A flexible multi-core automatic double-heat-shrink-tube penetrating and peeling tin-bushing device and method

Abstract

This invention belongs to the technical field of multi-core wire processing equipment. It discloses a flexible multi-core wire automatic double-through heat shrink tubing stripping and tinning device. The unloading mechanism is located on one side of the operating table. The bending mechanism is near the output end of the unloading mechanism, bending the wire output from the unloading mechanism. The multi-station transfer mechanism is near the output end of the bending mechanism. The double-through heat shrink tubing mechanism is near the installation position of the multi-station transfer mechanism. The stripping mechanism is near the double-through heat shrink tubing mechanism. The tinning mechanism is near the output end of the stripping mechanism. The receiving mechanism is near the tinning mechanism. The multi-station transfer mechanism sequentially inputs the wire into the double-through heat shrink tubing mechanism, the stripping mechanism, the tinning mechanism, and the receiving mechanism. The double-through heat shrink tubing mechanism heat shrinks the wire insulation layer. The stripping mechanism removes the wire insulation layer. The tinning mechanism tinns the stripped end of the wire. The receiving mechanism collects the tinned wire.

Description

Technical Field

[0001] This invention relates to the field of multi-core wire processing equipment, and in particular to a flexible multi-core wire automatic double-thread heat shrink tubing removal and tinning device and method. Background Technology

[0002] In the automated production process of multi-core wires, bending devices are often used to bend the wires into a U-shape for processing at both ends. In the processing of high-temperature multi-core wires, it is common to encounter small batches of wires with varying specifications and lengths. For example, CN201610138757.6 describes an automatic double-headed pressing and double-threading heat shrink tubing machine that uses a belt-driven circulating line to place two carriers to clamp both ends of the wire. This requires a very long unloaded wire, making it unsuitable for short wire processing. Furthermore, its functionality is limited, allowing only large-scale production of a single specification, and it cannot meet the small-batch customization needs of modern manufacturing.

[0003] In view of this, the inventors of this application have invented a flexible multi-core wire automatic double-thread heat shrink tubing peeling and tinning device and method. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a flexible multi-core wire automatic double-threading heat shrink tubing peeling and tinning device and method.

[0005] To address the challenges of processing small batches of multi-core high-temperature conductors with varying specifications and lengths, a compact bending device and a multi-station transfer device were designed. This allows for the automatic unloading of conductors of different lengths and their U-shaped bending for easy double-end processing. The multi-station transfer device then sequentially transports the conductors to a double-heat-shrink tubing unit, a wire stripping unit, a stripping unit, a tinning unit, and a receiving unit for double-heat-shrink tubing, stripping inspection, tinning, and sorting. The unloading table allows for setting whether heat-shrink tubing is used, and for wire stripping and tinning. The stripping and tinning lengths can also be set, making the equipment highly flexible and adaptable to fully automated production of multi-specification conductor products.

[0006] This invention solves the above-mentioned technical problems through the following technical means: A flexible multi-core wire automatic double-through heat shrink tubing stripping and tinning device, comprising an operating table, and a wire unloading mechanism, a bending mechanism, a multi-station transfer mechanism, a double-through heat shrink tubing mechanism, a wire stripping mechanism, a stripping mechanism, a tinning mechanism, a receiving mechanism, and the operating table itself, all mounted on the operating table surface; the wire unloading mechanism is located on one side of the operating table surface, the bending mechanism is close to the output end of the wire unloading mechanism, the bending mechanism bends the wire output from the wire unloading mechanism, and the multi-station transfer mechanism is close to the bending machine. At the output end of the structure, the double heat shrink tubing mechanism is installed near the multi-station transfer mechanism, the peeling mechanism is installed near the double heat shrink tubing mechanism, the tinning mechanism is installed near the output end of the peeling mechanism, and the receiving mechanism is installed near the tinning mechanism. The multi-station transfer mechanism sequentially inputs the wires into the double heat shrink tubing mechanism, the peeling mechanism, the tinning mechanism, and the receiving mechanism. The double heat shrink tubing mechanism heat shrinks the insulation layer of the wires, the peeling mechanism removes the insulation layer of the wires, the tinning mechanism tinns the stripped end of the wires, and the receiving mechanism collects the tinned wires.

[0007] Furthermore, the bending mechanism includes a bending bracket, a clearance slide cylinder, a slide connecting block, a wire pulling cylinder, a wire pulling plate, a wire clamp, a bending clamp, a bending cylinder, a bending module, and a wire.

[0008] The bending gripper is mounted on the rotating end of the bending cylinder, the bending cylinder is mounted on the slider of the bending module, and the bending module is mounted on the bending bracket, as shown in the figure. The bending gripper includes a parallel opening and closing gripper, a left finger, and a right finger. The finger ends of the parallel opening and closing gripper are equipped with oppositely arranged left and right fingers. The finger ends of the parallel opening and closing gripper include oppositely arranged left and right end fingers. The left fingers are fixed to the left end fingers, and the right fingers are fixed to the right end fingers to facilitate the gripper wire ends. There are two left and two right fingers. The two left fingers are fixed on both sides of the left end fingers, and the two right fingers are fixed on both sides of the right end fingers.

[0009] The wire-pulling blade is mounted on the wire-pulling cylinder, the wire-pulling cylinder is mounted on the slide block, and the slide block is mounted on the sliding end of the clearance slide cylinder.

[0010] Furthermore, the multi-station transfer mechanism includes transfer grippers, upper and lower slide plates, linear guide rails, transfer brackets, upper and lower cylinders, horizontal linear guide rails, guide rail brackets, and a screw mechanism. Three equally spaced transfer grippers are installed on the upper and lower slide plates. The upper and lower slide plates are installed on the sliders of the two linear guide rails. The two linear guide rails are installed on the transfer bracket. The upper and lower cylinders are installed on the transfer bracket. The floating joints of the upper and lower cylinders are installed on the upper and lower slide plates, pushing the upper and lower slide plates to move up and down along the linear guide rails. The transfer bracket is installed on the sliders of the two horizontal linear guide rails. The two horizontal linear guide rails are installed on the guide rail bracket. The screw mechanism is installed on the guide rail bracket. The slider of the screw mechanism is installed on the transfer bracket. The screw mechanism drives the transfer bracket to move left and right.

[0011] The transfer gripper includes a parallel opening and closing gripper, gripper bodies, gripper one, and two gripper twos. The two gripper bodies are arranged opposite each other. One gripper body is installed on the left finger of the parallel opening and closing gripper, and the other gripper body is installed on the right finger of the parallel opening and closing gripper. The left and right fingers of the parallel opening and closing gripper can open and close. Gripper one and gripper two are arranged opposite each other. Gripper one is fixed to one of the gripper bodies, and gripper two is fixed to the other gripper body. Gripper one and gripper two can open and close with the left and right fingers of the parallel opening and closing gripper. Gripper one installed on the left gripper body and gripper two installed on the right gripper body clamp the left end of the wire, and gripper one installed on the right gripper body and gripper two installed on the right gripper body clamp the right end of the wire.

[0012] Furthermore, the wire bent by the bending mechanism is U-shaped. The double-through heat shrink tubing mechanism includes a transfer gripper, a heat shrink tubing guide device, a tubing insertion module, a heat shrink tubing groove, and a heat shrinking device. The transfer gripper clamps the U-shaped wire and is mounted on the tubing insertion module. The wire on the transfer gripper is guided by the heat shrink tubing guide device and inserted into the heat shrink tubing inside the heat shrink tubing groove. The heat shrinking device then heat shrinks the heat shrink tubing.

