requirement is lower. On the other hand, the arc-shaped fixing hole is matched with the matching structure of the fixing screw, so that the action surface on the whole structure is positioned at one side of the cutter holder, the operation of adjusting the cutter holder can be completely finished at one side of the cutter holder, and the cutter holder is particularly suitable for being used in a narrow working environment where the cutter holder is positioned. In addition, a set of arc-shaped actuating mechanisms are formed by matching the corresponding grooves and the corresponding ribs, and a set of arc-shaped actuating mechanisms are actually formed by matching the fixing screws with the arc-shaped fixing holes. Above-mentioned double arc guide mode, the accurate arc swing function of realization tool bit that can maximize to ensure the tool bit all the time when carrying out the blade angle change of relative insulating skin, the knife tip of the cutting edge of tool bit below is nailed all the time and is died at the initial point of cut-in department that insulating skin department predetermines, and its operational reliability is high.

20) Furthermore, the tool bit can realize the rotation adjusting function around the axis of the tool bit through the unique cylindrical structure of the tool bit when the tool bit has the cutting edge cutting-in angle adjusting function. Through the rotary adjustment, on one hand, the vertical height of the arc-shaped cutting edge of the tool bit can be always ensured to be larger than the total thickness of the insulation skin when the cutting is fed, on the other hand, the best lateral chip guiding and chip removing effect can be achieved, and the purpose of optimized insulation skin cutting can be achieved by matching with the adjustment of the cutting angle of the cutting edge. In addition, the cylindrical or semi-cylindrical cutter head can generate huge cutting force when cutting the insulating skin, and the cutter head can also have enough rigidity and strength to bear the reverse force of the cutter head, so that the actual service life of the integral component is ensured.

21) The equipotential elastic sheet is initially supported against the surface of the cable insulation skin due to the existence of the insulation skin on the surface of the cable, and therefore the equipotential elastic sheet can only elastically abut against the surface of the cable insulation skin due to the action of the hoop cable of the peeling clamp. When the cutter is skinned, the cable insulation skin is gradually removed and the sinle silk is exposed, and the equipotential elastic sheet can move to contact the sinle silk because of the elastic restoring force of the equipotential elastic sheet, and the high-voltage current at the sinle silk is connected with the circuit board of the robot to form an equipotential operation effect, thereby ensuring the automation work purpose of the robot.

22) The arrangement of the skin guiding device can lead the hard insulating skin of the cable cut by the cutter out of the working range of the cable cutter in time, so as to avoid the cut insulating skin from interfering the normal work of the cable cutter, and further improve the working reliability of the cable cutter.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

fig. 2 and 4 are schematic perspective views of the peeling clamp;

FIG. 3 is an exploded perspective view of the structure shown in FIG. 2;

FIG. 5 is an exploded view of the upper fixture seat in an engaged state relative to the lower fixture seat;

FIG. 6 is a schematic perspective view of the upper clamp seat after the knife depth adjustment motor is removed;

FIG. 7 is an exploded perspective view of the structure shown in FIG. 6;

FIG. 8 is a cross-sectional view of the upper clamp mount;

FIG. 9 is a schematic diagram of the action of the zero reference adjustment assembly in an initial state;

FIG. 10 is a schematic diagram of the operation of the zero reference adjustment assembly in an operational state;

FIGS. 11-12 are schematic perspective views of the cutting tool;

FIGS. 13-14 are flow charts of adjustment of the adjustment handle relative to the tool holder;

FIG. 15 is an exploded perspective view of the cutter;

FIG. 16 is a perspective view of the adjustment handle;

FIGS. 17-18 are flow diagrams of the operation of the axial displacement helix angle adjustment assembly;

FIG. 19 is a perspective view of the guiding knife;

FIG. 20 is a schematic view of the operating state of FIG. 1;

FIG. 21 is an exploded view of the structure of FIG. 1;

FIG. 22 is a perspective view of the structure of the present invention with the automatic dehider removed;

FIG. 23 is an enlarged view of a portion II of FIG. 22;

FIG. 24 is a perspective view of the structure of the pliers;

FIG. 25 is an exploded view of the structure of FIG. 24;

FIG. 26 is a front view of a holding clamp;

FIG. 27 is a view showing the working state of the clamping jaw;

fig. 28 and 30 are schematic perspective views of the mounting base and the fixing frame after the tension spring is removed;

FIGS. 29 and 31 are front views of the mounting base mated with the mounting bracket;

fig. 32 is a perspective view of the fixing frame.

The actual correspondence between each label and the part name of the invention is as follows:

10-mounting base 11-mounting flange

21-fixed frame 21 a-mounting hole 21 b-avoiding hole 21 c-extension arm

22-axial push rod 23-top end stop block 24-tension spring

25-sliding optical axis 26-linear bearing 27-sliding block 27 a-sensor head

30-holding clamp 31-mounting plate 32-axial telescopic rod 33-push block

34 a-left slide block 34 b-right slide block 34 c-positioning pin hole

35 a-left guide block 35 b-right guide block 35 c-positioning pin shaft

36-horizontal guide rail 37-C-shaped bayonet 38-limiting arc groove 39-extension plate

40-drive unit 50-peeling clamp

50 a-rear thread slide block 51-frame 52-upper clamp seat

52 a-zero reference slide plate 52 b-knife depth adjusting slide block 52 c-press plate

52 d-tool depth adjusting threaded seat 52 e-elastic compression damping piece 52 f-tool depth adjusting bolt

52 g-rotating sleeve 52 h-knife depth adjusting motor 52 i-wire core detection sensor

52 j-upper clamping plate 52 k-datum part 52 l-radial projection 52 m-limit slotted hole

52 n-limit bulge 52 o-reference positioning plate 52 p-bearing seat 52 q-V-shaped holding plate

52 r-relief port 52 s-guide post 52 t-through hole

52 u-zero reference guide rail 52 v-knife depth adjusting guide rail 52 w-leather guide device

53-lower clamp seat 53 a-equipotential elastic sheet 53 b-blind hole 53 c-guide knife

53 d-toothed guide edge 53 e-first adjusting screw 53 f-second adjusting screw

53 g-first through counter bore 53 h-second through counter bore

54-bidirectional screw rod 55-opening and closing driving motor

56-cutter 56 a-tool holder 56 b-tool head 56 c-adjusting handle 56 d-arc-shaped convex rib

56 e-arc groove 56 f-fixing screw 56 g-arc fixing hole 56 h-matching plate

56 i-adjusting screw 56 j-blade

57-plumb guide rail 57 a-plumb slide block

60-switching frame

Detailed Description

For ease of understanding, the specific structure and operation of the present invention is further described herein with reference to FIGS. 1-32:

the invention mainly comprises a cable clamping follow-up system and an automatic peeler. Wherein: the specific implementation of the cable clamp follow-up system is shown in fig. 1 and 20-32 and includes three major parts, namely a clamp 30, a mounting base 10, and an axial drive assembly for the automatic dehider to generate an axial follow-up function. The peeling jig 50 and the driving unit 40 are combined to constitute the automatic peeler. After the automatic peeler is assembled, the automatic peeler can be fixed to the driving unit 40 shown in fig. 1 through the adapter bracket 60 shown in fig. 2, and the bottom end of the driving unit 40 is fixed to the extension arm 21c at the fixing bracket 21 of the cable clamping follow-up system shown in fig. 1, so as to achieve the purpose of wire peeling at high altitude. The combination of the peeling tool 50 and the driving unit 40 is disclosed before the present application and will not be described again, and the cable clamping follower assembly and the peeling tool 50 are mainly described herein.

