CN117292894B

CN117292894B - Wrapping method, apparatus, and computer-readable storage medium

Info

Publication number: CN117292894B
Application number: CN202311580868.9A
Authority: CN
Inventors: 柏冲冲; 包锟; 杨鹏
Original assignee: Dai Tian Intelligent Technology Shanghai Co ltd
Current assignee: Dai Tian Intelligent Technology Shanghai Co ltd
Priority date: 2023-11-24
Filing date: 2023-11-24
Publication date: 2024-02-09
Anticipated expiration: 2043-11-24
Also published as: CN117292894A

Abstract

The application relates to the field of mechanical control, in particular to a wrapping method, a device and a computer readable storage medium, wherein a laser detector is arranged in the wrapping device, and at least one conduction band roller in the wrapping mechanism comprises a heating element. When a target device to be lapped is lapped, scanning the target cable to be lapped through a laser detector to obtain wire diameter parameters of a plurality of positions of the target cable, determining the lapping movement speed and the number of lapping turns for the target cable according to the wire diameter parameters, customizing a special lapping strategy for the target cable, and determining the working temperature of a conduction band roller according to the lapping movement speed, wherein the lapping movement speed and the working temperature form a positive correlation; the wrapping mechanism is controlled to carry out wrapping treatment on the target cable according to the wrapping strategy, the heating piece is controlled to carry out heating work according to the working temperature, and the target cable is wrapped by adopting the wrapping method, so that the wrapping effect is good, and the reliability of the target cable can be obviously improved.

Description

Wrapping method, apparatus, and computer-readable storage medium

Technical Field

The present application relates to the field of machine control, and in particular, to a wrapping method, apparatus, and computer readable storage medium.

Background

The wrapping, namely wrapping, is to wind the adhesive tape on the cable in the cable engineering, and the waterproof property, the insulation property and the like of the cable are enhanced by using the adhesive tape, for example, the insulating adhesive tape is needed to be used for wrapping an intermediate joint of two sections of cables, so that the situation that the electric core of the cable is in short circuit with the outside is prevented, and the safety of the cable is improved.

In order to reduce the manual burden of wrapping, the wrapping equipment can automatically unwind the adhesive tape in the adhesive tape roll and wind the adhesive tape onto the cable, and in large-scale cable engineering, the wrapping equipment bears a large amount of repeated adhesive tape winding work, so that the labor cost is reduced. However, the existing wrapping devices basically only support a few fixed wrapping speeds, one of the wrapping speeds is selected by a worker according to experience to set before wrapping the cable, and the wrapping devices operate according to the set wrapping speed in the wrapping process. The wrapping effect of the wrapping scheme depends on the experience of workers to a great extent, and the wrapping quality cannot be guaranteed.

Disclosure of Invention

In order to improve the wrapping effect, the application provides a wrapping method, a wrapping device and a computer readable storage medium.

In a first aspect, the present application provides a wrapping method applied to a wrapping apparatus having a laser detector, wherein a tape guide roller is provided in a wrapping mechanism of the wrapping apparatus, the tape guide roller being configured to unwind a wrapping tape on a tape roll and guide the unwound wrapping tape to move along a predetermined path toward a target cable being wrapped; and at least one of the conduction band rollers comprises a heating element for converting electric energy into heat energy; the wrapping method comprises the following steps:

controlling the laser detector to scan the target cable so as to acquire the wire diameter parameter of the target cable;

determining a wrapping strategy for the target cable according to the wire diameter parameter, wherein the wrapping strategy comprises wrapping movement speed and wrapping number of turns for the target cable;

determining the working temperature of the conduction band roller according to the wrapping movement speed, wherein the wrapping movement speed and the working temperature form a positive correlation;

and controlling the wrapping mechanism to carry out wrapping treatment on the target cable according to the wrapping strategy, and controlling the heating piece to carry out heating work according to the working temperature.

By adopting the technical scheme, the laser detector which can scan the cable to obtain the wire diameters of all positions of the cable is arranged in the wrapping equipment. When the target equipment to be lapped is lapped, a plurality of positions of the target cable to be lapped can be scanned through the laser detector to obtain wire diameter parameters of the plurality of positions of the target cable, then the lapping moving speed and the lapping number of turns for lapping the target cable are determined according to the wire diameter parameters, a special lapping strategy is customized for the target cable, and then the target cable is lapped according to the lapping strategy. In the wrapping method, the wrapping strategy is formulated by the wrapping equipment based on the line diameter parameters detected by the laser detector, so that the influence of human experience difference on the wrapping result is reduced. Meanwhile, the wire diameter parameters of different positions on the target wire are considered in the determination of the wrapping strategy, the wrapping movement speed and the wrapping number of turns determined according to the wire diameter parameters are more suitable for the target wire, various wrapping quality problems caused by inadaptation of the wrapping movement speed, the wrapping number of turns and the wire diameter of the target wire are reduced, the reliability of the target wire is obviously improved after wrapping treatment, and the wrapping effect is improved. Meanwhile, a heating piece is arranged in at least one conduction band roller of the wrapping mechanism, after the wrapping movement speed is determined, the working temperature of the conduction band roller can be determined according to the wrapping movement speed, then the heating piece is controlled to conduct heating work according to the corresponding working temperature, when the conduction band roller guides and conveys the wrapping adhesive tape, the heating piece converts electric energy into heat energy, the heating roller heats the wrapping adhesive tape, the viscosity of the wrapping adhesive tape is improved, and therefore the winding tightness of the wrapping adhesive tape on a target cable and the wrapping reliability are enhanced.

Optionally, the target cable is divided into at least two cable segments along a spool direction of the target cable; the determining a wrap-around strategy for the target cable according to the wire diameter parameter includes:

for any one cable section, determining the wrapping movement speed and the wrapping number of turns for the cable section according to the wire diameter parameter of the cable section;

and generating the wrapping strategy according to the wrapping movement speed and the wrapping number of turns of each cable segment.