[0013] The transfer gripper includes a transfer parallel opening and closing pneumatic gripper, a right transfer gripper body, a left transfer gripper body, a transfer gripper fixing block, gripper three, and gripper four. The right transfer gripper body is installed on the right finger of the transfer parallel opening and closing gripper, and the left transfer gripper body is installed on the left finger of the transfer parallel opening and closing gripper. The left and right fingers of the transfer parallel opening and closing gripper can drive the right and left transfer gripper bodies to open and close.

[0014] Claw three and claw four are respectively installed on the claw body. Claw three and claw four can open and close with the right and left central rotating claw bodies on the central rotating parallel opening and closing claw. Claw three installed on the left central rotating claw body and claw four installed on the right claw body clamp the left end of the wire, while claw three installed on the right central rotating claw body and claw four installed on the right claw body clamp the right end of the wire.

[0015] Furthermore, the peeling mechanism includes a transfer gripper, a top-fixed gripper, a top-fixed gripper, a bottom-fixed gripper, a top-fixed cylinder, a top-support, a top-switching cylinder, a detection camera, a top-module, a top-linear guide, a top-module support, and a top-fixing support.

[0016] The wire stripper jaws consist of three jaws, a jaw body, a wire guide nozzle, and an insulation suction nozzle. The jaw body has a blunt cutting edge for removing the insulation layer along the laser stripping notch. The jaws have three jaw bodies that are evenly distributed and leave a gap when closed. The wire enters the triangular hole between the three jaws through the tapered hole of the wire guide nozzle. After the three jaws close, the triangular hole narrows and the jaws reach the laser stripping point of the wire insulation. Under the action of the wire stripper module, the insulation layer is removed and then vacuumed away through the insulation suction nozzle.

[0017] Furthermore, the aforementioned transfer gripper, the top-mounted gripper, and the detection camera are mounted on the top-mounted bracket. The bottom-mounted gripper is mounted on the top-mounted cylinder, which is mounted on the top-mounted bracket. The top-mounted gripper is mounted on the top-mounted module, which is mounted on the slider of the two top-mounted linear guide rails. The top-mounted linear guide rails are mounted on the top-mounted module bracket, and the top-mounted switching cylinder is mounted on the top-mounted module bracket. The bottom-mounted gripper rises under the action of the top-mounted cylinder and works together with the top-mounted gripper to hold down the U-shaped wire.

[0018] Furthermore, the tinning mechanism includes tinning grippers, connecting blocks, a 90° rotary cylinder, a rotary cylinder mounting plate, front and rear slide cylinders, a tinning module, a flux applicator, a flux tank, a tinning mechanism, and a tin pot; the tinning grippers are mounted on the connecting blocks, the connecting blocks are mounted on the rotating end of the 90° rotary cylinder, the 90° rotary cylinder is mounted on the sliding end of the front and rear slide cylinders via the rotary cylinder mounting plate, and the front and rear slide cylinders are mounted on the sliders of the tinning module.

[0019] Furthermore, the receiving mechanism includes a transfer gripper, a gripper mounting block, an unloading slide, an unloading X-axis module, an unloading Y-axis module, an unloading linear guide rail, an unloading chute, a stop bar, and an unloading bracket. The transfer gripper's gripper is mounted on the gripper mounting block, which is mounted on the sliding end of the unloading slide, allowing it to move up and down. The unloading slide is mounted on the slider of the unloading X-axis module, which is mounted on the sliders of the unloading Y-axis module and the unloading linear guide rail. The unloading chute and stop bar are mounted on the unloading bracket. Two sets of unloading chute and stop bars are provided to distinguish between qualified and unqualified wires. The transfer gripper removes the U-shaped wire from the transfer gripper. Under the action of the X-module, it moves to above the stop bar. The unloading slide moves downward so that the tail end of the wire on the transfer gripper is lower than the end face of the stop bar. Then, the unloading Y-module drives the transfer gripper to move the wire backward a certain distance, so that the wire is hooked on the stop bar, thus achieving unloading.

[0020] Furthermore, the wire stripping mechanism includes wire stripping jaws, wire stripping upper positioning jaws, wire stripping brackets, wire stripping lifting slides, wire stripping connecting blocks, wire stripping clearance slides, wire stripping lower positioning jaws, wire stripping left jaw body, wire stripping right jaw body, and a laser wire stripping machine; the left finger of the wire stripping jaw is equipped with the wire stripping left jaw body, and the right finger of the wire stripping jaw is equipped with the wire stripping right jaw body; four sets of transfer jaw fixing blocks, jaw three and jaw four are installed respectively, used to grab the wire from the transfer jaws; the wire stripping lower positioning jaw is connected to the wire stripping clearance slide and the wire stripping lifting slide; the wire stripping lower positioning jaw can move forward and then upward under the combined action of the wire stripping clearance slide and the wire stripping lifting slide, and the position of the end wire is centered by the two V-shaped grooves of the wire stripping upper positioning jaw.

[0021] A method for an automatic double-threading heat shrink tubing removal and tinning device for flexible multi-core wires, the method comprising:

[0022] Step 1: Bending. The wire is actively fed by the motor of the unloading mechanism, passing through the wire grippers and entering the gap of the bending grippers. The bending grippers then close, clamping the wire with the left and right fingers of the two sets of fingers, centering it. The unloading mechanism continues to feed the wire, and the bending module drives the bending grippers to move the wire forward synchronously for a certain distance. Then, the bending module drives the bending grippers to retract, while the bending cylinder rotates, making the straight wire into a U-shape. The unloading mechanism continues to feed the wire to the set length, and then the sliding table cylinder drives the wire-pulling blade forward, allowing the wire-pulling blade's clamping groove to enter the left end of the U-shaped wire. The wire-pulling cylinder then drives the wire-pulling blade forward, and the left contour of the clamping groove guides the wire segment from the wire exit to the clamping groove. The U-shaped wire is formed by a relatively regular straight line segment. Then, the transfer grippers on the upper and lower slides of the multi-station transfer mechanism move upward along the linear guide rail under the action of the upper and lower cylinders. At this time, the wire exposed between the two parts of the bent gripper and the part from the wire slot to the wire outlet enter the openings above the two pairs of grippers of the transfer gripper respectively. Then, the parallel opening and closing grippers close, the bending grippers open, the shears of the wire lowering mechanism cut the wire along the wire outlet, the wire stripping plate moves to the left, and the wire grippers open. The wire in the grippers of the transfer grippers on the upper and lower slides moves downward along the linear guide rail under the action of the upper and lower cylinders. Next, the screw mechanism drives the transfer bracket to move to the right, so that the multiple transfer grippers on the upper and lower slides sequentially carry the U-shaped wire to the next station.

[0023] Step 2: Heat shrinking. When the transfer gripper reaches the transfer gripper of the double heat shrink tubing mechanism, it moves upward along the linear guide under the action of the upper and lower cylinders. At this time, the transfer gripper opens, and the U-shaped wire enters the transfer gripper along the part near the transfer gripper. The transfer parallel opening and closing air gripper closes the gripper wire, and then the transfer gripper moves downward. The tubing module drives the transfer gripper through the tubing guide device into the heat shrink tubing in the heat shrink tubing groove. Then the heat shrinking device blows hot air to shrink the heat shrink tubing. Next, the tubing module drives the U-shaped wire with heat shrink tubing on both ends to the receiving position, waiting for the transfer gripper to pick up the wire.