Cable clamping follow-up system

The cable clamping follow-up system comprises three parts, namely a clamping jaw 30, a mounting base 10 and an axial driving assembly for generating an axial follow-up function of the automatic stripper, wherein:

the specific structure of the clamping jaw 30 can be seen in fig. 1 and 20-27: each set of gripping pliers 30 includes a set of mounting plate 31, a set of axial extension rod 32, a set of push block 33, two sets of slide blocks, two sets of guide blocks, two sets of horizontal guide rails 36, two sets of C-shaped bayonets 37, and two sets of extension plates 39. In actual operation, the above components except the extension plate 39 are disposed on the outer plate surface of the mounting plate 31, and the bottom end of the inner plate surface of the mounting plate 31 is screwed and fixed to the end surface of the mounting base 10 according to the assembling direction shown in fig. 21. Specifically, as shown in fig. 22-26, the axial expansion link 32 of the electric putter structure is fixed to the outer plate surface of the mounting plate 31 in a vertical manner, and the push block 33 is fixed to the working end of the axial expansion link 32. The left end and the right end of the pushing block 33 are respectively and fixedly connected with a left slide block 34a and a right slide block 34 b. The left slider 34a and the right slider 34b are both provided with a positioning pin hole 34c in a horizontal penetrating manner, and the required left guide block 35a and the right guide block 35b are provided with a positioning pin shaft 35c which can penetrate into the positioning pin hole 34c in a horizontal and outward protruding manner. Referring to fig. 23 and 26, the two sets of positioning pin holes 34c extend from bottom to top and gradually increase in horizontal distance from each other, and finally assume an inverted "eight" shape layout. The guide blocks are in sliding fit in the positioning pin holes 34c through the positioning pin shafts 35 c; and on the other hand, is mounted at the outer panel surface of the mounting plate 31 by means of horizontal guide rails 36. The horizontal guide rail 36 has a horizontal guiding direction, so that the C-shaped bayonets 37 on the two sets of guide blocks can be controlled to move close to and away from each other.

The mounting base 10 is configured in the manner of a transversely extending upright, as shown in fig. 1 and 20-22 and 28-31, to serve as a loading base for the secure positioning of the clamping jaws 30 and the axial drive assembly.

The structure of the axial driving assembly is shown in fig. 20-22 and 28-31, and includes a set of axial push rods 22, a set of fixing frames 21 for fixing the automatic barker, two sets of sliding optical axes 25 arranged in parallel for generating axial reciprocating directional motion to the fixing frames 21, and a set of tension springs 24. The axial line of the axial push rod 22 of the electric push rod structure is horizontally fixed on one side of the mounting base 10, and the two sets of sliding optical axes 25 are synchronously fixed on the mounting base 10 in a simply supported beam shape through the fixing seats at the two ends, and the two sets of sliding optical axes 25 are arranged in an axisymmetric manner relative to the axial line of the axial push rod 22. The shape of the fixing frame 21 is a square plate with a vertical plate surface and vertical to the axis of the cable. As shown in fig. 32, three sets of through holes are sequentially arranged on the fixing frame 21 from top to bottom in the order of the set of mounting holes 21a, the set of avoiding holes 21b, and the set of mounting holes 21 a; the extension arm 21c above the fixing frame 21 is fixedly connected with the adapting frame 60 through screw threads. Linear bearings 26 are disposed in the two sets of mounting holes 21a to match the sliding optical axis 25, and one set of relief holes 21b is used for the piston cylinder of the axial push rod 22 to pass through. A sliding stop 27 is arranged on the frame body of the fixing frame 21 beside the avoiding hole 21b, and a top stop 23 is arranged at the action end, namely the piston rod end, of the corresponding axial push rod 22. In practical operation, once the axial push rod 22 is operated until the sensing surface at the top end stop 23 touches the sensing head 27a at the sliding stop 27, i.e. the travel switch, at this time, the fixed frame 21 stops operating, so that the automatic peeler on the fixed frame 21 stops moving axially relative to the cable. Once the automatic dehider stops moving axially, the cutter on the automatic dehider still rotates, and the cutter cuts the insulating skin generated before cutting rapidly. The arrangement position of the tension spring 24 is, as shown in fig. 29 and 31, used to connect the top end stopper 23 and the slide stopper 27, and the axis of the tension spring 24 is also parallel to the axis of the cable, specifically, which position the two ends of the tension spring 24 are fixed to the top end stopper 23 and the slide stopper 27, may be selected as appropriate depending on the field conditions, as long as the normal operation of other inherent structures is not interfered.

The peeling fixture 50 includes a zero reference adjusting assembly, a cutting angle adjusting assembly, a fixture opening adjusting assembly, an axial displacement helix angle adjusting assembly, a peeling guide 52w, an equipotential spring 53a, and the following descriptions are sequentially provided:

firstly, a zero reference adjusting component:

the specific construction of the zero reference adjustment assembly is shown with reference to fig. 1-10, which in use can be assembled directly with the tool bit 56 and the rear threaded slider 50a to form the upper clamp mount 52. Referring to fig. 8, the zero reference adjustment assembly includes, from left to right, an upper clamp plate 52j, a zero reference guide rail 52u, a zero reference slide plate 52a, a knife depth adjustment guide rail 52v, a knife depth adjustment slider 52b, and a reference portion 52k, respectively. The right side of the knife depth adjusting slide block 52b is horizontally and outwards provided with a reference positioning plate 52o in a protruding mode, and the position of the reference positioning plate 52o is provided with a vertical reference hole. In the layout structure shown in fig. 8, a tool depth adjusting bolt 52f is fitted to the hole axis at the vertical reference hole; further, a knife depth adjusting screw seat 52d, a pressing plate 52c, an elastic compression damping member 52e, a rotary sleeve 52g and a knife depth adjusting knob 52h are provided in this order upward along the axial direction of the knife depth adjusting bolt 52 f.