Through adopting above-mentioned technical scheme, along the axis direction of target cable, divide into two at least cable segmentation with the target cable to confirm to wrap movement speed and the number of turns of wrapping according to the line footpath parameter of this cable segmentation respectively to each cable segmentation, reduced the granularity of wrapping strategy formulation, promoted the suitability of the corresponding speed of moving of wrapping of each cable segmentation on the target cable, the number of turns of wrapping and this cable segmentation line footpath, improved the degree of refining of wrapping processing, and then strengthened the quality of wrapping.

Optionally, determining the wrapping movement speed for the cable segment according to the wire diameter parameter includes:

Determining the wire diameter change rate of the cable section according to the wire diameter parameter of the cable section, wherein the wire diameter change rate is used for representing the wire diameter change amount of the cable section on a unit length;

the wrapping movement speed for the cable segment at the time of wrapping is determined according to the wire diameter change rate and the tape width of the wrapping tape to be used.

By adopting the technical scheme, when the wrapping movement speed of the cable section is determined, the cable diameter change rate of the cable section can be determined according to the cable diameter parameter of the cable section, and the cable diameter change rate can reflect the cable diameter change of the cable section on unit length, namely the surface slope of the concave area on the cable section. The wrapping movement speed is determined by combining the wire diameter change rate and the width of the tape of the wrapping tape to be used, so that the wrapping movement speed is adapted to the width of the tape and the wire diameter change rate, the probability of bulge in the wrapping process is reduced, the wrapping tightness is enhanced, and the wrapping effect and the wrapping quality are improved.

Optionally, determining the number of turns around for the cable segment according to the wire diameter parameter comprises:

acquiring the thickness of the wrapping adhesive tape to be used;

And determining the number of turns of the cable segment during wrapping according to the wire diameter parameter of the cable segment and the thickness of the adhesive tape.

Through adopting above-mentioned technical scheme, when confirming the lapping number of turns of cable segmentation, can combine the wire diameter parameter of cable segmentation and the tape thickness of the lapping sticky tape that is to be used to decide jointly, can confirm like this with the lapping number of turns of wire diameter parameter and tape thickness looks adaptation, compromise the smoothness and the lapping leakproofness on target cable surface after lapping.

Optionally, before determining the wrapping strategy for the target cable according to the wire diameter parameter, the method further includes:

determining a desired size of the wrapping tape to be used according to the wire diameter parameter of the target wire;

and outputting a tape selection prompt according to the expected size, wherein the tape selection prompt is used for indicating the selection of the wrapping tape.

Through adopting above-mentioned technical scheme, before confirming the lapping strategy to the target cable according to the wire diameter parameter, still can confirm the expected size of lapping the sticky tape according to the wire diameter parameter of the target cable that the scanning obtained, then export sticky tape selection suggestion according to expected size, utilize sticky tape selection suggestion guide staff to carry out the selection of lapping the sticky tape, and then make the lapping in-process can adopt the lapping sticky tape that is more suitable for this target cable to carry out the lapping processing to the target cable, promote the effect of lapping.

Optionally, the desired dimensions include a desired width and a desired thickness of the wrap-around tape; the determining the desired size of the wrapping tape to be used according to the wire diameter parameter of the target cable includes:

determining a wire diameter change rate of the target wire cable according to the wire diameter parameter, and determining a desired width of the wrapping adhesive tape according to the wire diameter change rate, wherein the wire diameter change rate is used for representing the wire diameter change amount of the target wire cable in unit length;

and determining the minimum wire diameter and the maximum wire diameter of the target cable according to the wire diameter parameters, and determining the expected thickness of the wrapping adhesive tape according to the difference value of the maximum wire diameter and the minimum wire diameter.

Optionally, at least two conduction band rollers with the heating piece are arranged in the wrapping mechanism, and the working temperature of the conduction band rollers is determined according to the wrapping moving speed:

and determining the working temperature of the conduction band roller according to the wrapping movement speed and the position of the conduction band roller on the set path, wherein if the conduction band roller is closer to the target cable on the set path, the working temperature of the conduction band roller is higher.

Through adopting above-mentioned technical scheme, can utilize two at least conduction band rollers to gradually improve the heating temperature to this reference point, not only can ensure the promotion effect to winding rubber coating area adhesion, also be favorable to reducing the work energy consumption of heating piece in the conduction band roller simultaneously.

Optionally, a pressure sensor is disposed in at least one of the tape guide rollers; the wrapping method further comprises the following steps:

acquiring a pressure detection result of the pressure sensor;

under the condition that the pressure detection result represents that the wrapping belt is abnormally conveyed, immediately controlling the wrapping mechanism to stop wrapping processing, and outputting an alarm; the case of abnormal conveyance of the wrapping tape is a case where the wrapping tape is not conveyed to the target cable in a desired posture.

Through adopting above-mentioned technical scheme, be provided with pressure sensor in the at least one conduction band roller of lapping mechanism, can confirm according to pressure sensor's testing result whether the transport of lapping sticky tape is normal, if pressure sensor's testing result characterization lapping sticky tape's transport is abnormal under the circumstances, for example, can appear sticky tape turns over a book, sticky tape is crooked etc., then lapping equipment can control immediately and lapping the mechanism and stop lapping processing, avoid lapping the sticky tape and being broken the back and lapping the mechanism idle running, perhaps lapping the sticky tape and being twined the lapping quality to the target cable with unexpected gesture on being influenced. Meanwhile, the wrapping equipment can output an alarm to prompt a worker to timely adjust the wrapping belt, so that the wrapping mechanism can recover to normal operation as soon as possible, and the influence on production efficiency is reduced.

In a second aspect, the present application provides a wrapping apparatus, including a processor, a memory, a wrapping mechanism, a laser detector, and a communication bus, where the memory, the laser detector, and the wrapping mechanism are all communicatively connected to the processor through the communication bus, and the processor is configured to execute a wrapping program stored in the memory, so as to implement a wrapping method according to any one of the foregoing.

In a third aspect, the present application also provides a computer-readable storage medium storing a wrap program; the wrap program is executable by a processor to implement the wrap method of any of the preceding claims.