[0024] Step 3: Stripping and recycling waste materials. The transfer gripper transports the wire to the stripping mechanism. Then, the transfer gripper rises and sends the wires at both ends of the gripper to the middle of the four gaps of the stripping gripper. Then, the stripping gripper closes and positions the wires in the center. The transfer gripper releases and moves downward. Then, the stripping clearance slide moves the lower positioning claw of the stripping mechanism forward. The stripping lifting slide rises and causes the two V-grooves of the lower positioning claw of the stripping mechanism to intersect and clamp the wires in the center with the two V-shaped claws of the upper positioning claw of the stripping mechanism.

[0025] After wire stripping is complete, the transfer gripper transports the wire to the transfer gripper of the stripping mechanism. The portion of the wire near the rear of the transfer gripper is clamped by the right-hand gripper, while the front portion is moved upwards by the head-fixing cylinder, causing the lower head-fixing gripper to move upwards. Two intersecting grippers hold the wire in the center, exposing the laser-stripped portion for easy head stripping. Then, the head-stripping grippers move forward under the action of the head-stripping module, and the wire enters the triangular holes of the three head-stripping grippers through the wire guide nozzle. The three grippers then close, clamping the wire... The blunt edge of the stripper jaws is engaged in the laser stripping groove to pull out the insulation layer. Then, the insulation layer suction nozzle opens to vacuum and remove the insulation waste. Next, the stripper module drives the stripper jaws to move backward, the stripper switching cylinder retracts, and the stripper module drives the stripper jaws to move to the left a distance equal to the length of the U-shaped wire to remove the insulation layer from the second end of the wire. After stripping both ends of the wire, the module drives the stripper jaws to move backward, and the camera captures the state of both ends of the wire to check whether the wire stripping was successful and whether the heat shrink tubing was successfully inserted.

[0026] Step 4: Tinning. After stripping, the transfer gripper transports the wire to the tinning mechanism and transfers it to the tinning gripper. The tinning gripper centers the wire, and then the front and rear slide cylinders drive the tinning gripper to move backward to above the flux tank. Then, the 90° rotation cylinder rotates 90° to change the U-shaped wire on the tinning gripper from horizontal to vertical. The tinning module drives the two ends of the vertical wire on the tinning gripper to move directly above the two ends of the wire in the flux tank. The flux spoon of the flux applicator rises to a set height to apply flux to the wire. The tinning module drives the two ends of the vertical wire on the tinning gripper to move directly above the tin pot. The tin spoon of the tinning mechanism rises to a fixed height to tin the stripped end of the wire.

[0027] Step 5: After the flux has been removed and the wire has been soldered, the transfer gripper transports the wire to the top of the receiving mechanism. The transfer gripper on the unloading slide moves to the top of the transfer gripper and removes the wire. Then, based on the detection results from the detection camera, the wire is transported to the qualified and non-compliant slots of the unloading trough under the action of the unloading X-axis module. Then, the unloading slide moves downward to insert the U-shaped wire into the stop bar. Then, the unloading Y-module drives the transfer gripper to move backward along the unloading trough at a fixed proportional distance to collect the wire by hanging the U-shaped wire on the stop bar.

[0028] The beneficial effects of this invention are:

[0029] This invention utilizes a compact bending device and a multi-station transfer device to automatically unload wires of varying lengths and perform U-shaped bends for easy double-end processing. The multi-station transfer device then sequentially transports the wires to a double-heat-shrink tubing device, a wire stripping device, a stripping device, a tinning device, and a receiving device for double-heat-shrink tubing, stripping inspection, tinning, and sorting. The wire stripping device incorporates a wire centering mechanism to ensure consistent laser stripping height. The stripping device features a novel stripping gripper that guarantees reliable stripping without damaging the wire core and prevents fraying during tinning. After stripping, the wires are sorted based on their stripping and tubing results to determine their suitability. The equipment features parallel workstations, and the unloading table allows for arbitrary settings for heat-shrink tubing, wire stripping, and tinning. The stripping and tinning lengths can also be set, making the equipment highly flexible and adaptable to fully automated production of various wire specifications. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the flexible multi-core wire automatic double-thread heat shrink tubing peeling and tinning device of the present invention;

[0031] Figure 2 This is a schematic diagram of the bending device and multi-station transfer device of the present invention;

[0032] Figure 3 This is a schematic diagram of the bending device structure of the present invention;

[0033] Figure 4 This is a schematic diagram of the wire-pulling plate structure of the present invention;

[0034] Figure 5 This is a schematic diagram of the bending gripper structure of the present invention;

[0035] Figure 6 This is a schematic diagram of the transfer gripper structure of the present invention;

[0036] Figure 7 This is a schematic diagram of the wire clamp and bending clamp structure of the present invention;

[0037] Figure 8 This is a schematic diagram of the double-penetration heat shrink tubing mechanism of the present invention. Figure 1 ;

[0038] Figure 9 This is a schematic diagram of the double-penetration heat shrink tubing mechanism of the present invention. Figure 2 ;

[0039] Figure 10 This is a schematic diagram of the transfer gripper structure of the present invention.

[0040] Figure 11 This is a schematic diagram of the connection structure between the fixed jaw on the extraction head and the jaw on the extraction head according to the present invention;

[0041] Figure 12 This is a schematic diagram of the peeling mechanism of the present invention;

[0042] Figure 13 This is a schematic diagram of the head-pulling gripper structure of the present invention;

[0043] Figure 14 This is a schematic diagram of the tinning mechanism of the present invention;

[0044] Figure 15 This is a schematic diagram of the tin-plated gripper structure of the present invention;

[0045] Figure 16 This is a schematic diagram of the material receiving mechanism of the present invention;

[0046] Figure 17 This is a schematic diagram of the wire stripping mechanism of the present invention. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0049] Example

[0050] Please see Figure 1As shown in the figure, the flexible multi-core wire automatic double-through heat shrink tubing stripping and tinning device described in this embodiment includes an operating table 9, and a wire unloading mechanism 1, a bending mechanism 2, a multi-station transfer mechanism 3, a double-through heat shrink tubing mechanism 4, a wire stripping mechanism 5, a stripping mechanism 6, a tinning mechanism 7, a receiving mechanism 8, and the operating table 9, all mounted on the table surface of the operating table 9. The wire unloading mechanism 1 is located on one side of the operating table 9. The bending mechanism 2 is close to the output end of the wire unloading mechanism 1, and the bending mechanism 2 bends the wire 10 output by the wire unloading mechanism 1. The multi-station transfer mechanism 3 is close to the output end of the bending mechanism 2, and the double-through heat shrink tubing mechanism 4 is close to the installation position of the multi-station transfer mechanism 3. The multi-station transfer mechanism 3 inputs the wire 10 into the double-through heat shrink tubing mechanism 4, which is then... The double-through heat shrink tubing mechanism 4 heat shrinks the insulation layer of the wire 10 to facilitate subsequent stripping operations. The stripping mechanism 6 is installed close to the double-through heat shrink tubing mechanism 4. The multi-station transfer mechanism 3 continues to transport the wire 10, which has been heat-shrinked by the double-through heat shrink tubing mechanism 4, to the stripping mechanism 6, where the stripping mechanism 6 removes the insulation layer of the wire 10. The tinning mechanism 7 is installed close to the output end of the stripping mechanism 6. The multi-station transfer mechanism 3 continues to transport the stripped wire 10 to the tinning mechanism 7, where the tinning mechanism 7 tinns the stripped end of the wire 10. The receiving mechanism 8 is installed close to the tinning mechanism 7. The multi-station transfer mechanism 3 continues to transport the tinned wire 10 to the receiving mechanism 8, where the receiving mechanism 8 collects the tinned wire 10.