During the specific assembly:

as shown in fig. 6-8, the upper clamping plate 52j serves as a framework of the upper clamp seat 52, and has a V-shaped holding plate 52q at a bottom end thereof and a right-angled bent plate structure integrally formed with the pressing plate 52c at a top end thereof by fastening bolts. The zero position reference guide rail 52u is fixedly connected to the left side of the upper clamping plate, namely the outer side plate surface, so that the zero position reference sliding plate 52a positioned on the outer side plate surface of the upper clamping plate can form a guide rail matching relation with the upper clamping plate, wherein the guide direction of the guide rail is vertical to lead, through the zero position reference guide rail 52 u. Similarly, a blade depth adjusting guide rail 52v is arranged on the outer side plate surface of the zero position reference sliding plate 52 a; and the knife depth adjusting slide block 52b positioned at the outer side plate surface of the zero position reference slide plate 52a forms a guide rail matching relation with the zero position reference slide plate 52a, wherein the guide direction of the guide rail is vertical to lead through the knife depth adjusting guide rail 52 v. The top end face of the zero reference sliding plate 52a and the depth adjusting screw seat 52d also form an integral right-angle bent plate structure, and the bottom end face of the zero reference sliding plate 52a is connected with the reference part 52k, namely a zero reference bearing, through the bearing seat 52 p.

As shown in fig. 6 to 7, a guide post 52s is vertically extended from the top end of the blade depth adjusting slider 52b, and the top end of the guide post 52s penetrates the pressing plate 52c to form a guiding fit with the guide hole of the pressing plate 52 c. The elastic compression damping member 52e can be coaxially mounted on the guide post 52s by using, for example, a compression spring or a damping air column, so as to realize the action of approaching the elastic accumulation force of the blade depth adjusting slider 52b relative to the pressing plate 52c and the action of separating the elastic releasing force under the elastic restoring force. The bottom end of the tool depth adjusting slider 52b is fixed to the tool seat 56a of the tool 56 by a bolt as shown in fig. 3 and 5. In practice, referring to the structure of the tool seat 56a shown in fig. 11-14, a corresponding waist-shaped assembling hole is provided on the tool seat 56a, so as to achieve a certain degree of horizontal tool adjustment when the tool depth adjusting slider 52b is engaged.

As shown in fig. 7-8, a horizontal reference positioning plate 52o is protruded from the outer plate surface of the tool depth adjusting slider 52b, a vertical reference hole is formed in the reference positioning plate 52o, and a radial protrusion 52l in the shape of a protruding ring is coaxially protruded from the bottom end surface of the tool depth adjusting bolt 52 f; the upper ring surface of the radial bulge 52l and the lower plate surface of the reference positioning plate 52o form a one-way spigot fit. Meanwhile, after the blade depth adjusting bolt 52f is in threaded fit with the blade depth adjusting threaded seat 52d, the top end surface of the blade depth adjusting bolt 52f also coaxially penetrates into the cylindrical cavity of the rotating sleeve 52g, and a torque transmission type fit structure which can axially slide and circumferentially limit is realized through the fit of the limiting protrusion 52n and the limiting groove hole 52m as shown in fig. 7. The top end of the rotating sleeve 52g is fixedly connected to the power output shaft of the knife depth adjusting knob 52h located on the upper plate surface of the pressing plate 52c through a radial fixing structure capable of transmitting torque, such as a set screw structure or a spline fit manner, so as to ensure the torque transmission function of the rotating sleeve 52g and the knife depth adjusting bolt 52 f.

When the tool depth adjusting knob 52h is rotated, an axial downward force is applied to the tool depth adjusting bolt 52f by rotating the sleeve 52g, so that the tool tip of the tool 56 located at the tool depth adjusting slider 52b moves downward, thereby achieving the function of deep cutting of the cable insulation sheath. In the embodiment shown in fig. 2, the core detecting sensor 52i is disposed on the wire feeding side of the upper clamp seat 52 and adjacent to the cutter 56, and the detecting end of the core detecting sensor 52i is directed to the surface of the cable along the radial direction of the cable, so as to achieve the purpose of online monitoring the exposure after the core is stripped. When the knife depth adjusting knob 52h continuously drives the rotating sleeve 52g to rotate and the knife depth adjusting bolt continuously descends, the knife 56 continuously deepens the absolute knife depth relative to the cable insulation skin. Once the knife tip of the knife tool 56 just extends into the state of completely stripping the cable insulation skin and begins to expose the wire core, the wire core detection sensor 52i collects image signals or other corresponding signals of the wire core at the first time and transmits the signals to the control end, and the knife depth adjusting knob 52h can be stopped along with the image signals or other corresponding signals so as to keep the current knife depth and achieve the purpose of continuously and perfectly cutting the cable insulation skin.

Certainly, in actual operation, the core detecting sensor 52i may be a conventional photoelectric sensor similar to a camera sensor, or may also adopt conventional detecting means such as discharge detection or electromagnetic field induction, and such means, or even the signal transmission and receiving and sending modes thereof, are conventional operation modes in the electronic sensing field, and are not described herein again.

Secondly, a feed angle adjusting component:

for the feed angle adjusting assembly, the structure thereof is shown with reference to fig. 1 to 5 and 11 to 16. The feed angle adjusting unit includes a cutter head 56b serving as a mounting base for cutting the insulation skin, a holder 56a serving as a mounting base for the cutter head 56b, and an adjustment handle 56c for engaging the cutter head 56b with the holder 56 a. The tool seat 56a is fixed to the bottom end surface of the tool depth adjusting slider 52b of the zero reference adjusting assembly by means of a bolt fitting or other known fitting means, so as to be capable of ascending and descending together with the tool depth adjusting slider 52 b.

The adjusting lever 56c has a trapezoidal plate shape as shown in fig. 15 to 16, and an inner plate surface of the adjusting lever 56c constitutes a contact surface for engaging with a vertical engagement surface of the tool rest 56 a. The top edge of the trapezoid of the adjustment handle 56c extends toward the tool seat 56a to form a mating plate 56h, and the surface of the mating plate 56h is perpendicular to the surface of the adjustment handle 56 c. In the structure shown in fig. 11-16, it can be seen that the abutting surface of the adjusting handle 56c is convexly provided with an arc-shaped convex rib 56d, the vertical mating surface of the tool seat 56a is correspondingly provided with an arc-shaped groove 56e, and the arc-shaped extending paths of the arc-shaped convex rib 56d and the arc-shaped groove 56e are positioned on the same circle which takes the tool tip of the tool bit 56b as the center of the circle and the distance between the tool tip of the tool bit 56b and the corresponding groove or convex rib as the radius. Meanwhile, an arc-shaped fixing hole 56g is horizontally arranged at the position of the adjusting handle 56c in a penetrating mode, and a concentric circle layout is formed between the radian extending path of the arc-shaped fixing hole 56g and the radian extending path of the arc-shaped convex rib 56 d. The fixing screw 56f horizontally penetrates the arc-shaped fixing hole 56g, and the top end of the fixing screw 56f is in threaded fixed connection with the vertical matching surface of the tool apron 56a, so that the adjusting handle 56c is horizontally pressed and fixed on the tool apron 56a by using the nut end of the fixing screw 56 f.