By adopting the technical scheme, a carrier of a computer program of the wrapping method is provided.

In summary, the present application includes at least the following beneficial technical effects:

1. the preparation of the wrapping strategy is determined by wrapping equipment based on the wire diameter parameters detected by the laser detector, so that the influence of human experience difference on wrapping results is reduced;

2. the wire diameter parameters at different positions on the target wire are considered when the wrapping strategy is determined, the wrapping movement speed and the wrapping number of turns determined according to the wire diameter parameters are more suitable for the target wire, various wrapping quality problems caused by inadaptation of the wrapping movement speed, the wrapping number of turns and the wire diameter of the target wire are reduced, the reliability of the target wire is obviously improved after wrapping treatment, and the wrapping effect is improved;

3. When the tape guide roller guides and conveys the wrapping tape, the heating piece converts electric energy into heat energy, so that the heating roller heats the wrapping tape, the viscosity of the wrapping tape is improved, and the winding tightness of the wrapping tape on a target cable and the reliability of wrapping are enhanced.

Drawings

Fig. 1 is a schematic hardware structure of a wrapping device provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a wrapping apparatus provided in an embodiment of the present application under a view angle;

fig. 3 is a schematic structural diagram of a wrapping apparatus provided in an embodiment of the present application at another view angle;

fig. 4 is a schematic structural view of a sliding ring in a wrapping apparatus according to an embodiment of the present application;

FIG. 5 is a schematic flow chart of a wrapping method according to an embodiment of the present disclosure;

FIG. 6 is a schematic illustration of the wrap-around taping direction and the target wire cable axis direction shown in an embodiment of the present application;

FIG. 7 is another schematic illustration of the wrap-around taping direction and the target wire cable axis direction shown in an embodiment of the present application;

fig. 8 is a schematic flow chart of a wrapping device for making a wrapping policy according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a wrapping apparatus shown in an embodiment of the present application for segmenting a target cable according to a wire diameter change rate.

Reference numerals illustrate:

10. wrapping equipment; 20. a processor; 30. a memory; 40. a laser detector; 50. a wrapping mechanism; 51. a fixing frame; 52. a slip ring; 521. a fixed plate; 522. wrapping the ring; 5220. meshing teeth; 5221. a tape guide roller; 523. a circumferential movement mechanism; 5231. a circumferential drive motor; 5232. a second drive gear; 53. an axial movement mechanism; 531. a screw rod; 532. an axial drive motor; 533. a first drive gear; 534. a first driven gear; 60. a communication bus; 60a, wrapping the adhesive tape; 60b, target cable.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The present embodiment first provides a wrapping apparatus 10, please refer to a hardware structure schematic diagram of the wrapping apparatus 10 shown in fig. 1:

the wrapping device 10 comprises a processor 20, a memory 30, a laser detector 40, a wrapping mechanism 50 and a communication bus 60, wherein the processor 20, the memory 30, the laser detector 40 and the wrapping mechanism 50 are respectively connected to the communication bus 60, and the processor 20 can respectively communicate with the memory 30, the laser detector 40 and the wrapping mechanism 50 through the communication bus 60. The processor 20 communicates with the memory 30 via the communication bus 60 to implement information read and write in the memory 30, for example, to read a wrapping program stored in the memory 30, and to compile and execute the wrapping program to implement the wrapping method. Those skilled in the art will appreciate that the processor 20 may also read data from the memory 30 or write data to the memory 30 via the communication bus 60. The processor 20 may control the laser detector 40 to emit laser light through the communication bus 60 and perform a detection operation based on the emitted laser light, and then feed back the detection result to the processor 20 through the communication bus 60. Processor 20 may control the wrapping mechanism 50 to perform a wrapping operation via communication bus 60, and in some examples, processor 20 may also receive information reported by wrapping mechanism 50 via communication bus 60.

Processor 20 may include one or more processing cores. The processor 20 performs various functions and processes of the data stored in the memory 30 by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 30, invoking data stored in the memory 30. The processor 20 may be at least one of an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a digital signal processor (Digital Signal Processor, DSP), a digital signal processing device (Digital Signal Processing Device, DSPD), a programmable logic device (Programmable Logic Device, PLD), a field programmable gate array (Field Programmable Gate Array, FPGA), a central processing unit (Central Processing Unit, CPU), a controller, a microcontroller, and a microprocessor. It will be appreciated that the electronics for implementing the functions of the processor 20 described above may be other for different devices, and embodiments of the present application are not particularly limited.

In some examples of this embodiment, the processor 20, the memory 30, the laser detector 40 and the communication bus 60 in the wrapping device 10 may be implemented integrally by a computer device, such as a desktop computer or an industrial personal computer, in which case the industrial personal computer may be communicatively connected to the laser detector 40 and the wrapping mechanism 50, respectively, to implement control over the laser detector 40 and the wrapping mechanism 50.

Fig. 2 and 3 show a wrapping apparatus 10 from different perspectives, the wrapping apparatus 10 being further described below in connection with fig. 2-3:

the wrapping mechanism 50 of the wrapping apparatus 10 includes two fixed frames 51, a sliding ring 52, and an axial movement mechanism 53, the structure of the sliding ring 52 being shown in fig. 4.

The two holders 51 are disposed opposite each other and configured to hold a target cable. The target cable is held and fixed by the holding portions of the two holders 51. In some examples of this embodiment, the target cable is a spliced cable formed by splicing cables, for example, the target cable includes a first cable and a second cable, and an intermediate joint between the first cable and the second cable is an area on the target cable that needs to be wrapped, in which case, two fixing frames 51 need to be respectively clamped at two sides of the intermediate joint, one fixing frame 51 clamps the first cable, and the other fixing frame 51 clamps the second cable, so that the intermediate joint is located between the two fixing frames 51. In other examples of this embodiment, the target cable may also be a non-spliced cable, in which case the target cable may need to be wrapped due to depressions in the surface or cracking of the skin, which may be required to promote flatness of the surface of the target cable and water resistance and/or electrical reliability of the target cable by wrapping. It will be appreciated that the area of the target cable that needs to be wrapped is the area where the recess is located or the area where the skin breaks, so that the two holders 51 need to be clamped on both sides of the area that needs to be wrapped, respectively, but in this case the two holders 51 clamp the same complete cable.