[0051] The device is a parallel workstation, where each wire 10 is processed sequentially. This invention designs a mechanism with a single gripper to hold both ends of the wire 10, which can realize the double-passing of heat shrink tubing, stripping, and tinning of short wires 10.

[0052] For the specific structure of the offline mechanism 1, please refer to CN113828706A, a device suitable for switching, straightening, and exiting various types of conductors.

[0053] See Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 The bending mechanism 2 includes a bending bracket 21, a clearance slide cylinder 22, a slide connecting block 23, a wire pulling cylinder 24, a wire pulling piece 25, a wire clamp 26, a bending clamp 27, a bending cylinder 28, and a bending module 29.

[0054] The bending gripper 27 is mounted on the rotating end of the bending cylinder 28, the bending cylinder 28 is mounted on the slider of the bending module 29, and the bending module 29 is mounted on the bending bracket 21, as shown. Figure 4As shown, the bending gripper 27 includes a parallel opening and closing gripper 271, a left finger 272, and a right finger 273. The fingertip of the parallel opening and closing gripper 271 is equipped with the left finger 272 and the right finger 273 arranged opposite to each other. The fingertip of the parallel opening and closing gripper 271 includes the left end finger and the right end finger arranged opposite to each other. The left finger 272 is fixed to the left end finger, and the right finger 273 is fixed to the right end finger, so as to facilitate the gripper wires 10 at both ends. There are two left fingers 272 and two right fingers 273. The two left fingers 272 are fixed on both sides of the left end finger, and the two right fingers 273 are fixed on both sides of the right end finger.

[0055] The wire-gripping blade 25 is mounted on the wire-gripping cylinder 24, which is mounted on the slide connecting block 23. The slide connecting block 23 is mounted on the sliding end of the clearance slide cylinder 22. In normal operation, the groove 251 on the wire-gripping blade 25 is positioned on the left side and can move left and right under the action of the slide connecting block 23. The wire-gripping cylinder 24 can drive the wire-gripping blade 25 to move back and forth.

[0056] like Figure 2 As shown, the multi-station transfer mechanism 3 includes transfer grippers 31, upper and lower slide plates 32, linear guide rails 33, transfer brackets 34, upper and lower cylinders 35, horizontal linear guide rails 36, guide rail brackets 37, and a screw mechanism 38. Three equally spaced transfer grippers 31 are mounted on the upper and lower slide plates 32. The upper and lower slide plates 32 are mounted on the sliders of two linear guide rails 33, which are mounted on the transfer bracket 34. The upper and lower cylinders 35 are mounted on the transfer bracket 34, and their floating joints are mounted on the upper and lower slide plates 32, pushing the upper and lower slide plates 23 to move up and down along the linear guide rails 33. The transfer bracket 34 is mounted on the sliders of two horizontal linear guide rails 36, which are mounted on the guide rail bracket 37. The screw mechanism 38 is mounted on the guide rail bracket 37, and its slider is mounted on the transfer bracket 34, driving the transfer bracket 34 to move left and right.

[0057] Please see Figure 6As shown, the transfer gripper 31 includes a parallel opening and closing gripper 311, a gripper body 312, a first gripper 314, and two second grippers 313. Two gripper bodies 312 are arranged opposite to each other. One gripper body 312 is installed on the left finger of the parallel opening and closing gripper 311, and the other gripper body 312 is installed on the right finger of the parallel opening and closing gripper 311. The left and right fingers of the parallel opening and closing gripper 311 can open and close. Gripper 1 314 and gripper 2 313 are arranged opposite to each other. Gripper 1 314 is fixed to one of the gripper bodies 312, and gripper 2 313 is fixed to the other gripper body 312. Gripper 1 314 and gripper 2 313 can open and close with the left and right fingers of the parallel opening and closing gripper 311. Gripper 1 314 installed on the left gripper body 312 and gripper 2 313 installed on the right gripper body clamp the left end of the wire 10. Gripper 1 314 installed on the right gripper body 312 and gripper 2 313 installed on the right gripper body clamp the right end of the wire 10.

[0058] See Figure 8 , Figure 9 The dual-insertion heat shrink tubing mechanism 4 includes a transfer gripper 41, a heat shrink tubing guide device 42, an insertion module 43, a heat shrink tubing groove 44, and a heat shrinking device 45. The transfer gripper 41 clamps the U-shaped wire and is mounted on the insertion module 43, so that the wire 10 on the transfer gripper 41 is guided by the heat shrink tubing guide device 42 and inserted into the heat shrink tubing inside the heat shrink tubing groove 44. The heat shrinking device 45 then heat shrinks the heat shrink tubing.

[0059] The transfer gripper 41 includes a transfer parallel opening and closing pneumatic gripper 411, a right transfer gripper body 412, a left transfer gripper body 413, a transfer gripper fixing block 414, a third gripper 415, and a fourth gripper 416. The right transfer gripper body 412 is mounted on the right finger of the transfer parallel opening and closing gripper 411, and the left transfer gripper body 413 is mounted on the left finger of the transfer parallel opening and closing gripper 411. The left and right fingers of the transfer parallel opening and closing gripper 411 can drive the right transfer gripper body 412 and the left transfer gripper body 413 to open and close.

[0060] Claw 3 415 and claw 416 are respectively installed on claw body 414. Claw 3 415 and claw 416 can open and close with the right central claw body 412 and left central claw body 413 on the central parallel opening and closing claw 411. Claw 3 415 installed on the left central claw body 413 and claw 416 installed on the right claw body clamp the left end of the wire 10. Claw 3 415 installed on the right central claw body 413 and claw 416 installed on the right claw body 412 clamp the right end of the wire 10.

[0061] See Figure 11The peeling mechanism 6 includes a transfer gripper 41, a head-fixing gripper 61, a head-fixing gripper 62, a lower head-fixing gripper 63, a head-fixing cylinder 64, a head-supporting bracket 65, a head-switching cylinder 66, a detection camera 67, a head-fixing module 68, a head-fixing linear guide rail 69, a head-fixing module bracket 610, and a head-fixing bracket 611.

[0062] The stripper jaws 62 comprise three jaws 621, a stripper jaw body 622, a wire guide nozzle 623, and an insulation suction nozzle 624. The stripper jaw body 622 has a blunt cutting edge 621 for removing the insulation layer along the laser stripping notch. The stripper jaws have three identical jaw bodies 622, evenly distributed, forming a 120° parallel opening and closing mechanism. When closed, a gap remains to prevent breakage of multi-core wires. The wire 10 enters the triangular hole between the three jaws through the tapered hole of the wire guide nozzle 623. After the three jaws 621 close, the triangular hole narrows, gripping the laser stripping point of the wire insulation. Under the action of the stripper module 68, the insulation layer is removed, and then vacuumed away by the insulation suction nozzle 624. This stripping mechanism can accommodate various wire specifications for insulation removal, and the method of entering through the triangular hole via the guide nozzle 623 and retracting the stripper jaws ensures the stability of wire stripping.