The profile of tool tip 56b is also taught: as shown in fig. 11-12 and 15, the cutting head 56b has a substantially cylindrical configuration with a downward slope. The rear section of tool bit 56b forms the shank end of tool bit 56b, while the top end of the front section of tool bit 56b is coaxially recessed with a counterbore having an internal chamfer disposed at the orifice of the counterbore. The cutting head 56b is cut by a cutting plane coinciding with the axis of the cutting head 56b so that the front section of the cutting head 56b has a semi-cylindrical structure, and the inner chamfer cut at the counter bore at this time forms a semi-circular arc-shaped blade 56 j. The structure of the cutter head 56b can always ensure that the vertical height of the arc-shaped cutting edge of the cutter head 56b is greater than the total thickness of the insulating skin when cutting is carried out; on the other hand, the cutting device also helps to achieve the best lateral chip guiding and chip discharging effect, and the optimal cutting purpose of the insulating skin can be achieved by matching the cutting angle adjustment of the cutting edge 56 j. In addition, the cylindrical or semi-cylindrical cutting head 56b generates a large cutting force when cutting the insulation sheath, and the cutting head 56b itself can have sufficient rigidity and strength to bear the reverse force thereof, so as to ensure the actual service life of the integral member.

Thirdly, adjusting the opening of the clamp:

the structure of the jig opening adjustment assembly is shown with reference to fig. 2-4 and includes a vertical guide 57 on the frame 51. Rear threaded sliders 50a are uniformly arranged on the back surfaces of the upper clamp seat 52 and the lower clamp seat 53 so as to form a threaded fit relation with the screw rod section of the bidirectional screw rod 54, so that the upper clamp seat 52 and the lower clamp seat 53 can generate opposite and opposite actions parallel to the axis of the bidirectional screw rod 54 under the driving of an opening and closing driving motor 55 or other power equipment. In order to ensure the operational stability of the upper jig base 52 and the lower jig base 53, the frame 51 is further provided with a vertical guide rail 57, and the rear screw slider 50a is fitted to the vertical guide rail 57 through a guide rail corresponding to the vertical slider 57 a.

In actual use, the opening and closing of the peeling clamp 50, that is, the opening and closing of the upper clamp seat 52 relative to the lower clamp, can be controlled by detecting current. For example: when the open-close driving motor 55 rotates, the upper clamp seat 52 and the lower clamp seat 53 are driven to synchronously move towards each other. When the upper and

lower jig holders

52 and 53 start to feel the obstruction of the cable insulation sheath, the current of the opening and closing drive motor 55 changes. When the current change of the opening and closing driving motor 55 reaches a set current value, the opening and closing driving motor 55 stops moving, and the peeling clamp 50 can embrace the cable. Through the induction structure, cables with different diameters in the range of 70mm-240mm can be clamped, and the stable peeling function is realized.

Fourthly, adjusting the spiral angle of the axial displacement:

the axial displacement spiral angle adjusting component is arranged, so that the purpose of adjusting the axial displacement spiral angle when the cable is peeled by the automatic peeler is achieved, the control function of the axial moving speed of the cable when the cable is peeled is guaranteed, and the peeling efficiency is maximized. Specifically, as shown in fig. 17 to 19, the axial displacement helix angle adjusting assembly includes a blind hole 53b recessed in the groove cavity of the V-shaped embracing plate 52q of the lower fixture seat 53, so that the swing angle adjusting function of the edge of the tooth-shaped guide edge 53d at the guide knife 53c is realized through the effective fit between the square plate-shaped fixed guide knife 53c and the hole cavity of the blind hole 53b as shown in fig. 19. On one hand, a matching blind hole 53b is directly arranged in a groove cavity of the V-shaped holding plate 52q, namely a V-shaped holding surface, in a concave mode, and therefore the purpose of effectively accommodating a guide knife 53c with a certain thickness can be achieved, and the guide knife 53c cannot influence axial movement of a cable. On the other hand, although the guiding blade 53c is recessed in the mating blind hole 53b, the tooth-shaped guiding rib 53d may protrude from the cavity surface of the V-shaped holding plate, so that the cutting function of the cable insulation sheath can be generated by the edge of the tooth-shaped guiding rib 53 d. In practice, as shown in fig. 17-18, the present invention can employ a first adjusting screw 53e to cooperate with the first through-going counter bore 53g to form a positioning shaft, and a second adjusting screw 53f to cooperate with the second through-going counter bore 53h to ensure the adjusted fixing function of the guiding blade 53 c. The corresponding adjusting screw can be hidden in each through counter bore so as to avoid the action interference phenomenon between the position of the protruding adjusting screw and the cable.

Fifthly, a skin guiding device:

the skin guide device 52w is in a bell mouth shape with a large opening facing upwards, and the small-caliber end of the skin guide device 52w is provided with a connecting vertical plate to form a fastening fit with the cutter 56, so as to realize the stable assembly of the skin guide device 52w, as shown in fig. 1-3. The leather guide 52w functions to guide the insulating leather in a spiral strip shape where the insulating leather is cut by the cutter 56. When the cutter 56 cuts the cable insulation sheath, the spiral-strip-shaped cut insulation sheath is directly guided out of the practical working range of the present invention by the sheath guiding device 52w shown in fig. 1-3, and then naturally falls under the action of gravity, so as to avoid the hard interference of the hard insulation sheath with the normal action of the present invention along with the cutting process.

Sixthly, equipotential elastic sheets:

the purpose of the equipotential elastic sheet 53a is to gradually remove the insulation sheath of the cable and expose the wire core when the cutter 56 peels off, and at this time, the equipotential elastic sheet 53a will move to contact the wire core due to its elastic restoring force and connect the high-voltage current at the wire core with the circuit board of the robot, so as to form an equipotential operation effect. The specific shape of the equipotential elastic sheet 53a can be shown in fig. 2-3 and 5 as a C-shaped sheet with the bow facing upward, when in use, one end is fixed in the groove at the notch of the V-shaped holding plate 52q shown in fig. 5, and the other end can be pressed to generate an elastic pressing action along the groove direction of the groove, and the equipotential elastic sheet returns to the original state when the pressure is released. The arch back of the equipotential elastic sheet 53a should protrude out of the groove surface of the V-shaped holding plate 52q for matching with the cable, and the arc back should be in contact with the cable core; of course, the specific protruding height of the arch back can be adjusted as required according to the needs of the field, and will not be described in detail here.