The sliding ring 52 is located between the two fixing frames 51, and the target cable passes through the sliding ring 52, and can move along the spool direction of the target cable under the drive of the axial movement mechanism 53, that is, the sliding ring 52 can reciprocate between the two fixing frames 51. After the target cable is loaded on the holder 51, the target cable itself does not move with the ground as a reference system, but the sliding ring 52 slides with respect to the target cable because the sliding ring 52 slides with the reference system. The sliding ring 52 includes a fixed disk 521, a wrapping ring 522 movably connected to the fixed disk 521, and a circumferential movement mechanism 523. The fixed disk 521 does not rotate circumferentially, but the wrap ring 522 may rotate about the spool of the target cable under the drive of the circumferential movement mechanism 523. It will be appreciated that when one end of the wrapping tape is secured to the target cable, the wrapping ring 522 rotates the free portion of the wrapping cable (i.e., the portion that has not yet been wrapped onto the target cable) about the spool of the target cable, such that the free portion of the wrapping tape is gradually wrapped onto the target cable. At the same time, because the axial movement mechanism 53 will drive the sliding ring 52 to slide along the spool in a translational manner, the wrapping tape can be spirally wound on the target cable, so as to realize wrapping of different positions on the target cable.

In some examples of the present embodiment, the axial movement mechanism 53 is implemented based on a screw, for example, please continue to refer to fig. 2, where the axial movement mechanism 53 includes a screw 531 (threads on the screw 531 are not shown in the drawing) connected between two fixing frames 51 and an axial driving motor 532 disposed on one fixing frame 51, the screw 531 is respectively rotationally connected with the two fixing frames 51 through a rotating bearing, a first driving gear 533 is fixedly connected to an output shaft of the axial driving motor 532, and a first driven gear 534 meshed with the first driving gear 533 is coaxially fixedly connected to one end of the screw 531. The screw 531 can be rotated around its own axis by the axial driving motor 532. Meanwhile, a threaded disc is arranged on the fixed disc 521 of the sliding ring 52, a threaded hole with internal threads is formed in the threaded disc, the internal threads are matched with external threads on the surface of the screw rod 531, the screw rod 531 penetrates through the threaded hole, and when the screw rod 531 is driven by the axial driving motor 532 to rotate in situ, the threaded disc can translate along the screw rod 531, so that the whole sliding ring 52 can translate along the axis direction of the target cable.

Those skilled in the art will appreciate that in other examples of the present embodiment, the axial movement mechanism 53 may be implemented based on a rail-to-cylinder or rail-to-drive motor.

As shown in fig. 3 and 4, in some examples of the present embodiment, the circumferential movement mechanism 523 includes a circumferential drive motor 5231 provided on the fixed disk 521, and the output shaft of the circumferential drive motor 5231 is fixedly connected to a second driving gear 5232. Meanwhile, the edge of the wrap ring 522 is provided with an engagement tooth 5220 engaged with the second driving gear 5232, and the wrap ring 522 can be rotated around its center by driving of the circumferential driving motor 5231.

On the wrapping ring 522 are provided a number of tape rolls 5221, which tape rolls 5221 are capable of unwinding a wrapping tape on a roll of tape, for example, according to the consumption speed of the wrapping tape by a wrapping process, and delivering the guide wrapping tape to a target cable in a predetermined route, as shown in fig. 3. In some examples of this embodiment, the tape guide roller 5221 may have one or more other functions in addition to guiding the winding tape to move along a predetermined path, for example, in some examples, two tape guide rollers 5221 are disposed adjacent to each other, the surfaces of the two tape guide rollers are provided with stretching teeth capable of engaging with each other, the winding tape passes through a gap between the two tape guide rollers 5221, and a certain pulling force can be applied to the winding tape during the process of conveying the winding tape by the action of the stretching teeth, so that the winding tape is stretched, and the adhesiveness of the winding tape is enhanced. In other examples of this embodiment, the tape roller 5221 may also have a heating function, for example, a heating element is disposed in the tape roller 5221, and the heating element may convert electric energy into heat energy, for example, it may be a resistance wire or the like. Like this the conduction band roller 5221 can also heat around the rubber coating area when carrying the guide and wrapping the sticky tape, promotes the stickness around the rubber coating area adhesive material. In still other examples, a pressure sensor may be further disposed in the tape guide roller 5221, and the pressure sensor detects the pressure applied to the tape guide roller 5221, and further determines whether the posture of the wrapping tape passing through the tape guide roller 5221 is normal according to the pressure detection result, and evaluates whether the conveying of the wrapping tape is normal.

In this embodiment, one or several sliding rods may be provided between the sliding ring 52 and the two fixing frames 51, besides the connection via the screw 531, for example, in fig. 2 and 3, in addition to the screw 531 penetrating the sliding ring 52, a plurality of sliding rods penetrate the sliding ring 52, and both ends of the sliding rods are respectively fixed on the fixing frames 51. It will be appreciated by those skilled in the art that the slide rod is provided to enhance the stability of the slide ring 52 and is not an integral feature of the wrap around.

In order to facilitate the assembly of the target cable to be wrapped to the wrapping apparatus 10 and also to facilitate the removal of the target cable from the wrapping apparatus 10, in some examples of this embodiment, the fixing frame 51 and the sliding ring 52 are provided with a notch, and a stopper cooperating with the notch is provided. The fixing frame 51 is illustrated by way of example, in some examples of this embodiment, the limiting member may be in an arc shape, where a first end of the limiting member is connected to a first side of the opening and is rotationally connected to the fixing frame 51, and in a limiting effective state, a second end of the limiting member is connected to a second side of the opening, and in a limiting failure state, the second end of the limiting member is separated from the second side of the opening.