[0063] Please see Figure 12 As shown, the transfer gripper 41, the head-fixing gripper 61, and the detection camera 67 are mounted on the head-fixing bracket 611. The lower head-fixing gripper 63 is mounted on the head-fixing cylinder 64, which is mounted on the head-fixing bracket 65. The head-fixing gripper 62 is mounted on the head-fixing module 68, which is mounted on the slider of the two head-fixing linear guides 69. The head-fixing linear guides 69 are mounted on the head-fixing module bracket 610, and the head-switching cylinder 66 is mounted on the head-fixing module bracket 610. The lower head-fixing gripper 63 rises under the action of the head-fixing cylinder 64 and works together with the upper head-fixing gripper 61 to hold the U-shaped wire in place, ensuring that the wire does not move during stripping. The head-switching cylinder 66 allows the head-fixing module 68 to switch between two positions on the U-shaped wire. The detection camera 67 is used to detect whether the insulation layer is successfully applied and whether the heat shrink tubing is successfully applied. If unsuccessful, the subsequent tinning process is not performed, and the wire enters the defective area.

[0064] See Figure 14 , Figure 15The tinning mechanism 7 includes tinning grippers 71, connecting blocks 72, a 90° rotary cylinder 73, a rotary cylinder mounting plate 74, front and rear slide cylinders 75, a tinning module 76, a flux applicator 77, a flux tank 78, a tinning mechanism 79, and a tin pot 710. The tinning grippers are mounted on the connecting blocks 72, which are mounted on the rotating end of the 90° rotary cylinder 73. The 90° rotary cylinder 73 is mounted on the sliding end of the front and rear slide cylinders 75 via the rotary cylinder mounting plate 74. The front and rear slide cylinders 75 are mounted on the slider of the tinning module 76.

[0065] The flux applicator 77 and the tinning mechanism 79 refer to CN202123187905.9, an automatic tinning mechanism for electronic component leads, wherein the tinning spoon and copper drum servo module automatically controls different tinning heights and flux applicator heights. The wire is removed from the transfer gripper 31 by the tinning jaws 71, and then the 90° rotating cylinder 73 drives the tinning jaws 71 to rotate 90 degrees, changing the orientation from horizontal to vertical, facilitating flux applicator and tinning. The front and rear sliding cylinders 75 and the tinning module 76 move the wire from the transfer gripper 31 to above the flux tank 78 and the tin pot 710.

[0066] Please see Figure 14 The tinning gripper 71 includes a tinning parallel opening and closing air gripper 711, two tinning gripper bodies 712, four transfer gripper fixing blocks 414, four gripper threes 415, and four gripper fours 416. It can clamp the wires 10 at both ends of the transfer gripper 31, center the ends of the wires 10, and ensure that the exposed wires are short during tinning.

[0067] See Figure 16 The receiving mechanism 8 includes a transfer gripper 41, a gripper mounting block 81, an unloading slide 82, an unloading X-axis module 83, an unloading Y-axis module 84, an unloading linear guide rail 85, an unloading groove 86, a stop bar 87, and an unloading bracket 88. The transfer gripper 41 is mounted on the gripper mounting block 81, which is mounted on the sliding end of the unloading slide 82, allowing it to move up and down. The unloading slide 82 is mounted on the slider of the unloading X-axis module 83, which is mounted on the sliders of the unloading Y-axis module 84 and the unloading linear guide rail 85. The unloading groove 86 and the stop bar 87 are mounted on the unloading bracket 88. Two sets of unloading grooves 86 and stop bars 87 are provided to distinguish between qualified and unqualified wires. The transfer gripper 41 removes the U-shaped wire from the transfer gripper 31. Under the action of the X module, it moves to the top of the stop bar 87. The unloading slide 82 moves downward so that the end of the wire on the transfer gripper 41 is lower than the end face of the stop bar. Then the unloading Y module 84 drives the transfer gripper 41 to move the wire distance backward so that the wire 10 is hung on the stop bar 87, thus realizing unloading.

[0068] See Figure 1 , Figure 17The wire stripping mechanism 5 includes a wire stripping gripper 51, a wire stripping upper positioning gripper 52, a wire stripping bracket 53, a wire stripping lifting slide 54, a wire stripping connecting block 55, a wire stripping clearance slide 56, a wire stripping lower positioning gripper 57, a wire stripping left gripper body 58, a wire stripping right gripper body 59, and a laser wire stripper 510. The left finger of the wire stripping gripper 51 is equipped with the left wire stripping gripper body 58, and the right finger of the wire stripping gripper 51 is equipped with the right wire stripping gripper body 59.

[0069] Four sets of transfer gripper fixing blocks 414, gripper three 415 and gripper four 416 are installed respectively to grab the wire 10 from the transfer gripper 31. The stripping positioning claw 57 is connected to the stripping clearance slide 56 and the stripping lifting slide 54. The stripping positioning claw 57 can move forward and then upward under the joint action of the stripping clearance slide 56 and the stripping lifting slide 54. The two V-shaped grooves of the stripping positioning claw 52 center the position of the end wire 10, which makes it easy for the upper and lower laser heads of the laser wire stripper 510 to strip the end of the wire 10.

[0070] Working principle of this invention:

[0071] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 The wire outlet 93 of the unloading mechanism 1 is the wire outlet. The motor of the unloading mechanism 1 actively feeds the wire through the wire clamp 26 and into the gap of the bending clamp 27. Then, the bending clamp 27 closes, and the wire 10 is clamped and centered by the two sets of left fingers 272 and right fingers 273. The unloading mechanism 1 continues to feed the wire, and the bending module 29 drives the bending clamp 27 to move the wire 10 forward synchronously for a certain distance. Then, the bending module 29 drives the bending... As the bending jaw 27 retracts, the bending cylinder 28 rotates 180°, making the straight conductor U-shaped. Then, the unloading mechanism continues to feed the conductor to the set length. Next, the yielding slide cylinder 22 drives the wire-pulling blade 25 forward, causing the wire-pulling blade 25's wire-holding groove 251 to enter the left end of the U-shaped conductor. Then, the wire-pulling cylinder 24 drives the wire-pulling blade 25 forward, and the left contour of the wire-holding groove 251 makes the conductor segment from the conductor outlet 93 to the wire-holding groove 25 a relatively straight segment. Then, the transfer jaws 31 on the upper and lower slide plates 32 of the multi-station transfer mechanism 3 move upward along the linear guide rail 33 under the action of the upper and lower cylinders 35. At this time, the conductor exposed between the two parts of the bending jaw 27 and the portion from the wire-holding groove 251 to the conductor outlet 93 respectively enter the openings above the two pairs of jaws of the transfer jaws 31. Figure 7As shown, the parallel opening and closing gripper 311 closes, the bending gripper 27 opens, the shears of the lowering mechanism 1 cut the wire along the wire outlet 93, the wire-stripping plate 25 retracts to the left, and the wire gripper 26 opens. The wire gripped by the transfer gripper 31 on the upper and lower slide plates 32 moves downward along the linear guide rail 33 under the action of the upper and lower cylinders 35. Next, the lead screw mechanism 38 drives the transfer bracket 34 to move to the right, so that the multiple transfer grippers 31 on the upper and lower slide plates 32 sequentially carry the U-shaped wire to the next station.

[0072] When the transfer gripper 31 reaches below the transfer gripper 41 of the double heat shrink tubing mechanism 4, it moves upward along the linear guide 33 under the action of the upper and lower cylinders 35. At this time, the transfer gripper 41 opens, and the U-shaped wire enters the transfer gripper 41 near the transfer gripper 31. The transfer parallel opening and closing gripper 411 closes the gripper wire, and then the transfer gripper 31 moves downward. The tubing module 43 drives the transfer gripper 41 through the tubing guide device 42 into the heat shrink tubing in the heat shrink tubing groove 44, and then the heat shrinking device 45 blows hot air to shrink the heat shrink tubing. Next, the tubing module 43 drives the U-shaped wire with heat shrink tubing on both ends to the receiving position, waiting for the transfer gripper 31 to pick up the wire.