The invention can be applied to hand-held rod-type peeling equipment and can also be used as an assembly part of robot wire stripping equipment. In order to further understand the present invention, a robot wire stripping method is taken as an example here, and the specific working flow of the present invention is given as follows:

when the present invention is in an idle state, the structural state thereof is shown in fig. 1.

When the cable stripping device needs to be used, firstly, the mounting flange 11 at the bottom of the mounting base 10 at the cable clamping follow-up system is fixedly connected with a matching flange of a robot arm, so that when the cable stripping device is operated, an operator can operate the robot to perform specified cable stripping operation.

The operator needs to initialize the cable clamping follow-up system, i.e. to ensure that the clamping pincers 30 are in the open state, and at the same time, the axial push rod 22 at the axial follow-up assembly generates the contraction action, so as to drive the top end stop 23 fixedly connected with the end of the axial push rod 22 to move to the right as shown in fig. 28-31. The top end stop 23 moves to the right until the sensing surface contacts the sensing end of the sensing head 27a, so that the fixing frame 21 moves to the right along the sliding optical axis 25 to the initial position, and the system initialization is completed.

After the cable clamping follow-up system is initialized, the next cable clamping process can be carried out:

first, the jaws of the cable gripping jaws 30 of the cable gripping follower system are aligned with the cable, and the cable is slid down the extension plate 39 and finally placed in the cavity of the limit arc groove 38, as shown in particular in fig. 1. Then, the clamping pliers 30 are actuated, that is, the axial expansion rod 32 drives the left slider 34a and the right slider 34b to move upwards through the push block 33. The upward movement of the left slider 34a and the right slider 34b can drive the left guide block 35a and the right guide block 35b to generate opposite actions along the horizontal guide rail 36 through the matching of the positioning pin hole 34C and the positioning pin shaft 35C, so that the two sets of C-shaped bayonets 37 generate a clasping action relative to the cable under the action of the guide blocks. The operation of the present invention is now described with reference to fig. 20.

After the action of the cable clamping follow-up system is completed, the automatic peeler also starts to work: firstly, the operator should determine the thickness of the cable insulation sheath and the cutting angle of the cable according to the current cable model, so that the cutting angle of the cutter 56 can be adjusted in advance through the cutting angle adjusting assembly. Then, the cable to be stripped is radially clamped between the two groups of V-shaped holding plates 52q of the stripping clamp 50 along the opening of the stripping clamp 50, and the cable is reliably clamped by the cable clamping follow-up system; therefore, the opening and closing driving motor 55 starts to operate and drives the bidirectional screw 54 to rotate, so that the upper clamp seat 52 and the lower clamp seat 53 of the peeling clamp 50 generate opposite motions under the action of the screw thread of the bidirectional screw 54 until the V-shaped holding plate 52q at the upper clamp seat 52 and the V-shaped holding plate 52q at the lower clamp seat 53 oppositely hold the cable. When the upper and

lower jig holders

52 and 53 start to feel the obstruction of the cable, the current of the opening and closing drive motor 55 changes; when the current change of the opening and closing drive motor 55 reaches a set current value, the opening and closing drive motor 55 stops moving, and the cable is stably held by the peeling jig 50.

When the cable is stably held by the peeling jig 50, the leading zero reference correction of the cable peeling process can be performed in synchronization. When the method is specifically applied to the invention, the operation steps are as follows:

1) zero reference correction: before the cable is held by the V-shaped holding plate 52q, the knife depth adjusting knob 52h starts to operate, so as to drive the rotating sleeve 52g to operate, and further cause the knife depth adjusting bolt 52f to generate a follow-up ascending motion. With the upward movement of the knife depth adjusting bolt 52f, firstly, the top end surface of the radial protrusion 52l at the depth adjusting bolt is gradually pressed on the lower plate surface of the reference positioning plate 52o, and then the reference positioning plate 52o and the zero position reference sliding plate 52a are driven to generate synchronous upward movement until the zero position reference sliding plate 52a is tightly clamped between the radial protrusion 52l and the knife depth adjusting threaded seat 52d, at this time, the position state of the peeling clamp 50 is shown in fig. 9, and the knife tip of the knife 56 is at the same horizontal plane with the lower end point of the excircle of the zero position reference bearing.

2) And a change position: in the process of clamping the cable by the V-shaped holding plate 52q, the zero position reference bearing, that is, the reference part 52k, is gradually contacted with the cable insulation sheath, and the zero position reference bearing moves upward under the pressing of the cable insulation sheath. Due to the existence of the compression spring, namely the elastic compression damping member 52e, and the zero position reference sliding plate 52a and the blade depth adjusting sliding block 52b are pressed into an integral structure by the radial protrusion 52l of the blade depth adjusting bolt 52f, the cutter 56 at the blade depth adjusting sliding block 52b presses the compression spring to move upwards along with the zero position reference bearing at the zero position reference sliding plate 52a, so that the change position step is completed. In the above zero-finding process, the knife tip of the knife 56 is always in a state of just contacting with the cable insulation sheath, as shown in fig. 9;

3) adjusting the absolute feed amount: after the change position step is completed, the knife depth adjusting knob 52h is rotated to drive the knife depth adjusting bolt 52f to move downward, so that the radial protrusion 52l moves downward to loosen the clamping of the reference positioning plate 52 o. At this time, the blade depth adjusting slider 52b integrated with the reference positioning plate 52o moves downward by the elastic restoring force of the compression spring, and the zero reference sliding plate 52a equipped with the zero reference bearing maintains the original position by the guide rail fitting relation with the blade depth adjusting slider 52b and the top support action of the cable insulation sheath. Because the axial sliding fit capable of transmitting torque is formed between the limiting groove hole 52m at the position of the rotating sleeve 52g and the limiting protrusion 52n at the position of the knife depth adjusting screw, and the elastic force accumulation action of the compression spring exists, the knife depth adjusting knob 52h can rotate once to a certain position, and then the knife 56 at the position of the knife depth adjusting slider slowly cuts into the cable insulation skin by means of the force releasing performance of the compression spring until the specified cutting depth is reached, which is specifically shown in fig. 10.

In the above steps, once the knife tip of the knife tool 56 just extends into the state of completely stripping the cable insulation sheath and begins to expose the wire core, the wire core detection sensor 52i collects the image signal or other corresponding signals of the wire core at the first time and transmits the signals to the control end, and the knife depth adjusting knob 52h can be stopped at the moment so as to keep the current knife depth.

Then, under the drive of the cable clamping follow-up system, the automatic stripper starts to axially cut the insulating sheath along the cable, so that the aim of continuously stripping the insulating sheath of a certain section of cable at high efficiency can be fulfilled, and the method comprises the following specific steps:

1) before stripping rotation, the axial push rod 22 needs to be extended by a designated distance as shown in fig. 29, and the designated distance is the axial stripping length of the cable to be stripped in a single time. Since the cable is now clamped by the clamping jaw 30, when the axial push rod 22 is extended, the top end stop 23 will be separated from the slide stop 27, i.e. the sensing surface will start to disengage from the sensing end of the sensing head 27 a.