It will be appreciated by those skilled in the art that although in the above example the mount 51 is substantially circular, similar to the slip ring 52, in other examples of the present embodiment the mount 51 may have other configurations.

In some examples of this embodiment, the laser detector 40 may be disposed on the slip ring 52, as shown in fig. 4, for example, the laser detector 40 may be disposed on a fixed disk 521 of the slip ring 52, such that the laser detector 40 may move along the spool of the target cable with the slip ring 52 to detect the wire diameters at different locations on the target cable using the same laser detector 40. However, in other examples of the present embodiment, a plurality of laser detectors 40 may be provided in the lapping apparatus 10 along the spool direction of the target cable without taking the cost of the lapping apparatus 10 into consideration, so that the lapping apparatus 10 can perform wire diameter detection at different positions on the target cable by the plurality of laser detectors 40 although the laser detectors 40 themselves cannot move.

In some examples, two opposing laser detectors 40 are disposed on the stationary plate 521 of the slip ring 52 along the radial direction of the target cable, the laser detectors 40 having an emitting portion that emits laser light along the radial direction of the target cable toward the target cable, a receiving portion that emits laser light along the same straight line but in opposite directions, and a timer, the straight line passing through the center of the cross section of the target cable. Since the target cable is opaque, the laser light is reflected after reaching the surface of the target cable, the receiving unit receives the laser light reflected by the target cable, and the timer measures the time from the emission to the reception of the laser light, thereby calculating the distance from the laser detector 40 to the surface of the target cable. The line diameter at the current detected position on the target line can be determined by combining the detection results of the two laser detectors 40 and the distance between the two laser detectors 40. In the present embodiment, the line diameter parameter detected by the laser detector 40 is a parameter that can represent the radial dimension of the target line, and may be the diameter or the radius of the cross section of the target line.

A wrapping method is provided below which may be applied to the aforementioned wrapping apparatus 10, however, it will be appreciated by those skilled in the art that while the wrapping method may be applied to the wrapping apparatus 10 provided in fig. 2-4, the structure of the wrapping apparatus 10 provided in fig. 2-4 is not the only viable structure to implement the wrapping method. Please refer to a flow chart of the wrapping method shown in fig. 5:

s502: the wrapping equipment controls the laser detector to scan the target cable to be wrapped so as to acquire the wire diameter parameter of the target cable.

When a cable needs to be wrapped, the cable is loaded onto the wrapping apparatus 10 as a target cable for the wrapping process by the wrapping apparatus 10. From the foregoing description, it will be appreciated that the target cable may be a spliced cable having an intermediate joint, or may be a non-spliced cable requiring surface repair, and in some examples, the target cable is a spliced cable having surface repair requirements, in which case the wrapping apparatus 10 is required to not only wrap the intermediate joint of the target cable, but also to repair a surface-existing break or dent thereof.

Processor 20 in the wrapping apparatus 10 may control laser detector 40 to scan the target cable to obtain the wire diameter parameters at multiple locations on the target cable. In some examples, where laser detector 40 is disposed on slip ring 52, after a worker loads a target cable to be wrapped onto wrapping apparatus 10, wrapping apparatus 10 may be controlled to initiate a wrapping process, and wrapping apparatus 10 may first control slip ring 52 to slip along target rod 531 (i.e., along the spool of the target cable) from one end of rod 531 to the other, thereby allowing laser detector 40 to scan around the target cable and obtain corresponding wire diameter parameters. It should be appreciated that the level of the detection frequency of the laser detector 40 determines the time interval between two adjacent detections of the laser detector 40 and also determines the distance between two adjacent detection positions of the laser detector 40 on the target cable: the higher the detection frequency of the laser detector 40, the smaller the distance between adjacent detection positions. In some examples, the wrapping apparatus 10 may construct a three-dimensional model of the target cable according to the detection results of the laser detector 40 for each place, in which case the higher the detection frequency of the laser detector 40, the higher the accuracy of the constructed three-dimensional model, and the closer to the real form of the target cable.

S504: the wrapping device determines a wrapping strategy for the target cable according to the wire diameter parameter.

After obtaining the wire diameter parameters for a plurality of locations on the target wire, the processor 20 of the wrapping device 10 may formulate a wrapping strategy for the target wire based on the wire diameter parameters. The wrapping strategy includes at least a wrapping movement speed and a wrapping number of turns for the target cable.

Since the wrapping tape is wound onto the target cable in a spiral path, the wrapping movement speed includes an axial movement speed and a circumferential movement speed, and it will be understood by those skilled in the art that the axial movement speed refers to a movement speed of the wrapping tape in the axial direction of the target cable during the wrapping process, and in the structure corresponding to the wrapping apparatus 10 provided in fig. 2 to 4, the axial movement speed refers to a speed at which the slide ring 52 slides along the screw 531. The circumferential movement speed refers to the movement speed of the taping rotating along the outer circumference of the target cable during the taping process, and in the construction corresponding to the taping device 10 provided in fig. 2 to 4, the circumferential movement speed refers to the number of turns of the taping ring 522 per unit time in practice.

It will be appreciated by those skilled in the art that if the axial movement speed is 0 of the wrapping movement speeds, the wrapping tape will always be wrapped by the wrapping mechanism 50 at the same location on the target cable; the greater the speed of axial movement, the further the distance between the nth turn and the N-1 th turn of the wrapping tape wound on the target cable in the axial direction is, the fewer the overlap between the nth turn and the N-1 th turn is.

The winding direction of the wrapping tape is described below: in fig. 6, a case is shown in which the winding direction around the taping 60a is perpendicular to the spool direction of the target cable 60b, wherein the long dashed line indicates the spool of the target cable 60b, and the dashed arrow indicates the winding direction around the taping 60 a. Fig. 7 shows a case where the winding direction around the taping 60a is not perpendicular to the spool direction of the target cable 60 b. As can be seen in fig. 6 and 7, the direction of winding around the taping 60a is in fact the direction of the taping tape 60a wound onto the surface of the target cable 60 b. The direction of winding around the taping 60a can be changed by adjusting the speed of axial movement and the speed of circumferential movement of the taping mechanism 50, that is, the angle between the direction of winding around the taping 60a and the spool direction of the target cable 60b can be adjusted, in other words, the degree of inclination of the taping 60a with respect to the spool direction can be adjusted by adjusting the speed of axial movement and the speed of circumferential movement of the taping mechanism 50.