[0073] The transfer gripper 31 transports the wire to the stripping mechanism 5. Then, the transfer gripper 31 rises and sends the wires at both ends of the gripper to the middle of the four gaps of the stripping gripper 51. Then, the stripping gripper 51 closes and positions the wire in the center. The transfer gripper 31 releases and moves downward. Then, the stripping clearance slide 56 drives the stripping lower positioning claw 57 to move forward. The stripping lifting slide 54 rises and drives the two V-grooves of the stripping lower positioning claw 57 to interlock with the two V-shaped claws of the stripping upper positioning claw 52 and clamp them in the center, ensuring that the wire position is fixed during laser stripping.

[0074] After the wire stripping is completed, the transfer gripper 31 transports the wire to the transfer gripper 41 of the stripping mechanism 6. The wire near the rear of the transfer gripper 31 is clamped by the right-hand gripper 41, and then the front part moves upward through the head-fixing cylinder 64, which drives the lower head-fixing gripper 63 upward. The two cross grippers hold the wire and center it, exposing the laser-stripped part of the wire for easy head stripping. Then, the head-stripping gripper 62 moves forward under the action of the head-stripping module 68. The wire enters the triangular hole of the three head-stripping gripper bodies 62 through the wire guide nozzle. The three-jaw gripper 621 closes the gripper, and the blunt blade of the head-stripping gripper body 622 is stuck in the laser stripping groove to pull out the insulation layer. Then the insulation layer suction nozzle 624 opens to vacuum and suck away the insulation waste. Then, the wire stripping module 68 drives the wire stripping jaws 62 to move backward, the wire stripping switching cylinder 66 retracts, and the wire stripping module 68 and the wire stripping jaws 62 move to the left by the distance of the U-shaped wire to remove the insulation layer of the second end of the wire. After the insulation layer of both ends of the wire is removed, the module 68 drives the wire stripping jaws 62 to move backward, and the detection camera 67 captures the state of both ends of the wire to check whether the wire insulation removal and heat shrink tubing insertion were successful.

[0075] After peeling, the transfer gripper 31 transports the wire to the soldering mechanism 7 and passes it to the soldering gripper 71. The soldering gripper 71 positions the wire in the center. Then, the front and rear slide cylinders 75 drive the soldering gripper 71 to move backward to above the flux tank 78. Then, the 90° rotation cylinder 73 rotates 90° to change the U-shaped wire on the soldering gripper 71 from horizontal to vertical. The soldering module 76 drives the two ends of the vertical wire on the soldering gripper 71 to move directly above the two ends of the wire in the flux tank 78. The flux spoon of the flux applicator 77 rises to a set height to apply flux to the wire. The soldering module 76 drives the two ends of the vertical wire on the soldering gripper 71 to move directly above the solder pot 710. The solder spoon of the soldering mechanism 79 rises to a fixed height to solder the stripped end of the wire.

[0076] After the flux is removed and the wire is tinned, the transfer gripper 31 transports the wire to the top of the receiving mechanism 8. The transfer gripper 41 on the unloading slide 82 moves to the top of the transfer gripper 31 and takes away the wire. Then, according to the detection result of the detection camera 67, the wire is transported to the qualified slot and non-standard slot of the unloading groove 86 under the action of the unloading X-axis module 83. Then, the unloading slide 82 moves downward to insert the U-shaped wire into the stop bar 87. Then, the unloading Y-module 84 drives the transfer gripper 41 to move backward along the unloading groove at a fixed ratio distance of the wire length, so that the U-shaped wire is hung on the stop bar 87 to collect the wire.

[0077] It should be noted that, in this document, the use of relational terms such as "first" and "second" is merely for distinguishing one entity or operation from another, and does not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0078] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible multi-core wire automatic double-threading heat shrink tubing peeling and tinning device, comprising, characterized in that, The system includes an operating table (9) and the following components mounted on the tabletop: a wire unloading mechanism (1), a bending mechanism (2), a multi-station transfer mechanism (3), a double-through heat shrink tubing mechanism (4), a wire stripping mechanism (5), a wire peeling mechanism (6), a tinning mechanism (7), a material receiving mechanism (8), and the operating table (9). The wire unloading mechanism (1) is located on one side of the operating table (9). The bending mechanism (2) is close to the output end of the wire unloading mechanism (1) and bends the wires output by the wire unloading mechanism (1). The multi-station transfer mechanism (3) is close to the output end of the bending mechanism (2), and the double-through heat shrink tubing mechanism (4) is close to the multi-station transfer mechanism (8). The transfer mechanism (3) is installed at a location close to the double heat shrink tubing mechanism (4), the tinning mechanism (7) is installed at a location close to the output end of the peeling mechanism (6), and the receiving mechanism (8) is installed at a location close to the tinning mechanism (7). The multi-station transfer mechanism (3) sequentially inputs the wires into the double heat shrink tubing mechanism (4), the peeling mechanism (6), the tinning mechanism (7), and the receiving mechanism (8). The double heat shrink tubing mechanism (4) heat shrinks the insulation layer of the wires, the peeling mechanism (6) strips the insulation layer of the wires, the tinning mechanism (7) tins the stripped end of the wires, and the receiving mechanism (8) collects the tinned wires. The bending mechanism (2) includes a bending bracket (21), a clearance slide cylinder (22), a slide connecting block (23), a wire pulling cylinder (24), a wire pulling plate (25), a wire clamp (26), a bending clamp (27), a bending cylinder (28), a bending module (29), and a wire; The bending gripper (27) is installed on the rotating end of the bending cylinder (28), the bending cylinder (28) is installed on the slider of the bending module (29), and the bending module (29) is installed on the bending bracket (21). The bending gripper (27) includes (271) a parallel opening and closing gripper, a left finger (272), and a right finger (273). The finger ends of the parallel opening and closing gripper (271) are equipped with the left finger (272) and the right finger (273) arranged opposite to each other. The finger ends of the parallel opening and closing gripper (271) include the left end finger and the right end finger arranged opposite to each other. The left finger (272) is fixed to the left end finger, and the right finger (273) is fixed to the right end finger, so as to facilitate the two ends of the gripper wire. There are two left fingers (272) and two right fingers (273). The two left fingers (272) are fixed on both sides of the left end finger, and the right fingers (273) are fixed on both sides of the right end finger. The wire-pulling blade (25) is mounted on the wire-pulling cylinder (24), the wire-pulling cylinder (24) is mounted on the slide connecting block (23), and the slide connecting block (23) is mounted on the sliding end of the clearance slide cylinder (22).