2) And the automatic peeler starts to work and performs a peeling rotation action. At this time, the automatic peeler moves to the left under the action of the spiral motion of the cutting edge of the cutter, and drives the whole fixing frame 21 to move to the left along the sliding optical axis 25. When the fixed frame 21 moves to the position where the sensing end of the sensing head 27a at the slide block 27 contacts with the sensing surface at the top block 23, the sensing head 27a at the slide block 27 is triggered. By monitoring the trigger signal of the sensor head 27a, i.e. the travel switch, it can be known whether the automatic stripper has moved a corresponding distance, i.e. whether the cable is currently stripped to a specified stripping length.

3) Because of the limit of the top end stop block 23, the fixing frame 21 cannot move forward continuously, and the automatic peeler can only rotate in situ, so that the insulation skin stripped in the single operation is cut off.

4) The axial push rod 22 is again extended by a designated distance. The top end stop 23 is again disengaged from the slide stop 27, although the tension spring 24 is also stretched. The elastic restoring force of the tension spring 24 applies a certain axial tension to the fixing frame 21, so that the cutting edge of the cutter of the automatic peeler on the fixing frame 21 smoothly and axially cuts into the exposed end surface of the insulating skin on the cable, so as to start the next peeling operation.

5) And the axial push rod 22 is required to extend again for a designated distance every time the peeling operation at the current stage is completed, so as to reciprocate. When the total elongation of the axial push rod 22 reaches the set cable axial peeling length, the axial push rod 22 stops moving as shown in fig. 28 and fig. 30-31, and then the automatic peeler rotates in situ to cut off the insulation skin, thereby completing the peeling operation.

After the peeling operation is completed, the cable clamping follow-up system is reinitialized, that is, the automatic peeler is reset, the axial follow-up assembly is reset, and the clamping pliers 30 are opened again, so that the openings of the clamping pliers 30, the peeling clamp 50 and the driving unit 40 are vertically upward. Then, the robot arm drives the invention to move downwards, so that the peeled cable inner core can be exposed, and the subsequent conducting connection operation can be carried out.

Claims

1. The utility model provides a mechanical skinning instrument based on automatic barker which characterized in that: the mechanical peeling tool comprises a mounting base (10), wherein a fixing frame (21) which only generates reciprocating sliding motion along the axial direction of a cable is arranged on the mounting base (10), and an automatic peeler is fixedly connected to the fixing frame (21); the clamping pincers (30) are arranged at least at one end of the mounting base (10) so as to clamp the cable in a radial action mode when the automatic barker works, the axis of a clamping cavity formed by enclosing the jaws of the clamping pincers (30) is coincident with the axis of the cable, and the arrangement position of the clamping pincers (30) and the action path of the fixing frame (21) are mutually spatially avoided;

the automatic peeler comprises a peeling clamp (50) and a driving unit (40) for driving the peeling clamp (50) to generate rotation motion relative to the axis of a cable; the peeling clamp (50) comprises a rack (51), an upper clamp seat (52) and a lower clamp seat (53) which are arranged on the rack (51), wherein threaded holes are vertically arranged on the upper clamp seat (52) and the lower clamp seat (53) in a penetrating manner, and the upper clamp seat (52) and the lower clamp seat (53) are close to each other in the vertical direction and separate from each other in the vertical direction by means of the rotation action of a bidirectional screw rod (54) in threaded fit with the threaded holes and an opening and closing driving motor (55) positioned at the rod end of the bidirectional screw rod (54);

the upper clamp seat (52) comprises the following components:

zero reference slide plate (52 a): the guide rail is matched with the outer side plate surface of the upper clamping plate (52j) and forms a guide rail with a vertical lead direction with the upper clamping plate (52 j); the bottom end of the zero reference sliding plate (52a) is provided with a reference part (52k) for positioning the position of the uppermost bus of the cable insulation sheath;

knife depth adjusting slider (52 b): the guide rail is positioned on the outer side plate surface of the zero position reference sliding plate (52a) and is matched with the guide rail which is formed between the zero position reference sliding plates (52a) and has a vertical lead guiding direction; the bottom end of the cutter depth adjusting slide block (52b) is fixedly connected with a cutter (56);

pressing plate (52 c): the surface of the pressing plate (52c) is horizontally arranged, and the tail end of the pressing plate (52c) is fixedly connected and matched with the top end of the upper clamping plate (52 j);

depth of blade adjustment screw seat (52 d): the knife depth adjusting threaded seat (52d) is positioned below the pressing plate (52c) and is parallel to the surface of the pressing plate (52c), and the tail end of the knife depth adjusting threaded seat (52d) is fixedly connected and matched with the zero-position reference sliding plate (52 a);

elastic compression damper (52 e): the elastic compression damping piece (52e) is used for driving the pressing plate (52c) and the cutter depth adjusting sliding block (52b) to generate lead vertical separation action, the top end of the elastic compression damping piece (52e) is abutted against the bottom end face of the pressing plate (52c), and the bottom end of the elastic compression damping piece is matched with the cutter depth adjusting sliding block (52 b);

depth of blade adjusting bolt (52 f): the cutter depth adjusting bolt (52f) penetrates through the cutter depth adjusting threaded seat (52d) from top to bottom and forms threaded fit with the cutter depth adjusting threaded seat (52d), a radial bulge (52l) is arranged at the bottom end of the cutter depth adjusting bolt (52f), and a one-way spigot fit for limiting the upward movement of the cutter depth adjusting bolt (52f) is formed between the radial bulge (52l) and the cutter depth adjusting slide block (52 b); when the radial protrusion (52l) and the knife depth adjusting threaded seat (52d) are matched together to oppositely clamp and fix the knife depth adjusting sliding block (52b), the knife tip of the knife tool (56) and the bottom end surface of the reference part (52k) are abutted against the uppermost bus of the cable;

rotating sleeve (52 g): the rotary sleeve (52g) is coaxially sleeved at the top end of the cutter depth adjusting bolt (52f), a limiting groove hole (52m) is axially and concavely arranged at the bottom end surface of the rotary sleeve (52g), a limiting bulge (52n) or a key structure is axially and convexly arranged at the cutter depth adjusting bolt (52f), so that when the cutter depth adjusting bolt (52f) is axially inserted into the cylinder cavity of the rotary sleeve (52g), the limiting bulge (52n) and the limiting groove hole (52m) or the key structure and the limiting groove hole (52m) form axial sliding fit capable of transmitting torque;

knife depth adjusting motor (52 h): a power output shaft of the knife depth adjusting motor (52h) is in power fit with the top shaft end of the rotating sleeve (52g) so as to drive the rotating sleeve (52g) to generate a rotating action with a rotating axis as a plumb line;

core detection sensor (52 i): the monitoring device is used for monitoring whether the wire core of the cable is exposed or not; a core detection sensor (52i) is arranged on the wire inlet side of the upper clamp seat (52) and/or the lower clamp seat (53) and is arranged adjacent to the cutter (56), and the detection end of the core detection sensor (52i) points at the surface of the cable along the radial direction of the cable.