The target cable surface to be wrapped is typically not perfectly smooth, i.e. there is always a relative depression. In this embodiment, the taping device 10 fills in these depressions with taping tape so that the target cable has a relatively smooth surface after the taping process. As will be appreciated by those skilled in the art, some depressions are gently concave with a smaller slope of the inner wall; while other depressions are steeply concave, the corresponding inner wall slope is relatively large and the inner wall is relatively steep. In winding these regions with the wrapping tape, it is necessary to ensure that the slope of the concave inner wall in the winding direction of the wrapping tape is adapted in order to prevent the occurrence of bulging. Meanwhile, the depth of the different depressions on the target cable is also different, so that if the surface of the target cable subjected to the wrapping treatment is basically smooth, the number of wrapping turns required for the different depressions is also different when the wrapping treatment is performed by using the wrapping belts with the same thickness.

In some examples of this embodiment, after the wrapping apparatus 10 obtains the wire diameter parameters of a plurality of locations on the target wire, the wire diameter change rate of the locations may be determined according to the wire diameter parameters of the locations, and the wire diameter change rate may represent the wire diameter change amount of the target wire in a unit length, so the wire diameter change rate may represent the slope of the concave inner wall. From these multiple line rates, the wrapping apparatus 10 may determine the severity of the line rate change for the entire area to be wrapped on the target line, e.g., the wrapping apparatus 10 may calculate a line rate average for the target line from the multiple line rates and then determine the wrapping movement speed for the target line from the line rate average in combination with the tape width of the wrapping tape to be used.

In some examples, in determining the number of turns for the target cable, the wrapping apparatus 10 may determine the number of turns for the target cable based on the wire diameter parameters at various locations on the target cable in combination with the tape thickness of the wrapping tape to be used. For example, the maximum wire diameter and the minimum wire diameter may be determined according to a plurality of wire diameter parameters, and a difference between the maximum wire diameter and the minimum wire diameter may be determined, and then the number of windings may be determined according to the difference in combination with the tape thickness. Alternatively, the wrapping apparatus 10 may determine an average pit depth of the plurality of pits on the target cable based on the plurality of wire diameter parameters, and then determine the number of wraps for the target cable in combination with the tape thickness.

In the above examples, the wrapping apparatus 10 determines the wrapping movement speed and the number of wrapping turns based on the wire diameter parameters of the target wire at a plurality of locations, but in these examples, the wrapping apparatus 10 determines only one uniform wrapping movement speed and one uniform number of wrapping turns for the target wire, so that the wrapping mechanism 50 always winds the target wire "uniformly thick" when the target wire is wrapped according to the wrapping strategy.

In other examples of this embodiment, the wrapping device 10 may formulate a wrapping policy for the target cable according to other manners, please refer to the flowchart shown in fig. 8:

s802: the wrapping apparatus divides the target cable into at least two cable segments along a spool direction of the target cable.

It will be understood by those skilled in the art that dividing the target cable along its spool by the wrapping apparatus 10 merely means logically segmenting the target cable and not cutting the target cable entity.

In some examples of this embodiment, when the target cable is segmented by the wrapping apparatus 10, the target cable may be uniformly divided, that is, the cables may be divided into segments of equal length; in still other examples, the length of each cable segment segmented by the wrapping apparatus 10 may be variable, e.g., in one example, the wrapping apparatus 10 may segment a target cable based on a plurality of wire diameter parameters detected by the laser detector 40: if the rate of change of wire diameter is substantially the same throughout a continuous segment on the target wire or if the difference in the rate of change of wire diameter is below a preset difference threshold, the wrapping device 10 treats the continuous segment as one wire segment regardless of the length of the wire segment, for example, please refer to fig. 9, which shows a schematic cross-sectional view of a target wire 60b, with the target wire 60b being divided into a, b, c, d four wire segments by the wrapping device 10 based on the rate of change of wire diameter.

S804: for any one cable section, the wrapping equipment determines the wrapping movement speed and the wrapping number of turns for the cable section according to the wire diameter parameters of the cable section.

After dividing the cable segments, the wrapping device 10 may determine a "sub-wrapping strategy" for each cable segment according to the wire diameter parameter corresponding to the cable segment, that is, determine the wrapping movement speed and the wrapping number of turns for each cable segment independently. For ease of description, the cable segment for which the wrapping apparatus 10 is currently determining the sub-wrapping strategy is referred to as the "target segment" for which the wrapping apparatus 10 is currently.

In determining the wrapping movement speed for a target segment from the wire diameter parameter of the target segment, the wrapping apparatus 10 may determine the wire diameter change rate of the target segment from the wire diameter parameter of the target segment. Based on the foregoing, it can be seen that the rate of change of the wire diameter of the target segment can be used to characterize the amount of change of the wire diameter of the target segment per unit length. The wrapping apparatus 10 then obtains the tape width of the wrapping tape to be used, and then determines the speed of the wrapping movement of the target segment in the wrapping according to the tape width and the rate of change of the wire diameter of the target segment. In some examples of this embodiment, the wrapping apparatus 10 may store the mapping relationship between the tape width, the wire diameter change rate, and the wrapping movement speed in the memory 30 in advance, so that after determining the tape width of the wrapping tape and the wire diameter change rate of the target segment, the wrapping apparatus 10 may determine the corresponding wrapping movement speed by querying the stored mapping relationship. For example, the size specifications of the wrapping tape are generally standardized, and assuming that the wrapping tape commonly used in the market has three standardized specifications of type I, type II and type III, and the wrapping tape of the three standardized specifications has at most three different tape widths, the wrapping apparatus 10 may store a wire radius change rate-wrapping movement speed mapping table in the memory 30 for each tape width, so that when the wrapping apparatus 10 determines the wire radius change rate of the target segment and the tape width of the wrapping tape to be used, a corresponding mapping table may be found according to the tape width, and then a corresponding wrapping movement speed may be found from the mapping table according to the wire radius change rate of the target segment.