2. The automatic double-threading heat shrink tubing removal and tinning device for flexible multi-core wires according to claim 1, characterized in that, The multi-station transfer mechanism (3) includes transfer grippers (31), upper and lower slide plates (32), linear guide rails (33), transfer brackets (34), upper and lower cylinders (35), horizontal linear guide rails (36), guide rail brackets (37), and a screw mechanism (38). Three equally spaced transfer grippers (31) are installed on the upper and lower slide plates (32). The upper and lower slide plates (32) are mounted on the sliders of two linear guide rails (3). The two linear guide rails (33) are mounted on the transfer brackets (34). The upper and lower cylinders (35) are mounted on the transfer brackets (38). On the frame (34), the floating joints of the upper and lower cylinders (34) are installed on the upper and lower slide plates (32), pushing the upper and lower slide plates (23) to move up and down along the linear guide rail (33). The transfer bracket (34) is installed on the sliders of the two horizontal linear guide rails (36), the two horizontal linear guide rails (36) are installed on the guide rail bracket (37), the screw mechanism (38) is installed on the guide rail bracket (37), and the slider of the screw mechanism (38) is installed on the transfer bracket (34), driving the transfer bracket (34) to move left and right through the screw mechanism (38). The transfer gripper (31) includes a parallel opening and closing gripper (311), gripper bodies (312), gripper one (314), and two gripper twos (313). The two gripper bodies (312) are arranged opposite to each other. One gripper body (312) is mounted on the left finger of the parallel opening and closing gripper (311), and the other gripper body (312) is mounted on the right finger of the parallel opening and closing gripper (311). The left and right fingers of the parallel opening and closing gripper (311) can open and close. Gripper one (314) and gripper two (313) are arranged opposite to each other. Gripper one... (314) is fixed to one of the gripper bodies (312), and gripper two (313) is fixed to the other gripper body (312). Gripper one (314) and gripper two (313) can open and close with the left and right fingers of the parallel opening and closing gripper (311). Gripper one (314) installed on the left gripper body (312) and gripper two (313) installed on the right gripper body clamp the left end of the wire, and gripper one (314) installed on the right gripper body (312) and gripper two (313) installed on the right gripper body clamp the right end of the wire.

3. The flexible multi-core wire automatic double-threading heat shrink tubing peeling and tinning device according to claim 2, characterized in that, The bending mechanism (2) bends the wire into a U-shaped shape. The double heat shrink tubing mechanism (4) includes a transfer gripper (41), a heat shrink tubing guide device (42), a tubing module (43), a heat shrink tubing groove (44), and a heat shrinking device (45). The transfer gripper (41) clamps the U-shaped wire. The transfer gripper is installed on the tubing module (43), so that the wire on the transfer gripper (41) is guided by the heat shrink tubing guide device (42) and enters the heat shrink tubing inside the heat shrink tubing groove (44). The heat shrink tubing is then heat-shrinked by the heat shrinking device (45). The transfer gripper (41) includes a transfer parallel opening and closing pneumatic gripper (411), a right transfer gripper body (412), a left transfer gripper body (413), a transfer gripper fixing block (414), gripper three (415), and gripper four (416). The right transfer gripper body (412) is installed on the right finger of the transfer parallel opening and closing gripper (411), and the left transfer gripper body (413) is installed on the left finger of the transfer parallel opening and closing gripper (411). The left and right fingers of the transfer parallel opening and closing gripper (411) can drive the right transfer gripper body (412) and the left transfer gripper body (413) to open and close. Claw three (415) and claw four (416) are respectively installed on the claw body (414). Claw three (415) and claw four (416) can open and close with the right central transfer claw body (412) and left central transfer claw body (413) on the central transfer parallel opening and closing claw (411). Claw three (415) installed on the left central transfer claw body (413) and claw four (416) installed on the right claw body clamp the left end of the wire. Claw three (415) installed on the right central transfer claw body (413) and claw four (416) installed on the right claw body (412) clamp the right end of the wire.

4. The automatic double-threading heat shrink tubing removal and tinning device for flexible multi-core wires according to claim 3, characterized in that, The peeling mechanism (6) includes a transfer gripper (41), a top-fixed gripper (61), a top-fixed gripper (62), a bottom-fixed gripper (63), a top-fixed cylinder (64), a top-support bracket (65), a top-switching cylinder (66), a detection camera (67), a top-module (68), a top-linear guide rail (69), a top-module bracket (610), and a top-fixed bracket (611). The pull-out jaw (62) includes a three-jaw jaw (621), a pull-out jaw body (622), a wire guide nozzle (623), and an insulation layer suction nozzle (624). The pull-out jaw body (622) has a blunt blade (621) for pulling off the insulation layer along the laser stripping notch. The pull-out jaw (62) has three pull-out jaw bodies (622), which are evenly distributed and leave a gap after the three pull-out jaw bodies (622) are closed. The wire enters the triangular hole between the three jaws through the tapered hole of the wire guide nozzle (623). After the three-jaw jaw (621) is closed, the triangular hole narrows at the laser stripping point of the wire insulation. Under the action of the pull-out module (68), the insulation layer is removed and the insulation layer is vacuumed away through the insulation layer suction nozzle (624).

5. The automatic double-threading heat shrink tubing removal and tinning device for flexible multi-core wires according to claim 4, characterized in that, The aforementioned transfer gripper (41), the head-fixed gripper (61), and the detection camera (67) are mounted on the head-fixed bracket (611). The head-lower fixed gripper (63) is mounted on the head-fixed cylinder (64), the head-fixed cylinder (64) is mounted on the head-fixed bracket (65), the head-clamp (62) is mounted on the head-fixed module (68), the head-fixed module (68) is mounted on the slider of the two head-fixed linear guides (69), the head-fixed linear guides (69) are mounted on the head-fixed module bracket (610), and the head-switching cylinder (66) is mounted on the head-fixed module bracket (610). The head-lower fixed gripper (63) rises under the drive of the head-fixed cylinder (64) and works together with the head-fixed gripper (61) to hold down the U-shaped wire.

6. The automatic double-threading heat shrink tubing removal and tinning device for flexible multi-core wires according to claim 5, characterized in that, The tinning mechanism (7) includes tinning grippers (71), connecting blocks (72), 90° rotary cylinders (73), rotary cylinder mounting plates (74), front and rear slide cylinders (75), tinning modules (76), flux dispensing devices (77), flux tanks (78), tinning mechanisms (79), and tin pots (710). The tinning grippers are mounted on the connecting blocks (72), the connecting blocks (72) are mounted on the rotating end of the 90° rotary cylinders (73), the 90° rotary cylinders (73) are mounted on the sliding end of the front and rear slide cylinders (75) via the rotary cylinder mounting plates (74), and the front and rear slide cylinders (75) are mounted on the sliders of the tinning module (76).

7. The automatic double-threading heat shrink tubing removal and tinning device for flexible multi-core wires according to claim 6, characterized in that, The receiving mechanism (8) includes a transfer gripper (41), a gripper mounting block (81), an unloading slide (82), an unloading X-axis module (83), an unloading Y-axis module (84), an unloading linear guide (85), an unloading chute (86), a stop bar (87), and an unloading bracket (88). The transfer gripper (41) is mounted on the gripper mounting block (81), which is mounted on the sliding end of the unloading slide (82) and can move up and down. The unloading slide (82) is mounted on the slider of the unloading X-axis module (83), which is mounted on the unloading Y-axis module (84) and the unloading linear guide (85). On the slider of the wire guide rail (85), the unloading groove (86) and the baffle (87) are installed on the unloading bracket (88). Two sets of unloading grooves (86) and baffles (87) are set to distinguish between qualified and unqualified wires. The transfer gripper (41) takes the U-shaped wire from the transfer gripper (31). Under the action of the X module, it moves to the baffle (87). The unloading slide (82) moves downward so that the end of the wire on the transfer gripper (41) is lower than the end face of the baffle. Then the unloading Y module (84) drives the transfer gripper (41) to move the wire backward a distance so that the wire is hung on the baffle (87) to realize unloading.