2. The automated dehider-based mechanical dehider tool according to claim 1, wherein: the clamping pincers (30) comprise mounting plates (31) with vertically arranged plate surfaces, and the bottom ends of the inner side plate surfaces of the mounting plates (31) are fixedly connected with the end parts of the mounting bases (10); an axial telescopic rod (32) is arranged on the outer side plate surface of the mounting plate (31), and the telescopic path of the working end of the axial telescopic rod (32) is vertical to the axis of the cable; the working end of the axial telescopic rod (32) is fixedly connected with a push block (33), and two ends of the push block (33) are fixedly connected with a left slide block (34a) and a right slide block (34b) in an axisymmetric manner along the axial line of the axial telescopic rod; a left guide block (35a) and a right guide block (35b) with vertical plate surfaces are arranged at the top end of the outer plate surface of the mounting plate (31) in an axisymmetric manner by taking a cable axis as a symmetry axis, and the left guide block (35a) and the right guide block (35b) are matched at the mounting plate (31) through a horizontal guide rail (36); positioning pin shafts (35c) are convexly arranged on the outer side plate surfaces of the left guide block (35a) and the right guide block (35b), the left sliding block (34a) and the right sliding block (34b) are correspondingly provided with positioning pin holes (34c) for the positioning pin shafts (35c) to penetrate, the length direction of the hole patterns of the positioning pin holes (34c) is arranged in an extending mode from bottom to top along the corresponding sliding block plate surface, and the horizontal distance between the two groups of positioning pin holes (34c) is gradually increased from bottom to top; and a group of C-shaped bayonets (37) are respectively arranged on the adjacent end faces of the left guide block (35a) and the right guide block (35b), and the groove cavities of the two groups of C-shaped bayonets (37) are matched with each other to form the cylindrical clamping cavity for involuting and clamping the cable body.

3. The automated dehider-based mechanical dehider tool according to claim 2, wherein: the appearance of the mounting plate (31) is in a vertical square plate shape, a U-shaped groove-shaped limiting arc groove (38) for limiting the maximum descending distance of the cable is concavely arranged at the top end of the mounting plate (31), and the groove wall opening end of the limiting arc groove is in an outward-expanding inverted 'V' -shape so that the cable can be conveniently placed at the C-shaped bayonet (37); two sets of extension plates (39) extend upwards in an inclined mode from the opening ends of the two groove walls of the limiting arc groove (38), the extension plates (39) and the mounting plate (31) are located on the same vertical plane, and the horizontal distance between the two sets of extension plates (39) is gradually increased from bottom to top.

4. The automated dehider-based mechanical dehider tool according to claim 3, wherein: an axial push rod (22) is further arranged on the mounting base (10), and the thrust direction of the axial push rod (22) is parallel to the axial direction of the cable; the axial telescopic rod (32) and the axial push rod (22) are both electric push rods; a top end stop block (23) is arranged at the top end of the axial push rod (22), a sensing surface is arranged on the top end stop block (23), a sensing head (27a) used for being matched with the sensing surface is arranged on the fixing frame (21), and the sensing end of the sensing head (27a) points to the direction of the sensing surface; the system also comprises a tension spring (24), one end of the tension spring (24) is fixedly connected to the top end stop block (23), and the other end of the tension spring extends along the axial direction of the cable and is fixedly connected and matched with the fixed frame (21).

5. The automated dehider-based mechanical dehider tool according to claim 4, wherein: a group of sliding optical axes (25) are respectively arranged on the upper side and the lower side of the axial push rod (22), and the two groups of sliding optical axes (25) are arranged in an axisymmetric manner along the axis of the axial push rod (22); two sets of axial mounting holes (21a) of the cable with the axis parallel to the axial direction are arranged on the fixing frame (21), and the sliding optical axis (25) and the mounting holes (21a) are in one-to-one correspondence to form hole-axis sliding fit.

6. The automated dehider-based mechanical dehider tool according to claim 5, wherein: the shape of the fixing frame (21) is a square plate with the plate surface vertically arranged, the top end of the fixing frame (21) extends upwards to form an extension arm (21c) which is directly matched with the automatic peeler, and the fixing frame (21) is provided with an avoidance hole (21b) which is superposed with the axial line of the axial push rod (22) and through which the axial push rod (22) passes; a linear bearing (26) is arranged in the mounting hole (21a), and the sliding optical axis (25) penetrates through the inner ring of the linear bearing (26) to form a bearing fit relation with the mounting hole (21 a).

7. The automated dehider-based mechanical dehider tool according to claim 6, wherein: the sensing head is a travel switch, a sliding block (27) extends from the fixed frame (21) to the direction of the top end block (23), the sensing head (27a) is arranged on the sliding block (27), one surface of the top end block (23) facing to the direction of the sliding block (27) forms the sensing surface, and the sensing head (27a) is located on an action path of the sensing surface.

8. An automated dehider-based mechanical dehider tool according to claim 1 or 2 or 3 or 4 or 5 or 6 or 7, characterised in that: the wire core detection sensor (52i) is a photoelectric sensor or an electromagnetic field detection sensor or a discharge detection sensor.

9. An automated dehider-based mechanical dehider tool according to claim 1 or 2 or 3 or 4 or 5 or 6 or 7, characterised in that: a reference positioning plate (52o) is horizontally and convexly arranged on the outer plate surface of the cutter depth adjusting sliding block (52b), and a vertical reference hole is vertically arranged on the reference positioning plate (52o) in a penetrating manner; a convex ring is coaxially and convexly arranged on the bottom end surface of the cutter depth adjusting bolt (52f), and the convex ring forms the radial bulge (52 l); the upper ring surface of the radial bulge and the lower plate surface of the reference positioning plate (52o) form a one-way spigot fit.

10. An automated dehider-based mechanical dehider tool according to claim 1 or 2 or 3 or 4 or 5 or 6 or 7, characterised in that: the datum part (52k) is a zero position datum bearing with a horizontal axis, and the datum part (52k) is matched with the bottom end surface of the zero position datum sliding plate (52a) through a bearing seat (52 p); a V-shaped holding plate (52q) with a downward opening is fixedly connected to the bottom end face of the upper clamping plate (52j), and the groove length direction of the V-shaped holding plate (52q) is parallel to the axial direction of the cable; a relief opening (52r) for relieving the vertical movement path of the reference part (52k) is vertically penetrated on the V-shaped holding plate (52 q).