In determining the number of windings for a target segment based on the wire diameter parameter of the target segment, the winding apparatus 10 may first determine the tape thickness of the wound tape to be used, and then determine the number of windings for the target segment during winding based on the wire diameter parameter of the target segment and the tape thickness. For example, in one example, the wrapping apparatus 10 may determine the desired wire diameter of the target segment after wrapping based on the wire diameter parameters of the target segment, it being understood that the desired wire diameter must be greater than the maximum wire diameter of the target segment prior to wrapping, so the desired wire diameter of the target segment may be determined by the wrapping apparatus 10 from the current maximum wire diameter of the target segment. After determining the desired wire diameter, the wrapping apparatus 10 may calculate the difference between the current wire diameter and the desired wire diameter throughout the target segment, and then calculate the number of turns of wrapping tape to be wound throughout the target segment based on the difference and the thickness of the tape around the tape.

S806: and the wrapping equipment generates a wrapping strategy according to the wrapping movement speed and the wrapping number of turns of each cable section.

After determining the wrapping movement speed and the number of wrapping turns corresponding to each cable segment, the wrapping device 10 may determine a wrapping strategy for the target cable according to the wrapping movement speed and the number of wrapping turns of each cable segment.

It should be appreciated by those skilled in the art that, compared to the scheme of performing the wrapping for the target cable by using a wrapping movement speed and a wrapping number of turns for the whole target cable, the wrapping apparatus 10 determines the wrapping movement speed and the wrapping number of turns for at least two cable segments in the target cable respectively, so that the wrapping movement speed and the wrapping number of turns of each cable segment are more adaptive and more compatible with the wire diameter parameters of each cable segment, which is equivalent to customizing a dedicated sub-wrapping strategy for the cable segment according to the wire diameter parameters of each cable segment, so that the problem of bulging of the wrapping tape can be reduced, the surface smoothness of the wrapped target cable can be higher, and the wrapping effect is further improved.

In some examples of this embodiment, after the wrapping apparatus 10 obtains the wire diameter parameters of the plurality of locations on the target wire, before determining the wrapping strategy for the target wire according to the wire diameter parameters, it may also determine the desired size of the wrapping tape to be used according to the wire diameter parameters of the target wire, and then output a tape selection prompt according to the desired size, so as to instruct the staff to perform the selection of the wrapping tape through the tape selection prompt, so that the staff may be prompted by the wrapping apparatus 10 to select to use a more suitable wrapping tape according to the wire diameter condition of the target wire, and ensure the subsequent wrapping effect.

In this embodiment, the desired dimension includes at least one of a desired width and a desired thickness of the wrap-around tape. If the desired dimensions include a desired width, the wrapping apparatus 10 may determine a wire diameter rate of change of the target wire from the wire diameter parameter of the target wire and determine the desired width of the wrapping band from the wire diameter rate of change. Bypassing the desired dimensions, including the desired thickness, the wrapping apparatus 10 may determine a minimum wire diameter and a maximum wire diameter of the target wire based on the wire diameter parameters, and determine the desired thickness of the wrapping tape based on the difference between the maximum wire diameter and the minimum wire diameter.

S506: the wrapping equipment determines the working temperature of the conduction band roller according to the wrapping movement speed.

In some examples of this embodiment, the at least one tape roller 5221 on the wrapping mechanism 50 includes a heating element, and the wrapping apparatus 10 may also control the heating element to heat according to a wrapping strategy to increase the temperature of the wrapped tape and thereby enhance the adhesion of the tape to the wrapped tape. For example, in one example of this embodiment, the wrapping apparatus 10 may determine the operating temperature of the tape roller 5221 based on the wrapping movement speed, alternatively, the operating temperature of the tape roller 5221 may be in positive correlation with the wrapping movement speed, i.e., the operating temperature of the tape roller 5221 may increase with increasing wrapping movement speed and decrease with decreasing wrapping movement speed. This arrangement mainly takes into account that the higher the speed of the wrapping movement, the shorter the wrapping tape is in contact with the heating roller and the shorter the time to be heated, so that the operating temperature of the tape guide roller 5221 needs to be raised in order to raise the adhesiveness of the wrapping tape. After determining the operating temperature of the tape roller 5221 according to the wrapping movement speed, the wrapping apparatus 10 can control the heating element in the tape roller 5221 to perform heating operation according to the operating temperature.

In some examples of this embodiment, the plurality of tape guide rollers 5221 in the wrapping mechanism 50 are each provided with a heating element, so that the wrapping tape can be heated multiple times during multiple periods of time as it is circulated between the tape guide rollers 5221, thus eliminating the need to set the operating temperature of one of the tape guide rollers 5221 too high. In some examples of this embodiment, the operating temperatures of at least two tape guide rollers 5221 in the wrapping apparatus 10 may be controlled in unison, i.e., the heating elements in each tape guide roller 5221 are operated to heat at the same operating temperature. In other examples, when setting the operating temperature for at least two tape guide rollers 5221 in the wrapping apparatus 10, the operating temperature of the tape guide rollers 5221 can be set according to the position of the tape guide rollers 5221 on a given path of the wrapping tape flow, e.g., in one example, the higher the operating temperature of the tape guide rollers 5221 closer to the target cable on the given path. The reference point is arbitrarily selected on the wrapping tape, and the working temperature of the tape guide roller 5221 passing through the reference point is gradually increased in the process of gradually conveying the wrapping tape to the target cable along the set path of the wrapping tape, so that the heating temperature of the reference point can be gradually increased by utilizing at least two tape guide rollers 5221, the effect of improving the adhesiveness of the wrapping tape can be ensured, and the working energy consumption of a heating element in the tape guide roller 5221 can be reduced.