8. The automatic double-threading heat shrink tubing removal and tinning device for flexible multi-core wires according to claim 7, characterized in that, The wire stripping mechanism (5) includes a wire stripping gripper (51), a wire stripping upper positioning gripper (52), a wire stripping bracket (53), a wire stripping lifting slide (54), a wire stripping connecting block (55), a wire stripping clearance slide (56), a wire stripping lower positioning gripper (57), a wire stripping left gripper body (58), a wire stripping right gripper body (59), and a laser wire stripping machine (510); the left finger of the wire stripping gripper (51) is equipped with a wire stripping left gripper body (58), and the right finger of the wire stripping gripper (51) is equipped with a wire stripping right gripper body (59); Four sets of transfer gripper fixing blocks (414), gripper three (415) and gripper four (416) are installed respectively to grab the wire from the transfer gripper (31). The stripping positioning claw (57) is connected to the stripping clearance slide (56) and the stripping lifting slide (54). The stripping positioning claw (57) can move forward and then upward under the combined action of the stripping clearance slide (56) and the stripping lifting slide (54). The end wire is centered by the two V-shaped grooves of the stripping positioning claw (52).

9. The method for a flexible multi-core wire automatic double-threading heat shrink tubing peeling and tinning device according to claim 8, characterized in that, The method includes: Step 1: Bending. The wire is actively fed by the motor of the unloading mechanism (1) through the wire clamp (26) and enters the gap of the bending clamp (27). Then the bending clamp (27) closes and the wire is clamped and centered by the two sets of left fingers (272) and right fingers (273) in front and behind the bending clamp (27). Then the unloading mechanism (1) continues to feed the wire. The bending module (29) drives the bending clamp (27) to make the wire move forward synchronously for a certain distance. After that, the bending module (29) drives the bending clamp (27) to move forward synchronously for a certain distance. (27) While retracting, the bending cylinder (28) rotates (180)° to make the straight wire into a U-shape. Then the wire feeding mechanism continues to feed the wire to the set length. Then the sliding table cylinder (22) drives the wire-pulling blade (25) to move forward, so that the wire-pulling blade (25) enters the wire-locking groove (251) of the wire-pulling blade (25) into the left end of the U-shaped wire. Then the wire-pulling cylinder (24) drives the wire-pulling blade (25) to move forward. The left contour of the wire-locking groove (251) makes the wire outlet (93) to the wire-locking groove (25) of the wire. The segment is a relatively regular straight segment; then the transfer jaws (31) on the upper and lower slide plates (32) of the multi-station transfer mechanism (3) move upward along the linear guide rail (33) under the action of the upper and lower cylinders (35). At this time, the part of the U-shaped wire exposed between the two parts of the bent jaws (27) and the part of the wire clamping groove (251) to the wire outlet (93) respectively enter the openings above the two pairs of jaws of the transfer jaws (31), and then the parallel opening and closing jaws (311) close, and the bent jaws (27) open. Open, the shears of the unloading mechanism (1) cut the wire along the wire outlet (93), the wire stripper (25) retracts to the left, and the wire clamp (26) opens; the wire in the clamp of the transfer clamp (31) on the upper and lower slide plates (32) moves downward along the linear guide rail (33) under the action of the upper and lower cylinders (35); next, the screw mechanism (38) drives the transfer bracket (34) to move to the right, so that the multiple transfer clamps (31) on the upper and lower slide plates (32) will carry the U-shaped wire to the next station in sequence; Step 2, heat shrinking: When the transfer gripper (31) reaches the transfer gripper (41) of the double heat shrink tubing mechanism (4), it moves upward along the linear guide rail (33) under the action of the upper and lower cylinders (35). At this time, the transfer gripper (41) opens, and the U-shaped wire enters the transfer gripper (41) near the transfer gripper (31). The transfer parallel opening and closing air gripper (411) closes the gripper wire, and then the transfer gripper (31) moves downward. The tube insertion module (43) drives the transfer gripper (41) to enter the heat shrink tubing in the heat shrink tubing groove (44) through the tube insertion guide device (42). Then the heat shrinking device (45) blows hot air to heat shrink the heat shrink tubing. Next, the tube insertion module (43) drives the U-shaped wire with heat shrink tubing on both ends to the receiving position, waiting for the transfer gripper (31) to take the wire. Step 3: Stripping and recycling waste materials. The transfer gripper (31) transports the wire to the stripping mechanism (5). Then the transfer gripper (31) rises and sends the wires at both ends of the gripper to the middle of the four gaps of the stripping gripper (51). Then the stripping gripper (51) closes and the wires are positioned in the middle. The transfer gripper (31) releases and moves downward. Then the stripping clearance slide (56) drives the stripping lower positioning claw (57) to move forward. The stripping lifting slide (54) rises and drives the two V-grooves of the stripping lower positioning claw (57) and the two V-shaped claws of the stripping upper positioning claw (52) to intersect and clamp in the middle. After stripping, the transfer gripper (31) transports the wire to the transfer gripper (41) of the stripping mechanism (6). The right-hand gripper (41) clamps the wire near the rear of the transfer gripper (31), and then the front part moves upward through the head-fixing cylinder (64), which drives the lower head-fixing gripper (63) upward. The two cross grippers hold the wire in the center, exposing the laser-stripped part of the wire for easy head stripping. Then, the head-stripping gripper (62) moves forward under the action of the head-stripping module (68), and the wire enters the triangular hole of the three head-stripping gripper bodies (62) through the wire guide nozzle. The three-jaw gripper (621) closes the gripper on the wire. The blunt edge of the stripper jaw (622) is inserted into the laser stripping groove to remove the insulation layer. Then the insulation layer suction nozzle (624) is turned on to vacuum and remove the insulation waste. Then the stripper module (68) drives the stripper jaw (62) to move backward. The stripper switching cylinder (66) retracts and drives the stripper module (68) to move the stripper jaw (62) to the left by the distance of the U-shaped wire to remove the insulation layer of the second end wire. After the stripping of the wires at both ends is completed, the module (68) drives the stripper jaw (62) to move backward. The detection camera (67) takes pictures of the state of the wires at both ends to detect whether the wire stripping is successful and whether the heat shrink tubing is successfully inserted. Step 4: Tinning. After the stripping is completed, the transfer jaw (31) transports the wire to the tinning mechanism (7) and passes it to the tinning jaw (71). The tinning jaw (71) positions the wire in the center. Then, the front and rear slide cylinders (75) drive the tinning jaw (71) to move backward to above the flux tank (78). Then, the 90° rotation cylinder (73) rotates 90° to change the U-shaped wire on the tinning jaw (71) from horizontal to vertical. The tinning module (76) drives the two ends of the vertical wire on the tinning jaw (71) to move to the top of the two ends of the wire in the flux tank (78). The flux spoon of the flux applicator (77) rises to a set height to apply flux to the wire. The tinning module (76) drives the two ends of the vertical wire on the tinning jaw (71) to move to the top of the tin pot (710). The tin spoon of the tinning mechanism (79) rises to a fixed height to tin the stripped end of the wire. Step 5: After the flux is removed and the wire is tinned, the transfer gripper (31) transports the wire to the top of the receiving mechanism (8). The transfer gripper (41) on the unloading slide (82) moves to the top of the transfer gripper (31) and takes away the wire. Then, according to the detection results of the detection camera (67), the wire is transported to the qualified slot and non-standard slot of the unloading groove (86) under the action of the unloading X-axis module (83). Then, the unloading slide (82) moves downward to insert the U-shaped wire into the stop bar (87). Then, the unloading Y module (84) drives the transfer gripper (41) to move backward along the unloading groove at a fixed ratio distance of the wire length, so that the U-shaped wire is hung on the stop bar (87) to collect the wire.

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