11. An automated dehider-based mechanical dehider tool according to claim 1 or 2 or 3 or 4 or 5 or 6 or 7, characterised in that: the elastic compression damping member (52e) is a compression spring; guide posts (52s) with vertical axes are vertically arranged on the top end of the cutter depth adjusting sliding block (52b) in a lead vertical extending mode, and the top ends of the guide posts (52s) penetrate through the pressing plate (52c) so as to form guiding fit with the guide holes on the pressing plate (52 c); the elastic compression damping piece (52e) is coaxially sleeved on a section of guide post (52s) between the pressure plate (52c) and the knife depth adjusting slide block (52 b); the two guide columns (52s) are arranged in an axisymmetric manner along the axis of the knife depth adjusting bolt (52 f).

12. An automated dehider-based mechanical dehider tool according to claim 1 or 2 or 3 or 4 or 5 or 6 or 7, characterised in that: the lead at the position of the pressing plate (52c) vertically penetrates through a passing hole (52t) through which a power output shaft of the knife depth adjusting motor (52h) can penetrate, and after the power output shaft of the knife depth adjusting motor (52h) penetrates through the passing hole (52t) from top to bottom, the power output shaft is tightly fixed at a concave hole at the top end face of the rotating sleeve (52g) in a screw type through a radial locking screw.

13. An automated dehider-based mechanical dehider tool according to claim 1 or 2 or 3 or 4 or 5 or 6 or 7, characterised in that: a zero position reference guide rail (52u) with a vertical lead guiding direction is fixedly connected to the outer side plate surface of the upper clamping plate (52j), so that a guide rail fit is formed between the zero position reference sliding plate (52a) and the upper clamping plate (52 j); and a knife depth adjusting guide rail (52v) with a lead vertical guiding direction is arranged at the outer side plate surface of the zero position reference sliding plate (52a), so that a guide rail fit is formed between the knife depth adjusting sliding block (52b) and the zero position reference sliding plate (52 a).

14. An automated dehider-based mechanical dehider tool according to claim 1 or 2 or 3 or 4 or 5 or 6 or 7, characterised in that: the automatic peeler further comprises a vertical guide rail (57) arranged on the rack (51), wherein vertical sliding blocks (57a) are arranged on the back surfaces of the upper clamp seat (52) and the lower clamp seat (53) respectively, and the corresponding guide rails are matched with the vertical guide rail (57).

15. An automated dehider-based mechanical dehider tool according to claim 1 or 2 or 3 or 4 or 5 or 6 or 7, characterised in that: the cutter (56) comprises a cutter seat (56a) which is directly fixedly connected with the cutter depth adjusting slide block (52b), a cutter head (56b) which is used for cutting the insulating skin and an adjusting handle (56c) which is used for connecting the cutter seat (56a) and the cutter head (56 b); the adjusting handle (56c) is in a vertical plate shape with a vertically arranged plate surface, an arc-shaped convex rib (56d) or an arc-shaped groove is convexly arranged or concavely arranged on the plate surface on one side of the adjusting handle (56c), and a vertical matching surface on the tool apron (56a) is correspondingly provided with an arc-shaped groove (56e) or an arc-shaped convex rib which is matched with the arc-shaped convex rib (56d) or the arc-shaped groove, so that on the vertical plane, the radian extension path of the corresponding groove or convex rib is positioned on the same circle which takes the tool tip of the tool bit (56b) as the center of circle and the distance between the tool tip of the tool bit (56b) and the corresponding groove or; the adjusting handle (56c) is also provided with a fixing screw (56f) for fixing the position of the cutter head (56b) relative to the adjusting handle (56c) at any time.

16. The automated dehider-based mechanical dehider tool according to claim 15, wherein: an arc-shaped fixing hole (56g) horizontally penetrates through the position of the adjusting handle (56c), and a concentric circle layout is formed between the radian extending path of the arc-shaped fixing hole (56g) and the radian extending path of the arc-shaped groove or arc-shaped convex rib (56 d); the fixing screw (56f) horizontally penetrates through the arc-shaped fixing hole (56g) and the top end of the fixing screw (56f) is in threaded fixed connection with the vertical matching surface of the tool apron (56a), so that the adjusting handle (56c) is horizontally pressed and fixed on the tool apron (56a) by using the nut end of the fixing screw (56 f).

17. The automated dehider-based mechanical dehider tool according to claim 16, wherein: the adjusting handle (56c) is in a trapezoid plate shape, and the inner side plate surface of the adjusting handle (56c) forms a propping surface used for matching with a vertical matching surface at the cutter holder (56 a); a matching plate (56h) extends from the trapezoidal top edge of the adjusting handle (56c) to the direction of the cutter holder (56a), and the plate surface of the matching plate (56h) is vertical to the plate surface of the adjusting handle (56 c); the cutter head (56b) is cylindrical in shape, the rear section of the cutter head (56b) forms the handle end of the cutter head (56b), and the cylindrical surface of the handle end of the cutter head (56b) and the adjusting hole are coaxially arranged; a rotary threaded hole is coaxially arranged by penetrating through the handle end of the cutter head (56b), and an adjusting screw (56i) penetrates through the matching plate (56h) and is fixedly connected and matched with the rotary threaded hole in a threaded manner; the top end of the front section of the cutter head (56b) is coaxially and concavely provided with a counter bore, an inner chamfer is arranged at the orifice of the counter bore, the cutter head (56b) is cut by a cutting plane which coincides with the axis of the cutter head (56b), so that the front section of the cutter head (56b) is in a semi-cylindrical structure, and the inner chamfer cut at the counter bore forms a semi-arc-shaped cutting edge (56 j).

18. The automated dehider-based mechanical dehider tool according to claim 10, wherein: the automatic peeler further comprises an equipotential elastic sheet (53a) which is C-shaped, the equipotential elastic sheet (53a) is arranged at the groove wall of the V-shaped holding plate (52q) of the upper clamp seat (52) and/or the lower clamp seat (53), and the direction of the notch pointing direction of the arched groove cavity of the equipotential elastic sheet (53a) is opposite to the direction of the notch pointing direction of the groove cavity of the V-shaped holding plate (52q) at the position where the equipotential elastic sheet (53a) is installed.

19. The automated dehider-based mechanical dehider tool according to claim 10, wherein: the upper clamp seat (52) is further provided with a skin guide device (52w) used for guiding the stripped cable insulation skin at the cutter (56), the outer shape of the skin guide device (52w) is in a horn mouth shape with the upper caliber larger than the lower caliber, and the small-caliber end at the bottom of the skin guide device (52w) extends to the cutter (56) so as to guide the stripped cable insulation skin at the cutter (56).