S508: the wrapping equipment controls the wrapping mechanism to carry out wrapping treatment on the target cable according to the wrapping strategy, and controls the heating element to carry out heating work according to the working temperature.

After determining the wrapping strategy, the wrapping device 10 may control the wrapping mechanism 50 to perform a wrapping process on the target cable according to the wrapping strategy, so as to implement wrapping of the target cable. On the other hand, the wrapping device 10 further controls the heating element corresponding to the tape roller 5221 to perform heating operation according to the determined working temperature of the tape roller 5221, so as to realize heating treatment on the wrapping tape, thereby improving the adhesiveness of the wrapping tape.

In other examples of this embodiment, a pressure sensor is provided in at least one tape guide roller 5221 on the wrapping mechanism 50, which pressure sensor can detect the pressure to which the tape guide roller 5221 is subjected. It will be appreciated that the wrapping tape is flowing over the tape guide rollers 5221, which causes pressure to the tape guide rollers 5221, and that the area and morphology of the pressed area (area under pressure) on one tape guide roller 5221 remains substantially unchanged when the wrapping tape is transported over the tape guide roller 5221 in a normal posture, but if the posture of the wrapping tape is abnormal, such as the wrapping tape being skewed or folded, the area and morphology of the pressed area of the tape guide roller 5221 are different from those of the normal case. Therefore, by providing a pressure sensor in the tape guide roller 5221, controlling the pressure sensor to perform pressure detection, the wrapping apparatus 10 can evaluate whether the posture of the wrapping tape is normal or not based on the pressure detection result of the pressure sensor, and if there is an abnormality, the wrapping apparatus 10 can immediately control the wrapping mechanism 50 to stop the wrapping process, avoiding the wrapping mechanism 50 from wrapping the wrapping tape onto the target cable in the abnormal posture. In some examples of the present embodiment, the wrapping apparatus 10 may also control the alarm unit to output an alarm in the case where it is determined that there is an abnormality in the posture of the wrapping tape based on the pressure detection result of the pressure sensor. For example, in some examples the alert unit of the wrapping device 10 may be implemented by at least one of an alert indicator light, an alert horn, and the wrapping device 10 may control the alert indicator light to light up or flash or output an alert sound through the alert horn.

In some examples of this embodiment, after the wrapping mechanism 50 completes the wrapping process of the target cable according to the wrapping strategy, the wrapping apparatus 10 may control the laser detector 40 again to perform the wire diameter detection on the target cable, and obtain the wire diameter parameter after the target cable is wrapped. Then, the wrapping device 10 may evaluate the wire diameter parameter after wrapping by adopting a preset evaluation standard to determine whether the wrapping process of the target cable has reached the standard, and if so, may end the wrapping process for the target cable; otherwise, a secondary wrapping strategy for the target cable may be determined and the wrapping mechanism 50 controlled to perform a secondary wrapping process on the target cable according to the secondary wrapping strategy. And circulating in this way until the wrapping treatment of the target cable is finally determined to reach the standard. Those skilled in the art will appreciate that the manner in which the secondary wrapping strategy is determined for the target cable by the wrapping apparatus 10 may refer to the previous process of determining the secondary wrapping strategy, and will not be described in detail herein.

Embodiments of the present application provide a computer-readable storage medium, for example, comprising: a U-disk, a removable hard disk, a Read Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes. The computer readable storage medium stores a wrapping program that can be loaded and executed by a processor, where the wrapping program is executable by the processor to implement the flow of any one of the wrapping methods of the foregoing embodiments.

The foregoing embodiments are only used for describing the technical solution of the present application in detail, but the descriptions of the foregoing embodiments are only used for helping to understand the method and the core idea of the present application, and should not be construed as limiting the present application. Variations or alternatives that are readily contemplated by those skilled in the art within the scope of the present disclosure are intended to be encompassed within the scope of the present disclosure.

Claims

1. A wrapping method, characterized in that it is applied to a wrapping apparatus having a laser detector, in which a wrapping mechanism is provided with a tape guide roller configured to unwind a wrapping tape on a tape roll and guide the unwound wrapping tape to move along a predetermined path toward a target cable being wrapped; and at least one of the conduction band rollers comprises a heating element for converting electric energy into heat energy; the wrapping method comprises the following steps:

2. The method of lapping of claim 1, wherein the target cable is divided into at least two cable segments along a spool direction of the target cable; the determining a wrap-around strategy for the target cable according to the wire diameter parameter includes:

3. The method of wrapping of claim 2, wherein determining the wrapping movement speed for the cable segment from the wire diameter parameter comprises:

4. The method of wrapping of claim 2, wherein determining the number of wraps for the cable segment based on the wire diameter parameter comprises:

acquiring the thickness of the wrapping adhesive tape to be used;

5. The method of wrapping as set forth in claim 1, wherein prior to said determining a wrapping strategy for said target cable based on said wire diameter parameters, further comprising:

6. The wrapping method of claim 5, wherein the desired dimensions include a desired width and a desired thickness of the wrapping tape; the determining the desired size of the wrapping tape to be used according to the wire diameter parameter of the target cable includes:

7. The wrapping method of claim 1 wherein at least two of said tape guide rollers having said heating elements are provided in said wrapping mechanism, said operating temperature of said tape guide rollers being determined based on said wrapping movement speed:

8. A wrapping method according to any one of claims 1 to 7, characterized in that at least one of said tape guide rollers has a pressure sensor provided therein; the wrapping method further comprises the following steps:

Acquiring a pressure detection result of the pressure sensor;

9. A wrapping device comprising a processor, a memory, a wrapping mechanism, a laser detector and a communication bus, the memory, the laser detector and the wrapping mechanism all being communicatively connected to the processor via the communication bus, the processor being configured to execute a wrapping program stored in the memory to implement a wrapping method according to any one of claims 1 to 8.

10. A computer-readable storage medium, wherein the computer-readable storage medium stores a wrap program; the wrapping program being executable by a processor to implement the wrapping method of any one of claims 1 to 8.